A positioning method and device
By constructing architectural reference model and positioning target virtual points in the metaverse, the problems of poor perception and insufficient intuitiveness of traditional positioning technology in the virtual environment are solved, and efficient positioning guidance and orientation display are achieved.
Patent Information
- Application Number
- CN202211012711.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-08-23
- Publication Date
- 2025-05-16
- Estimated Expiration
- 2042-08-23
AI Technical Summary
Traditional positioning technology has poor experience in positioning and guidance, and cannot intuitively grasp its own positioning situation, especially in a virtual environment, which is difficult to achieve effective positioning and navigation.
By obtaining geographical related information about the architectural reference objects and the target to be located, using the metaverse to perform virtual interaction, constructing a reference object model and positioning the target virtual points in a virtual scene, realizing intuitive orientation display and reliable positioning guidance.
It provides an intuitive positioning method, which can accurately display position information in a virtual environment, enhancing the reliability and user experience of positioning guidance.
Smart Images
Figure CN115272629B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of positioning and navigation technology, and in particular to a positioning method and device. Background Art
[0002] As a virtual world, the metaverse is a virtual environment presented in a virtual time and space, which allows the experiencer to experience an immersive feeling. If necessary, it can be introduced into the virtual-reality interaction technology scene to achieve a better virtual-reality interaction effect through the integration of the real environment and the virtual environment.
[0003] Traditional positioning technology mostly adopts the display form of electronic maps. The main difference between it and traditional maps is that the maps are electronic. In terms of positioning and guidance, the usability is poor and it is impossible to grasp one's own position more intuitively.
[0004] Therefore, a positioning technology is now provided to meet current usage requirements. Summary of the invention
[0005] The present application provides a positioning method and device to obtain geographically relevant information of building reference objects and targets to be positioned, use the metaverse to perform virtual-reality interaction, and present the orientation situation more intuitively, thereby providing a reliable positioning guidance function.
[0006] To achieve the above objectives, this application provides the following solutions.
[0007] In a first aspect, the present application provides a positioning method, the method comprising the following steps:
[0008] Arrange reference object models corresponding to architectural reference objects in the virtual scene;
[0009] Based on the geographic coordinate information of the target to be located, obtaining the orientation information relative to the reference object model in the virtual scene;
[0010] If the target to be located is outside the reference object model, then based on the geographic coordinate information, geographic altitude information and the interval distance between the target to be located and each reference object model, a corresponding virtual point of the located target is constructed in the virtual scene;
[0011] If the target to be located is located inside any reference object model, an internal structure virtual scene is constructed based on the internal structure of the corresponding reference object model, and a corresponding positioning target virtual point is constructed in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model.
[0012] Furthermore, in arranging the reference object model corresponding to the building reference object in the virtual scene, the following steps are included:
[0013] Acquire the physical structure information of the building reference object and construct a corresponding reference object model;
[0014] Based on the geographic coordinate information of the building reference object, the corresponding reference object model is arranged in the virtual scene.
[0015] Furthermore, the method also includes a reference object model construction process, and the reference object model internal construction process includes the following steps:
[0016] Constructing an internal structure model of the reference object model according to the physical structure information of the building reference object;
[0017] According to the entity structure information, marking a walkable area in the internal structure model;
[0018] According to the access permission information of the building reference object, the access permission attribute is marked on the walkable area.
[0019] Furthermore, the method further includes a positioning and navigation process, and the positioning and navigation process includes the following steps:
[0020] Acquire geographic coordinate information and geographic altitude information of a target to be traveled to, and acquire a reference object model between the target to be located and the target to be traveled to;
[0021] A navigation path is planned and published according to the orientation relationship between the reference object models, the walkable area in the reference object model and the corresponding access permission attributes.
[0022] Furthermore, the method also includes a moving trend prediction process, and the moving trend prediction process includes the following steps:
[0023] Acquire the real-time geographic coordinate information, real-time moving direction and real-time moving speed of the target to be located in real time;
[0024] Calculate and obtain the simulated moving route and moving simulated coordinate information of the target to be located according to the real-time geographic coordinate information, real-time moving direction and real-time moving speed of the target to be located;
[0025] Based on the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the reference object model, the predicted mobile route and mobile predicted coordinate information of the target to be located are obtained.
[0026] Further, based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps:
[0027] When the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located indicate that the target to be located moves outside the reference object model, the predicted mobile route and mobile prediction coordinate information of the target to be located are obtained based on the predicted simulation route and mobile simulation coordinate information.
[0028] Further, based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps:
[0029] When the real-time geographic coordinate information, the predicted simulated route, and the movement simulated coordinate information of the target to be located indicate that the target to be located moves from outside the reference object model to outside the reference object model, determining whether the target to be located has the right to enter the reference object model;
[0030] If the target to be located does not have the authority to enter the reference object model, based on the predicted simulated route of the target to be located and the reference object model, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained;
[0031] If the target to be located has the authority to enter the reference object model, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained based on the predicted simulated route of the target to be located and the walkable area of the reference object model.
[0032] Further, based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps:
[0033] When the real-time geographic coordinate information, the predicted simulated route, and the mobile simulated coordinate information of the target to be located indicate that the target to be located is inside the reference object model, determining whether the target to be located has the authority to enter the walkable area through which the predicted simulated route passes;
[0034] If there is a walkable area where the target to be located does not have access rights on the predicted simulation route, based on the predicted simulation route of the target to be located and the entrance of the walkable area where the target does not have access rights, the real-time geographic coordinate information of the target to be located and the predicted simulation route are obtained;
[0035] If the target to be located has the authority to enter all the walkable areas, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained based on the predicted simulated route of the target to be located and the walkable area of the reference object model.
[0036] Furthermore, before obtaining the position information of the target to be located relative to the reference object model in the virtual scene based on the geographic coordinate information of the target to be located, the method further includes a geographic coordinate information correction process, and the geographic coordinate information correction process includes the following steps:
[0037] Obtain multiple real-time geographic coordinate information within a preset time to form a geographic coordinate array;
[0038] Calculating the standard deviation of the plurality of real-time geographic coordinate information in the geographic coordinate array, and comparing the standard deviation with a first standard deviation threshold and a second standard deviation threshold;
[0039] If the standard deviation is less than the first standard deviation threshold, then calculating an average value of a plurality of the real-time geographic coordinate information in the geographic coordinate array and recording the average value as the geographic coordinate information;
[0040] If the standard deviation is between the first standard deviation threshold and the second standard deviation threshold, the maximum value in the geographic coordinate array is removed, and the average value of the remaining multiple real-time geographic coordinate information is calculated and recorded as geographic coordinate information;
[0041] If the standard deviation is greater than the second standard deviation threshold, a coordinate error warning is issued.
[0042] In a second aspect, the present application provides a positioning device, the device comprising:
[0043] A reference object model layout module, which is used to layout reference object models corresponding to architectural reference objects in a virtual scene;
[0044] A relative position identification module, which is used to obtain the position information of the target to be located relative to the reference object model in the virtual scene based on the geographic coordinate information of the target to be located;
[0045] A virtual point layout module, which is used to construct a corresponding virtual point of the positioning target in the virtual scene based on the geographic coordinate information, geographic altitude information and the interval distance between the target and each reference object model if the target to be positioned is outside the reference object model;
[0046] The virtual point layout module is also used to construct an internal structure virtual scene based on the internal structure of the corresponding reference object model if the target to be located is located inside any reference object model, and to construct a corresponding positioning target virtual point in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model.
[0047] Furthermore, the reference object model layout module is also used to obtain the physical structure information of the building reference object and construct the corresponding reference object model;
[0048] The reference object model layout module is also used to layout the corresponding reference object model in the virtual scene based on the geographic coordinate information of the building reference object.
[0049] Furthermore, the device also includes a reference object model construction module, which is used to construct an internal structure model of the reference object model according to the physical structure information of the building reference object;
[0050] The reference object model building module is also used to mark the walkable area in the internal structure model according to the entity structure information;
[0051] The reference object model building module is also used to mark the access permission attributes to the walkable area according to the access permission information of the building reference object.
[0052] Furthermore, the device also includes a positioning and navigation module, which is used to obtain geographic coordinate information and geographic altitude information of the target to be traveled to, and obtain a reference object model between the target to be located and the target to be traveled to;
[0053] The positioning and navigation module is further used to plan and publish a navigation route according to the orientation relationship between the reference object models, the walkable area in the reference object model and the corresponding access permission attributes.
[0054] Furthermore, the device also includes a movement trend prediction module, which is used to obtain real-time geographic coordinate information, real-time movement direction and real-time movement speed of the target to be located in real time;
[0055] The movement trend prediction module is also used to calculate and obtain the simulated movement route and movement simulation coordinate information of the target to be located according to the real-time geographic coordinate information, real-time movement direction and real-time movement speed of the target to be located;
[0056] The mobile trend prediction module obtains the predicted moving route and mobile predicted coordinate information of the target to be located based on the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the reference object model.
[0057] Furthermore, the movement trend prediction module is also used to obtain the predicted movement route and movement prediction coordinate information of the target to be located based on the predicted simulation route and movement simulation coordinate information when the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located indicate that the target to be located moves outside the reference object model.
[0058] Furthermore, the movement trend prediction module is also used to determine whether the target to be located has the right to enter the reference object model when the real-time geographic coordinate information, the predicted simulation route and the movement simulation coordinate information of the target to be located indicate that the target to be located moves from outside the reference object model to outside the reference object model;
[0059] The movement trend prediction module is also used to obtain the real-time geographic coordinate information and the predicted simulation route of the target to be located based on the predicted simulation route of the target to be located and the reference object model if the target to be located does not have the authority to enter the reference object model;
[0060] The movement trend prediction module is also used to obtain the real-time geographic coordinate information and predicted simulation route of the target to be located based on the predicted simulation route of the target to be located and the walkable area of the reference object model if the target to be located has the authority to enter the reference object model.
[0061] Furthermore, the movement trend prediction module is also used to determine whether the target to be located has the authority to enter the walkable area through which the predicted simulation route passes when the real-time geographic coordinate information, the predicted simulation route and the movement simulation coordinate information of the target to be located indicate that the target to be located is inside the reference object model;
[0062] The movement trend prediction module is also used to obtain the real-time geographic coordinate information of the target to be located and the predicted simulation route based on the predicted simulation route of the target to be located and the entrance of the walkable area without access permission, if there is a walkable area where the target to be located does not have access permission on the predicted simulation route;
[0063] The movement trend prediction module is also used to obtain the real-time geographic coordinate information and predicted simulation route of the target to be located based on the predicted simulation route of the target to be located and the walkable area of the reference object model if the target to be located has the authority to enter all the walkable areas.
[0064] Furthermore, the device also includes a geographic coordinate correction module, which is used to obtain multiple real-time geographic coordinate information within a preset time to form a geographic coordinate array;
[0065] The geographic coordinate correction module is further used to calculate the standard deviation of the plurality of real-time geographic coordinate information in the geographic coordinate array, and compare it with the first standard deviation threshold and the second standard deviation threshold;
[0066] The geographic coordinate correction module is further used to calculate an average value of a plurality of the real-time geographic coordinate information in the geographic coordinate array and record the average value as geographic coordinate information if the standard deviation is less than the first standard deviation threshold;
[0067] The geographic coordinate correction module is further used for removing the maximum value in the geographic coordinate array if the standard deviation is between the first standard deviation threshold and the second standard deviation threshold, and calculating the average value of the remaining plurality of real-time geographic coordinate information as geographic coordinate information;
[0068] The geographic coordinate correction module is further configured to issue a coordinate error warning if the standard deviation is greater than the second standard deviation threshold.
[0069] The beneficial effects of the technical solution provided by this application include:
[0070] This application obtains geographically relevant information of building reference objects and targets to be located, uses the metaverse to perform virtual-reality interaction, and presents the orientation situation more intuitively, thereby providing a reliable positioning guidance function. BRIEF DESCRIPTION OF THE DRAWINGS
[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments 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 creative work.
[0072] Figure 1 A flowchart of the steps of the positioning method provided in an embodiment of the present application;
[0073] Figure 2 This is an overall flow chart of the positioning method provided in the embodiments of the present application;
[0074] Figure 3 A flowchart of the steps of the geographic coordinate information correction process in the positioning method provided in the embodiment of the present application;
[0075] Figure 4 This is a flowchart of the steps of the reference object correction process in the positioning method provided in the embodiment of the present application. DETAILED DESCRIPTION
[0076] 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 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 making creative work are within the scope of protection of this application.
[0077] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.
[0078] The embodiments of the present application provide a positioning method and device to obtain geographically relevant information of building reference objects and targets to be positioned, use the metaverse to perform virtual-reality interaction, and present the orientation situation more intuitively, thereby providing a reliable positioning guidance function.
[0079] In order to achieve the above technical effects, the overall idea of this application is as follows:
[0080] A positioning method, the method comprising the following steps:
[0081] S1. Arrange reference object models corresponding to architectural reference objects in a virtual scene;
[0082] S2. Based on the geographic coordinate information of the target to be located, obtaining the orientation information relative to the reference object model in the virtual scene;
[0083] S3. If the target to be located is outside the reference object model, a corresponding virtual point of the target to be located is constructed in the virtual scene based on the geographic coordinate information, geographic altitude information and the interval distance between the target to be located and each reference object model;
[0084] S4. If the target to be located is located inside any reference object model, an internal structure virtual scene is constructed based on the internal structure of the corresponding reference object model, and a corresponding positioning target virtual point is constructed in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model.
[0085] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.
[0086] The present invention provides a positioning method, which includes the following steps:
[0087] S1. Arrange reference object models corresponding to architectural reference objects in a virtual scene;
[0088] S2. Based on the geographic coordinate information of the target to be located, obtaining the orientation information relative to the reference object model in the virtual scene;
[0089] S3. If the target to be located is outside the reference object model, a corresponding virtual point of the target to be located is constructed in the virtual scene based on the geographic coordinate information, geographic altitude information and the interval distance between the target to be located and each reference object model;
[0090] S4. If the target to be located is located inside any reference object model, an internal structure virtual scene is constructed based on the internal structure of the corresponding reference object model, and a corresponding positioning target virtual point is constructed in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model.
[0091] It should be noted that the virtual scene in the present application can be a two-dimensional scene or a three-dimensional scene, and can be adjusted according to actual needs to meet the different usage needs and preferences of users.
[0092] In the embodiment of the present application, the first step is to construct a virtual scene and construct a corresponding reference object model according to the geographic coordinate information, geographic altitude information, and physical structure information of the building reference object; wherein,
[0093] The entity structure information includes the internal structure of the reference object and the external structure of the reference object, so as to obtain the corresponding external structure of the reference object model and the internal structure of the reference object model.
[0094] The second step is to compare the geographic coordinate information of the target to be located with the geographic coordinate information and physical structure information of the reference model, so as to know whether the target to be located is outside the reference model or inside a reference model, that is, to obtain the orientation information relative to the reference model in the virtual scene;
[0095] Among them, the reference model is often not just a point, so its geographic coordinate information can be the geographic coordinate information of its bottom center point. When combined with its design structure information, the geographic coordinate information corresponding to its other structures can be understood.
[0096] In the third step, if it is determined that the target to be located is outside the reference object model, a corresponding virtual point of the target to be located can be constructed in the virtual scene based on the geographic coordinate information, geographic altitude information and the distance between the target to be located and each reference object model;
[0097] Of course, in this case, the virtual scene can be a two-dimensional scene, that is, based on the traditional electronic map, the geographical altitude information is marked on the map through annotation and the like. Of course, if a three-dimensional scene is used, it will be more intuitive.
[0098] The fourth step is to construct a virtual scene of the internal structure based on the internal structure of the corresponding reference model if the target to be located is located inside any reference model, and to construct a corresponding virtual point of the positioning target in the virtual scene of the internal structure based on the geographic coordinate information and geographic altitude information of the target to be located and the internal structure of the reference model;
[0099] In this case, the virtual scene needs to be a three-dimensional scene, otherwise it cannot be intuitively reflected;
[0100] The external structure of the reference object model where the target to be located is located can be displayed in a semi-transparent or other visual manner to facilitate observation of its internal conditions.
[0101] In an embodiment of the present application, geographically relevant information of building reference objects and targets to be located is obtained, virtual-reality interaction is performed with the help of the metaverse, and the orientation situation is presented more intuitively, thereby providing a reliable positioning guidance function.
[0102] Furthermore, in arranging the reference object model corresponding to the building reference object in the virtual scene, the following steps are included:
[0103] Obtain the physical structure information of the building reference object and construct the corresponding reference object model;
[0104] Based on the geographic coordinate information of the building reference object, the corresponding reference object model is arranged in the virtual scene;
[0105] Among them, according to the entity structure information, the internal structure and external structure of the building reference object can be grasped so as to construct its corresponding reference object model;
[0106] Furthermore, according to the location of the reference object, it is arranged in the virtual scene, thereby realizing the arrangement of the reference object model corresponding to the architectural reference object.
[0107] Furthermore, the method also includes a reference object model construction process, and the reference object model internal construction process includes the following steps:
[0108] According to the physical structure information of the building reference object, the internal structure model of the reference object model is constructed;
[0109] According to the entity structure information, the walkable area is marked in the internal structure model;
[0110] According to the access permission information of the building reference object, the access permission attribute is marked to the walkable area.
[0111] It should be noted that, based on the above information, it can be known that the layout of the reference object model is to set the reference object model in the virtual scene, and the reference object model construction process is to construct the specific structure of the reference object model, which may include internal and external structures.
[0112] Furthermore, the method also includes a positioning and navigation process, and the positioning and navigation process includes the following steps:
[0113] Obtaining geographic coordinate information and geographic altitude information of the target to be reached, and obtaining a reference object model between the target to be located and the target to be reached;
[0114] Plan and publish navigation paths based on the orientation relationship between reference object models, the walkable area within the reference object model, and the corresponding access permission attributes.
[0115] It should be noted that in real life, buildings have access rights. Therefore, during specific operations, the access permission attributes of the reference object model, that is, the building reference object, can be obtained for the target to be located. If it can be passed, the navigation path can be through the building reference object. If there is no access permission, it is necessary to choose to detour or pass through other building reference objects with access permissions.
[0116] Furthermore, the method also includes a moving trend prediction process, and the moving trend prediction process includes the following steps:
[0117] Obtain the real-time geographic coordinate information, real-time moving direction and real-time moving speed of the target to be located in real time;
[0118] According to the real-time geographic coordinate information, real-time moving direction and real-time moving speed of the target to be located, the simulated moving route and moving simulated coordinate information of the target to be located are calculated;
[0119] Based on the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted mobile route and mobile predicted coordinate information of the target to be located are obtained.
[0120] Further, based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps:
[0121] When the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located indicate that the target to be located moves outside the reference object model, the predicted mobile route and mobile prediction coordinate information of the target to be located are obtained based on the predicted simulation route and mobile simulation coordinate information.
[0122] Further, based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps:
[0123] When the real-time geographic coordinate information, the predicted simulated route, and the mobile simulated coordinate information of the target to be located indicate that the target to be located moves from outside the reference object model to outside the reference object model, it is determined whether the target to be located has the right to enter the reference object model;
[0124] If the target to be located does not have the authority to enter the reference object model, the real-time geographic coordinate information and the predicted simulation route of the target to be located are obtained based on the predicted simulation route of the target to be located and the reference object model;
[0125] If the target to be located has the authority to enter the reference model, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained based on the predicted simulated route of the target to be located and the walkable area of the reference model.
[0126] Further, based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps:
[0127] When the real-time geographic coordinate information, the predicted simulated route, and the mobile simulated coordinate information of the target to be located indicate that the target to be located is inside the reference object model, it is determined whether the target to be located has the authority to enter the walkable area through which the predicted simulated route passes;
[0128] If there is a walkable area where the target to be located does not have access rights on the predicted simulation route, based on the predicted simulation route of the target to be located and the entrance of the walkable area where the target does not have access rights, the real-time geographic coordinate information of the target to be located and the predicted simulation route are obtained;
[0129] If the target to be located has the authority to enter all walkable areas, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained based on the predicted simulated route of the target to be located and the walkable area of the reference model.
[0130] Furthermore, before obtaining the position information of the target to be located relative to the reference object model in the virtual scene based on the geographic coordinate information, the method further includes a geographic coordinate information correction process, which includes the following steps:
[0131] Obtain multiple real-time geographic coordinate information within a preset time to form a geographic coordinate array;
[0132] Calculate the standard deviation of multiple real-time geographic coordinate information in the geographic coordinate array, and compare it with the first standard deviation threshold and the second standard deviation threshold;
[0133] If the standard deviation is less than the first standard deviation threshold, the average value of the multiple real-time geographic coordinate information in the geographic coordinate array is calculated and recorded as the geographic coordinate information;
[0134] If the standard deviation is between the first standard deviation threshold and the second standard deviation threshold, the maximum value in the geographic coordinate array is removed, and the average value of the remaining multiple real-time geographic coordinate information is calculated and recorded as the geographic coordinate information;
[0135] If the standard deviation is greater than the second standard deviation threshold, a coordinate error warning is issued.
[0136] It should be noted that, as mentioned above, the virtual scene can be two-dimensional or three-dimensional, so the geographic coordinate information correction process is described in two cases:
[0137] In the first case, if the virtual scene is a two-dimensional scene, assuming that the coordinate system includes an x-axis and a y-axis, which correspond to the longitude and latitude of the earth respectively, then the real-time geographic coordinate information is assumed to be (x, y), then the corresponding standard deviation should also be two, corresponding to the x-coordinate and the y-coordinate respectively;
[0138] Similarly, the first standard deviation threshold and the second standard deviation threshold respectively include the first standard deviation sub-threshold corresponding to the x-coordinate and the first standard deviation sub-threshold corresponding to the y-coordinate, the second standard deviation sub-threshold corresponding to the x-coordinate and the second standard deviation sub-threshold corresponding to the y-coordinate;
[0139] Of course, in this case, the average value of the real-time geographic coordinate information also corresponds to the average value of the x-coordinate and the average value of the y-coordinate, and the average value of the real-time geographic coordinate information is used as the data basis for obtaining the orientation information relative to the reference object model in the virtual scene in the second step, that is, the geographic coordinate information.
[0140] In the second case, if the virtual scene is a three-dimensional scene, assuming that the coordinate system includes an x-axis, a y-axis, and a z-axis, which correspond to the longitude and latitude of the earth and the vertical line perpendicular to the ground, respectively, then the real-time geographic coordinate information is assumed to be (x, y, z), then the corresponding standard deviation should also be three, corresponding to the x-coordinate, y-coordinate, and z-coordinate respectively;
[0141] Similarly, the first standard deviation threshold and the second standard deviation threshold respectively include the first standard deviation sub-threshold corresponding to the x-coordinate, the first standard deviation sub-threshold corresponding to the y-coordinate, and the first standard deviation sub-threshold corresponding to the z-coordinate, the second standard deviation sub-threshold corresponding to the x-coordinate, the second standard deviation sub-threshold corresponding to the y-coordinate, and the second standard deviation sub-threshold corresponding to the z-coordinate;
[0142] Of course, in this case, the average value of the real-time geographic coordinate information also corresponds to the average value of the x-coordinate, the average value of the y-coordinate and the average value of the z-coordinate, and the average value of the real-time geographic coordinate information is used as the data basis for obtaining the orientation information relative to the reference object model in the virtual scene in the second step, that is, the geographic coordinate information.
[0143] Furthermore, before arranging the reference object model corresponding to the architectural reference object in the virtual scene, the method also includes a reference object correction process, and the reference object correction process includes the following steps:
[0144] Constructing a reference object database, which is used to record the entity structure information corresponding to the reference object;
[0145] According to a preset query cycle, identify whether data changes occur in the entity structure information in the reference database;
[0146] If the entity structure information undergoes data changes, identifying whether the reference object model corresponding to the entity structure information has been deployed in the virtual scene;
[0147] If the reference object model corresponding to the entity structure information has been laid out in the virtual scene, the reference object model is reconstructed based on the latest entity structure information.
[0148] Further, according to a preset query cycle, identifying whether the entity structure information in the reference database has data changes, further includes the following steps:
[0149] If the entity structure information is deleted, identifying whether the reference object model corresponding to the entity structure information has been deployed in the virtual scene;
[0150] If the reference object model corresponding to the entity structure information has been arranged in the virtual scene, the reference object model is deleted in the virtual scene.
[0151] It should be noted that the entity structure information includes the internal structure of the reference object and the external structure of the reference object;
[0152] The reference correction process is designed to cope with the situation where the building reference undergoes structural changes or even is demolished, so as to ensure the smooth implementation of positioning work.
[0153] It should be noted that the step numbers of the steps in the embodiments of the present application do not limit the sequence of the operations in the technical solution of the present application.
[0154] Based on the same inventive concept as the method embodiment, an embodiment of the present application provides a positioning device, which includes:
[0155] A reference object model layout module, which is used to layout reference object models corresponding to architectural reference objects in a virtual scene;
[0156] A relative position identification module, which is used to obtain the position information of the target to be located relative to the reference object model in the virtual scene based on the geographic coordinate information of the target to be located;
[0157] A virtual point layout module, which is used to construct a corresponding virtual point of the positioning target in the virtual scene based on the geographic coordinate information, geographic altitude information and the interval distance between the target and each reference object model if the target to be positioned is outside the reference object model;
[0158] The virtual point layout module is also used to construct an internal structure virtual scene based on the internal structure of the corresponding reference object model if the target to be located is located inside any reference object model, and to construct a corresponding positioning target virtual point in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model.
[0159] It should be noted that the virtual scene in the present application can be a two-dimensional scene or a three-dimensional scene, and can be adjusted according to actual needs to meet the different usage needs and preferences of users.
[0160] In the embodiment of the present application, the first step is to construct a virtual scene and construct a corresponding reference object model according to the geographic coordinate information, geographic altitude information, and physical structure information of the building reference object; wherein,
[0161] The entity structure information includes the internal structure of the reference object and the external structure of the reference object, so as to obtain the corresponding external structure of the reference object model and the internal structure of the reference object model.
[0162] The second step is to compare the geographic coordinate information of the target to be located with the geographic coordinate information and physical structure information of the reference model, so as to know whether the target to be located is outside the reference model or inside a reference model, that is, to obtain the orientation information relative to the reference model in the virtual scene;
[0163] Among them, the reference model is often not just a point, so its geographic coordinate information can be the geographic coordinate information of its bottom center point. When combined with its design structure information, the geographic coordinate information corresponding to its other structures can be understood.
[0164] In the third step, if it is determined that the target to be located is outside the reference object model, a corresponding virtual point of the target to be located can be constructed in the virtual scene based on the geographic coordinate information, geographic altitude information and the distance between the target to be located and each reference object model;
[0165] Of course, in this case, the virtual scene can be a two-dimensional scene, that is, based on the traditional electronic map, the geographical altitude information is marked on the map through annotation and the like. Of course, if a three-dimensional scene is used, it will be more intuitive.
[0166] The fourth step is to construct a virtual scene of the internal structure based on the internal structure of the corresponding reference model if the target to be located is located inside any reference model, and to construct a corresponding virtual point of the positioning target in the virtual scene of the internal structure based on the geographic coordinate information and geographic altitude information of the target to be located and the internal structure of the reference model;
[0167] In this case, the virtual scene needs to be a three-dimensional scene, otherwise it cannot be intuitively reflected;
[0168] The external structure of the reference object model where the target to be located is located can be displayed in a semi-transparent or other visual manner to facilitate observation of its internal conditions.
[0169] In an embodiment of the present application, geographically relevant information of building reference objects and targets to be located is obtained, virtual-reality interaction is performed with the help of the metaverse, and the orientation situation is presented more intuitively, thereby providing a reliable positioning guidance function.
[0170] Furthermore, the reference object model layout module is also used to obtain the physical structure information of the building reference object and construct the corresponding reference object model;
[0171] The reference object model layout module is also used to layout the corresponding reference object model in the virtual scene based on the geographic coordinate information of the building reference object;
[0172] Among them, according to the entity structure information, the internal structure and external structure of the building reference object can be grasped so as to construct its corresponding reference object model;
[0173] Furthermore, according to the location of the reference object, it is arranged in the virtual scene, thereby realizing the arrangement of the reference object model corresponding to the architectural reference object.
[0174] Furthermore, the device also includes a reference object model construction module, which is used to construct an internal structure model of the reference object model according to the physical structure information of the building reference object;
[0175] The reference object model building module is also used to mark the walkable area in the internal structure model according to the entity structure information;
[0176] The reference object model building module is also used to mark the access permission attributes to the walkable area according to the access permission information of the building reference object.
[0177] It should be noted that, based on the above information, it can be known that the layout of the reference object model is to set the reference object model in the virtual scene, and the reference object model construction process is to construct the specific structure of the reference object model, which may include internal and external structures.
[0178] Furthermore, the device also includes a positioning and navigation module, which is used to obtain geographic coordinate information and geographic altitude information of the target to be traveled to, and obtain a reference object model between the target to be located and the target to be traveled to;
[0179] The positioning and navigation module is further used to plan and publish a navigation route according to the orientation relationship between the reference object models, the walkable area in the reference object model and the corresponding access permission attributes.
[0180] It should be noted that in real life, buildings have access rights. Therefore, during specific operations, the access permission attributes of the reference object model, that is, the building reference object, can be obtained for the target to be located. If it can be passed, the navigation path can be through the building reference object. If there is no access permission, it is necessary to choose to detour or pass through other building reference objects with access permissions.
[0181] Furthermore, the device also includes a movement trend prediction module, which is used to obtain real-time geographic coordinate information, real-time movement direction and real-time movement speed of the target to be located in real time;
[0182] The movement trend prediction module is also used to calculate and obtain the simulated movement route and movement simulation coordinate information of the target to be located according to the real-time geographic coordinate information, real-time movement direction and real-time movement speed of the target to be located;
[0183] The mobile trend prediction module obtains the predicted moving route and mobile predicted coordinate information of the target to be located based on the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the reference object model.
[0184] Furthermore, the movement trend prediction module is also used to obtain the predicted movement route and movement prediction coordinate information of the target to be located based on the predicted simulation route and movement simulation coordinate information when the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located indicate that the target to be located moves outside the reference object model.
[0185] Furthermore, the movement trend prediction module is also used to determine whether the target to be located has the right to enter the reference object model when the real-time geographic coordinate information, the predicted simulation route and the movement simulation coordinate information of the target to be located indicate that the target to be located moves from outside the reference object model to outside the reference object model;
[0186] The movement trend prediction module is also used to obtain the real-time geographic coordinate information and the predicted simulation route of the target to be located based on the predicted simulation route of the target to be located and the reference object model if the target to be located does not have the authority to enter the reference object model;
[0187] The movement trend prediction module is also used to obtain the real-time geographic coordinate information and predicted simulation route of the target to be located based on the predicted simulation route of the target to be located and the walkable area of the reference object model if the target to be located has the authority to enter the reference object model.
[0188] Furthermore, the movement trend prediction module is also used to determine whether the target to be located has the authority to enter the walkable area through which the predicted simulation route passes when the real-time geographic coordinate information, the predicted simulation route and the movement simulation coordinate information of the target to be located indicate that the target to be located is inside the reference object model;
[0189] The movement trend prediction module is also used to obtain the real-time geographic coordinate information of the target to be located and the predicted simulation route based on the predicted simulation route of the target to be located and the entrance of the walkable area without access permission, if there is a walkable area where the target to be located does not have access permission on the predicted simulation route;
[0190] The movement trend prediction module is also used to obtain the real-time geographic coordinate information and predicted simulation route of the target to be located based on the predicted simulation route of the target to be located and the walkable area of the reference object model if the target to be located has the authority to enter all the walkable areas.
[0191] Furthermore, the device also includes a geographic coordinate correction module, which is used to obtain multiple real-time geographic coordinate information within a preset time to form a geographic coordinate array;
[0192] The geographic coordinate correction module is further used to calculate the standard deviation of the plurality of real-time geographic coordinate information in the geographic coordinate array, and compare it with the first standard deviation threshold and the second standard deviation threshold;
[0193] The geographic coordinate correction module is further used to calculate an average value of a plurality of the real-time geographic coordinate information in the geographic coordinate array and record the average value as geographic coordinate information if the standard deviation is less than the first standard deviation threshold;
[0194] The geographic coordinate correction module is further used for removing the maximum value in the geographic coordinate array if the standard deviation is between the first standard deviation threshold and the second standard deviation threshold, and calculating the average value of the remaining plurality of real-time geographic coordinate information as geographic coordinate information;
[0195] The geographic coordinate correction module is further configured to issue a coordinate error warning if the standard deviation is greater than the second standard deviation threshold.
[0196] It should be noted that, as mentioned above, the virtual scene can be two-dimensional or three-dimensional, so the geographic coordinate information correction process is described in two cases:
[0197] In the first case, if the virtual scene is a two-dimensional scene, assuming that the coordinate system includes an x-axis and a y-axis, which correspond to the longitude and latitude of the earth respectively, then the real-time geographic coordinate information is assumed to be (x, y), then the corresponding standard deviation should also be two, corresponding to the x-coordinate and the y-coordinate respectively;
[0198] Similarly, the first standard deviation threshold and the second standard deviation threshold respectively include the first standard deviation sub-threshold corresponding to the x-coordinate and the first standard deviation sub-threshold corresponding to the y-coordinate, the second standard deviation sub-threshold corresponding to the x-coordinate and the second standard deviation sub-threshold corresponding to the y-coordinate;
[0199] Of course, in this case, the average value of the real-time geographic coordinate information also corresponds to the average value of the x-coordinate and the average value of the y-coordinate, and the average value of the real-time geographic coordinate information is used as the data basis for obtaining the orientation information relative to the reference object model in the virtual scene in the second step, that is, the geographic coordinate information.
[0200] In the second case, if the virtual scene is a three-dimensional scene, assuming that the coordinate system includes an x-axis, a y-axis, and a z-axis, which correspond to the longitude and latitude of the earth and the vertical line perpendicular to the ground, respectively, then the real-time geographic coordinate information is assumed to be (x, y, z), then the corresponding standard deviation should also be three, corresponding to the x-coordinate, y-coordinate, and z-coordinate respectively;
[0201] Similarly, the first standard deviation threshold and the second standard deviation threshold respectively include the first standard deviation sub-threshold corresponding to the x-coordinate, the first standard deviation sub-threshold corresponding to the y-coordinate, and the first standard deviation sub-threshold corresponding to the z-coordinate, the second standard deviation sub-threshold corresponding to the x-coordinate, the second standard deviation sub-threshold corresponding to the y-coordinate, and the second standard deviation sub-threshold corresponding to the z-coordinate;
[0202] Of course, in this case, the average value of the real-time geographic coordinate information also corresponds to the average value of the x-coordinate, the average value of the y-coordinate and the average value of the z-coordinate, and the average value of the real-time geographic coordinate information is used as the data basis for obtaining the orientation information relative to the reference object model in the virtual scene in the second step, that is, the geographic coordinate information.
[0203] Furthermore, the device also includes a reference correction module, which is used to construct a reference database, which is used to record the physical structure information corresponding to the reference object;
[0204] The reference object correction module is also used to identify whether data changes occur in the entity structure information in the reference object database according to a preset query cycle;
[0205] The reference object correction module is also used to identify whether the reference object model corresponding to the entity structure information has been deployed in the virtual scene if the entity structure information has data changes;
[0206] The reference object correction module is also used to reconstruct the reference object model based on the latest entity structure information if the reference object model corresponding to the entity structure information has been arranged in the virtual scene.
[0207] Furthermore, when the reference object correction module identifies whether the entity structure information in the reference object database has data changes according to the preset query cycle, the following operations are included:
[0208] If the entity structure information is deleted, identifying whether the reference object model corresponding to the entity structure information has been deployed in the virtual scene;
[0209] If the reference object model corresponding to the entity structure information has been arranged in the virtual scene, the reference object model is deleted in the virtual scene.
[0210] It should be noted that the entity structure information includes the internal structure of the reference object and the external structure of the reference object;
[0211] The reference correction process is designed to cope with the situation where the building reference undergoes structural changes or even is demolished, so as to ensure the smooth implementation of positioning work.
[0212] It should be noted that the positioning device provided in the embodiment of the present application, and its corresponding technical problems, technical means and technical effects are similar to the principles of the positioning method in terms of principle.
[0213] It should be noted that, in this application, relational terms such as "first" and "second" 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 presence of other identical elements in the process, method, article or device including the elements.
[0214] The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.
Claims
1. A positioning method, characterized in that: The method comprises the following steps: Arrange reference object models corresponding to architectural reference objects in the virtual scene; Based on the geographic coordinate information of the target to be located, the orientation information relative to the reference object model in the virtual scene is obtained; If the target to be located is outside the reference object model, then based on the geographic coordinate information, geographic altitude information and the interval distance between the target to be located and each reference object model, a corresponding virtual point of the located target is constructed in the virtual scene; If the target to be located is located inside any reference object model, an internal structure virtual scene is constructed based on the internal structure of the corresponding reference object model, and a corresponding virtual point of the positioning target is constructed in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model; The method further includes a reference object model construction process, wherein the reference object model construction process includes the following steps: Constructing an internal structure model of the reference object model according to the physical structure information of the building reference object; According to the entity structure information, marking a walkable area in the internal structure model; According to the access permission information of the building reference object, marking the access permission attribute to the walkable area; The method further includes a moving trend prediction process, which includes the following steps: Acquire the real-time geographic coordinate information, real-time moving direction and real-time moving speed of the target to be located in real time; Calculate and obtain the simulated moving route and moving simulated coordinate information of the target to be located according to the real-time geographic coordinate information, real-time moving direction and real-time moving speed of the target to be located; Based on the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the reference object model, the predicted mobile route and mobile predicted coordinate information of the target to be located are obtained.
2. The positioning method according to claim 1, characterized in that: In arranging the reference object model corresponding to the building reference object in the virtual scene, the following steps are included: Acquire the physical structure information of the building reference object and construct a corresponding reference object model; Based on the geographic coordinate information of the building reference object, the corresponding reference object model is arranged in the virtual scene.
3. The positioning method according to claim 1, characterized in that: The method further includes a positioning and navigation process, and the positioning and navigation process includes the following steps: Acquire geographic coordinate information and geographic altitude information of a target to be traveled to, and acquire a reference object model between the target to be located and the target to be traveled to; A navigation path is planned and published according to the orientation relationship between the reference object models, the walkable area in the reference object model and the corresponding access permission attributes.
4. The positioning method according to claim 1, characterized in that: Based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps: When the real-time geographic coordinate information, predicted simulation route and mobile simulation coordinate information of the target to be located indicate that the target to be located moves outside the reference object model, the predicted mobile route and mobile prediction coordinate information of the target to be located are obtained based on the predicted simulation route and mobile simulation coordinate information.
5. The positioning method according to claim 1, characterized in that: Based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps: When the real-time geographic coordinate information, the predicted simulated route, and the movement simulated coordinate information of the target to be located indicate that the target to be located moves from outside the reference object model to outside the reference object model, determining whether the target to be located has the right to enter the reference object model; If the target to be located does not have the authority to enter the reference object model, based on the predicted simulated route of the target to be located and the reference object model, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained; If the target to be located has the authority to enter the reference object model, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained based on the predicted simulated route of the target to be located and the walkable area of the reference object model.
6. The positioning method according to claim 1, characterized in that: Based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the walkable area of the reference object model, the predicted movement route and movement prediction coordinate information of the target to be located are obtained, including the following steps: When the real-time geographic coordinate information, the predicted simulated route, and the mobile simulated coordinate information of the target to be located indicate that the target to be located is inside the reference object model, determining whether the target to be located has the authority to enter the walkable area through which the predicted simulated route passes; If there is a walkable area where the target to be located does not have access rights on the predicted simulation route, based on the predicted simulation route of the target to be located and the entrance of the walkable area where the target does not have access rights, the real-time geographic coordinate information of the target to be located and the predicted simulation route are obtained; If the target to be located has the authority to enter all the walkable areas, the real-time geographic coordinate information and the predicted simulated route of the target to be located are obtained based on the predicted simulated route of the target to be located and the walkable area of the reference object model.
7. The positioning method according to claim 1, characterized in that: Before obtaining the orientation information of the target to be located relative to the reference object model in the virtual scene based on the geographic coordinate information of the target to be located, the method further includes a geographic coordinate information correction process, and the geographic coordinate information correction process includes the following steps: Obtain multiple real-time geographic coordinate information within a preset time to form a geographic coordinate array; Calculating the standard deviation of the plurality of real-time geographic coordinate information in the geographic coordinate array, and comparing the standard deviation with a first standard deviation threshold and a second standard deviation threshold; If the standard deviation is less than the first standard deviation threshold, then calculating an average value of a plurality of the real-time geographic coordinate information in the geographic coordinate array and recording the average value as the geographic coordinate information; If the standard deviation is between the first standard deviation threshold and the second standard deviation threshold, the maximum value in the geographic coordinate array is removed, and the average value of the remaining plurality of real-time geographic coordinate information is calculated and recorded as geographic coordinate information; If the standard deviation is greater than the second standard deviation threshold, a coordinate error warning is issued.
8. A positioning device, characterized in that: The device comprises: A reference object model layout module, which is used to layout reference object models corresponding to architectural reference objects in a virtual scene; A relative position identification module, which is used to obtain the position information of the target to be located relative to the reference model in the virtual scene based on the geographic coordinate information of the target to be located; A virtual point layout module, which is used to construct a corresponding virtual point of the positioning target in the virtual scene based on the geographic coordinate information, geographic altitude information and the interval distance between the target and each reference object model if the target to be positioned is outside the reference object model; The virtual point layout module is also used to construct an internal structure virtual scene based on the internal structure of the corresponding reference object model if the target to be located is located inside any reference object model, and to construct a corresponding positioning target virtual point in the internal structure virtual scene based on the geographic coordinate information, geographic altitude information of the target to be located and the internal structure of the reference object model; The device also includes a reference object model construction module, which is used to construct an internal structure model of the reference object model according to the physical structure information of the building reference object; The reference object model building module is also used to mark the walkable area in the internal structure model according to the entity structure information; The reference object model building module is also used to mark the access permission attribute to the walkable area according to the access permission information of the building reference object; The device also includes a movement trend prediction module, which is used to obtain real-time geographic coordinate information, real-time movement direction and real-time movement speed of the target to be located; The movement trend prediction module is also used to calculate and obtain the simulated movement route and movement simulation coordinate information of the target to be located according to the real-time geographic coordinate information, real-time movement direction and real-time movement speed of the target to be located; The movement trend prediction module obtains the predicted movement route and movement prediction coordinate information of the target to be located based on the real-time geographic coordinate information, predicted simulation route and movement simulation coordinate information of the target to be located, and the geographic coordinate information, physical structure information and access permission attributes of the reference object model.
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