A positioning method, device and terminal

Abstract

The present invention provides a positioning method, device and terminal, the positioning method comprising: receiving positioning information sent by multiple roadside devices; determining the estimated air interface position of the terminal and the position information of multiple icons around the roadside devices according to the positioning information; determining a candidate icon set according to the position information of the icons and the estimated air interface position of the terminal, the candidate icon set including multiple candidate icons closest to the estimated air interface position; determining the relative position relationship between the terminal and each candidate icon based on visual positioning, and determining the candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, the candidate position set including the candidate position of the terminal determined based on each candidate icon in the candidate icon set; determining the final positioning position of the terminal according to the estimated air interface position and the candidate position set. The scheme of the present invention can realize the integration of air interface positioning and visual positioning, and improve positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a positioning method, device and terminal. Background Art

[0002] The location information of the vehicle and the related positioning technology are the core of the Internet of Vehicles technology. They are not only related to the safety of the vehicle during driving, but also affect the safety of other traffic participants and the development of Internet of Vehicles applications. At present, the positioning method of the Internet of Vehicles mainly relies on the Global Navigation Satellite System (GNSS). However, when the vehicle is in complex environments such as urban canyons, overpasses, viaducts, underground parking lots, tunnels, etc., it may not be able to receive satellite signals, resulting in reduced positioning accuracy or even inability to locate. In order to solve the positioning problem in the absence of GNSS signals, a road test device (Road-Side-Unit, RSU) can be laid on the roadside, and the vehicle can be located through LTE-V2X air interface communication between the RSU and the on-board equipment (On-Board Unit, OBU). The generally used method is Time Difference Of Arrival (TDOA) positioning.

[0003] Due to the complex environment of urban canyons, overpasses, viaducts, underground parking lots, etc., when wireless signals propagate in them, they will be interfered by the environment, and the air interface positioning accuracy is usually at the meter level, which cannot meet the requirements of autonomous driving. In the existing positioning scheme, the position of the vehicle can be obtained through visual positioning by setting environmental landmarks, and the positioning accuracy can reach the centimeter level. Compared with other environmental landmarks, the recognition algorithm of QR codes has less computational complexity and is simpler and easier to use. The camera sensor can directly recognize and extract the QR code information, and the vehicle calculates through the recognition results of the camera to estimate the current posture. In the process of using QR codes to assist vehicle positioning, in theory, the camera can easily recognize and extract the data information contained in the QR code to perform reliable vehicle positioning. However, in actual application, there will be situations where the camera cannot accurately capture the QR code pattern in real time due to reasons such as lighting or the vehicle moving too fast, resulting in positioning failure. In addition, QR codes are usually printed on paper and then pasted on the wall or floor. As a result, the pattern information will inevitably be partially lost or incompletely blocked in the pattern captured by the camera due to factors such as stains or damage on the code body, resulting in decoding failure. Summary of the invention

[0004] The embodiments of the present invention provide a positioning method, device and terminal, which are used to solve the problem in the prior art that when a vehicle is positioned, positioning cannot be performed or the positioning accuracy is low due to environmental restrictions or damaged positioning road signs.

[0005] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] An embodiment of the present invention provides a positioning method, which is applied to a terminal and includes:

[0007] Receive positioning information sent by multiple roadside devices;

[0008] Determine, according to the positioning information, an estimated air interface position of the terminal and position information of a plurality of icons around the roadside equipment;

[0009] Determine a candidate icon set according to the position information of the icon and the estimated air interface position of the terminal, wherein the candidate icon set includes a plurality of candidate icons that are closest to the estimated air interface position;

[0010] Based on visual positioning, determine the relative position relationship between the terminal and each of the candidate icons, and determine a candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, wherein the candidate position set includes the candidate positions of the terminal determined based on each candidate icon in the candidate icon set;

[0011] The final positioning position of the terminal is determined according to the air interface estimated position and the candidate position set.

[0012] Optionally, receiving positioning information sent by multiple roadside devices includes:

[0013] Receiving identification numbers of the roadside devices, location information of the roadside devices, and location information of icons sent by multiple roadside devices; or

[0014] The location information of the roadside device and the location information of the icon are acquired through an electronic map, and the identity identification number of the roadside device sent by a plurality of roadside devices is received.

[0015] Optionally, determining, according to the positioning information, an estimated air interface position of the terminal includes:

[0016] The estimated air interface position of the terminal is determined according to the sending time of the positioning information, the receiving time of the positioning information, and the position information of the plurality of roadside devices.

[0017] Optionally, determining the relative position relationship between the terminal and each of the candidate icons based on visual positioning includes:

[0018] Determine, according to the position coordinates of each of the candidate icons, a plurality of pose matrices of the camera corresponding to the terminal;

[0019] Perform matrix transformation on each posture matrix of the camera to obtain the relative position relationship between the terminal and each of the candidate icons.

[0020] Optionally, determining a final positioning position of the terminal according to the air interface estimated position and the candidate position set includes:

[0021] The candidate position of the terminal that is closest to the air interface estimated position in the candidate position set is used to determine the final positioning position of the terminal.

[0022] Optionally, the icon is any one of the following:

[0023] QR code identification;

[0024] Text logo;

[0025] Symbol identification;

[0026] Graphic identity.

[0027] Optionally, when the roadside devices are distributed linearly, receiving positioning information sent by a plurality of roadside devices includes:

[0028] Receive positioning information sent by two roadside devices.

[0029] An embodiment of the present invention further provides a terminal, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the positioning method as described in any one of the above items.

[0030] The embodiment of the present invention further provides a positioning device, applied to a terminal, comprising:

[0031] A receiving module, used for receiving positioning information sent by multiple roadside devices;

[0032] A first determination module, configured to determine, based on the positioning information, an estimated air interface position of the terminal and position information of a plurality of icons around the roadside equipment;

[0033] A second determining module, configured to determine a candidate icon set according to the position information of the icon and the estimated air interface position of the terminal, wherein the candidate icon set includes a plurality of candidate icons that are closest to the estimated air interface position;

[0034] a third determination module, configured to determine a relative position relationship between the terminal and each of the candidate icons based on visual positioning, and determine a candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, wherein the candidate position set includes candidate positions of the terminal determined based on each candidate icon in the candidate icon set;

[0035] The fourth determination module is used to determine the final positioning position of the terminal according to the air interface estimated position and the candidate position set.

[0036] Optionally, the receiving module includes:

[0037] A first receiving unit is configured to receive the identity number of the roadside device, the location information of the roadside device, and the location information of the icon sent by multiple roadside devices; or

[0038] The second receiving unit is used to obtain the location information of the roadside device and the location information of the icon through an electronic map, and to receive the identity identification number of the roadside device sent by multiple roadside devices.

[0039] Optionally, the first determining module includes:

[0040] The first determining unit is used to determine the estimated air interface position of the terminal according to the sending time of the positioning information, the receiving time of the positioning information and the position information of the plurality of roadside devices.

[0041] Optionally, the third determining module includes:

[0042] A second determining unit, configured to determine a plurality of pose matrices of a camera corresponding to the terminal according to the position coordinates of each of the candidate icons;

[0043] A matrix conversion unit is used to perform matrix conversion on each posture matrix of the camera to obtain a relative position relationship between the terminal and each of the candidate icons.

[0044] Optionally, the fourth determining module includes:

[0045] The third determining unit is configured to determine a final positioning position of the terminal using the candidate position of the terminal that is closest to the air interface estimated position in the candidate position set.

[0046] Optionally, the icon is any one of the following:

[0047] QR code identification;

[0048] Text logo;

[0049] Symbol identification;

[0050] Graphic identity.

[0051] Optionally, when the roadside equipment is distributed linearly, the receiving module is used to:

[0052] Receive positioning information sent by two roadside devices.

[0053] An embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the positioning method as described in any one of the above items are implemented.

[0054] The beneficial effects of the present invention are:

[0055] The scheme of the present invention receives positioning information sent by multiple roadside devices; determines the estimated air interface position of the terminal and the position information of multiple icons around the roadside device based on the positioning information, so as to achieve air interface positioning; determines a candidate icon set based on the position information of the icon and the estimated air interface position of the terminal, and the candidate icon set includes multiple candidate icons that are closest to the estimated air interface position; determines the relative position relationship between the terminal and each of the candidate icons based on visual positioning, and determines the candidate position set of the terminal based on the position information of the candidate icons and the relative position relationship, and the candidate position set includes the candidate position of the terminal determined based on each candidate icon in the candidate icon set, so as to achieve visual positioning; determines the final positioning position of the terminal based on the estimated air interface position and the candidate position set, so as to improve the positioning accuracy through the fusion of air interface positioning and visual positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 One of the flowcharts of the positioning method provided by the embodiment of the present invention;

[0057] Figure 2 A schematic diagram showing the format of positioning information provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram showing the visual positioning of icons provided by an embodiment of the present invention;

[0059] Figure 4 A second flowchart showing a positioning method provided by an embodiment of the present invention;

[0060] Figure 5 One of the schematic diagrams showing the positioning process provided by the embodiment of the present invention;

[0061] Figure 6 A second schematic diagram showing a positioning process provided by an embodiment of the present invention;

[0062] Figure 7 A schematic diagram showing the structure of a terminal provided by an embodiment of the present invention;

[0063] Figure 8 A schematic diagram showing the structure of a positioning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0065] The present invention aims to provide a positioning method, device and terminal to solve the problem in the prior art that, when a vehicle is positioned, it is impossible to position the vehicle or the positioning accuracy is low due to environmental restrictions or damaged positioning road signs.

[0066] like Figure 1 As shown, an embodiment of the present invention provides a positioning method, which is applied to a terminal, including:

[0067] Step 101: Receive positioning information sent by multiple roadside devices.

[0068] In the embodiment of the present invention, the terminal is a vehicle. Preferably, the terminal is an on-board device OBU on the vehicle. In the embodiment of the present invention, the terminal is an on-board device OBU as an example for description.

[0069] The vehicle-mounted device OBU receives positioning information sent by at least two roadside devices RSU. Each roadside device RSU sends one positioning information, that is, the vehicle-mounted device OBU receives at least two positioning information, so that the vehicle-mounted device can perform subsequent air interface positioning according to the OBU.

[0070] Step 102: Determine the estimated air interface position of the terminal and the position information of multiple icons around the roadside equipment according to the positioning information.

[0071] In an embodiment of the present invention, the vehicle-mounted device OBU determines the estimated air interface position of the vehicle-mounted device OBU according to the positioning information, that is, the estimated air interface position of the vehicle, and can also obtain multiple icon position information around the road test device according to the positioning information to achieve air interface positioning of the vehicle.

[0072] Step 103: Determine a candidate icon set according to the position information of the icon and the estimated air interface position of the terminal, wherein the candidate icon set includes a plurality of candidate icons that are closest to the estimated air interface position.

[0073] In an embodiment of the present invention, based on the determined air interface estimated position of the on-board equipment OBU, multiple candidate icons closest to the air interface estimated position are determined. Optionally, icons within a preset distance from the air interface estimated position can be selected as candidate icons. Alternatively, based on the distance between the icon and the air interface estimated position and in accordance with the principle of from far to near, a preset number of multiple icons closest to the air interface estimated position can be selected as candidate icons, and the selected candidate icons can be used as a candidate icon set.

[0074] Step 104: Based on visual positioning, determine the relative position relationship between the terminal and each of the candidate icons, and determine a candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, wherein the candidate position set includes candidate positions of the terminal determined based on each candidate icon in the candidate icon set.

[0075] It should be noted that since air interface positioning is greatly affected by environmental factors and the positioning accuracy is relatively low, in an embodiment of the present invention, the relative position relationship between the vehicle-mounted equipment OBU and each candidate icon is determined through visual positioning technology. Based on the relative position relationship, the candidate position of the vehicle-mounted equipment OBU corresponding to each candidate icon is determined, that is, the candidate position of the vehicle. By taking all the candidate positions of the vehicle as a candidate position set, visual positioning of the vehicle position can be achieved.

[0076] Step 105: Determine the final positioning position of the terminal according to the air interface estimated position and the candidate position set.

[0077] In the embodiment of the present invention, the final position of the terminal, that is, the final position of the vehicle, is determined based on the air interface estimated position and the candidate position set, which can realize the fusion of air interface positioning and visual positioning and improve the positioning accuracy of the vehicle.

[0078] Optionally, receiving positioning information sent by multiple roadside devices includes:

[0079] Receiving identification numbers of the roadside devices, location information of the roadside devices, and location information of icons sent by multiple roadside devices; or

[0080] The location information of the roadside device and the location information of the icon are acquired through an electronic map, and the identity identification number of the roadside device sent by a plurality of roadside devices is received.

[0081] In the embodiment of the present invention, the roadside equipment RSU sends positioning information to the on-board equipment OBU in two cases: when the electronic map is not loaded on the vehicle or the electronic map does not store the position information of the RSU and the icon information near the RSU, that is, when the on-board equipment OBU cannot obtain the position information of the RSU and the icon information near the RSU through the electronic map, the positioning information sent by the roadside equipment RSU to the on-board equipment OBU includes: the identity identification number (Identity, ID) of the RSU, the RSU position information and the icon position information, and the format is as follows: Figure 2As shown, RSU ID is the ID of the local RSU, RSU location information is the location information of the local RSU, and icon location information is the location information of N icons near the local RSU, where N is greater than or equal to 1. When the on-board device OBU on the vehicle can obtain the location information of the RSU and the icon information near the RSU through an electronic map or other means, the positioning information sent by the roadside device RSU to the on-board device OBU only includes: RSU ID, where RSU ID is the ID of the local RSU.

[0082] Optionally, determining, according to the positioning information, an estimated air interface position of the terminal includes:

[0083] The estimated air interface position of the terminal is determined according to the sending time of the positioning information, the receiving time of the positioning information, and the position information of the plurality of roadside devices.

[0084] In the embodiment of the present invention, after the vehicle-mounted device OBU receives the positioning information sent by multiple roadside devices RSU, it locates the air interface estimated position of the vehicle-mounted device OBU according to the TDOA principle. Assume that the vehicle-mounted device OBU receives the positioning information of n RSUs, where the position of RSU is (x RSU,i ,y RSU,i ,z RSU,i ), i = 1, 2, ..., n, the time difference between the time when the vehicle-mounted equipment OBU receives the positioning information sent by multiple roadside equipment RSU and the time when the roadside equipment RSU sends the positioning information to the vehicle-mounted equipment OBU is Δt i , i = 1, 2, ..., n, the estimated position of the air interface of the vehicle-mounted equipment OBU can be obtained by the following formula:

[0085]

[0086] Among them, Δt is the clock deviation between the vehicle-mounted equipment OBU and the roadside equipment RSU, c is the speed of light, It is the air interface positioning result of the vehicle-mounted equipment OBU.

[0087] Afterwards, the vehicle-mounted equipment OBU will use the air interface positioning results And the icon location information in the positioning information sent by the roadside equipment RSU to determine the distance to the air interface positioning result The three nearest candidate icon positions (x tag,i ,y tag,i ,z tag,i ),i=1,2,3,as the candidate icon set.

[0088] Optionally, determining the relative position relationship between the terminal and each of the candidate icons based on visual positioning includes:

[0089] Determine, according to the position coordinates of each of the candidate icons, a plurality of pose matrices of the camera corresponding to the terminal;

[0090] Perform matrix transformation on each posture matrix of the camera to obtain the relative position relationship between the terminal and each of the candidate icons.

[0091] In the embodiment of the present invention, please refer to Figure 3 Based on visual positioning, the vehicle-mounted device OBU determines the relative position relationship between the vehicle-mounted device OBU and each candidate icon, and according to the relative position relationship between the vehicle-mounted device OBU and each candidate icon and the three candidate icon positions in the above candidate icon set (x tag,i ,y tag,i ,z tag,i ), i = 1, 2, 3, determine the three candidate locations of the vehicle-mounted equipment OBU (x o,i ,y o,i ,z o,i ),i=1,2,3,as the candidate position set.

[0092] It should be noted that the spacing between icons should meet the following requirements:

[0093] 2d e ≤d tag ≤d max

[0094] Among them, d e is the maximum value of the air interface positioning error, d max is the maximum distance allowed by visual positioning when the accuracy requirement is met, d tag is the spacing between icons.

[0095] The following specifically describes the process of determining the position of the candidate icon according to the relative position relationship between the vehicle-mounted device OBU and each candidate icon:

[0096] Pre-measure the 3D coordinates of m icons, namely P i ,i=1,2,…,m, by solving:

[0097]

[0098] The position and posture matrix of the camera shooting the icon can be obtained, and then the candidate position set of OBU can be obtained through coordinate transformation. Among them, u i is the corresponding pixel coordinate, T is the camera pose matrix, K is the camera intrinsic parameter matrix, P i is the 3D coordinate of the i-th icon, z i P i The depth in camera coordinates.

[0099] Optionally, determining a final positioning position of the terminal according to the air interface estimated position and the candidate position set includes:

[0100] The candidate position of the terminal that is closest to the air interface estimated position in the candidate position set is used to determine the final positioning position of the terminal.

[0101] In the embodiment of the present invention, based on the least squares method, the distance air interface positioning result is selected The nearest OBU candidate location set The coordinates in are used as the final positioning result of the OBU, that is, the final positioning result of the vehicle position, that is:

[0102]

[0103] Optionally, the icon is any one of the following:

[0104] QR code identification;

[0105] Text logo;

[0106] Symbol identification;

[0107] Graphic identity.

[0108] In the embodiment of the present invention, the icon is an artificial mark such as a QR code, text, symbol, or graphic, and the icon is only used for positioning and does not convey information, which can reduce the impact of stains or damage on positioning accuracy.

[0109] Optionally, when the roadside devices are distributed linearly, receiving positioning information sent by a plurality of roadside devices includes:

[0110] Receive positioning information sent by two roadside devices.

[0111] In an embodiment of the present invention, when the roadside equipment is linearly distributed, such as when a vehicle is traveling in a tunnel environment, the number of RSU anchor nodes required for TODA calculation is reduced by performing dimensionality reduction processing on the position solution, and then the positioning accuracy is ensured by a small number of RSUs and icon position information.

[0112] Combine the following Figure 4 , and explain the positioning method in detail.

[0113] RSU sends positioning information to OBU; OBU receives the positioning information and calculates the estimated air interface position of OBU based on the positioning information; OBU determines the candidate icon position set closest to OBU based on the estimated air interface position; OBU determines the relative position relationship between OBU and the candidate icons based on visual positioning, and determines the candidate position set of OBU, that is, the vehicle candidate position set, based on the relative position relationship; OBU determines the final precise positioning result of the vehicle based on the estimated air interface position and the vehicle candidate position set.

[0114] The following two specific examples illustrate the positioning method process:

[0115] See also Figure 5 , assuming that RSU1, RSU2, RSU3 and RSU4 have entered the synchronization state, and OBU1 obtains the three-dimensional coordinates (x RSU,i ,y RSU,i ,z RSU,i ), i = 1, 2, 3, 4, the clock difference between OBU1 and RSU is Δt, and the time difference between the time when OBU receives the positioning information sent by RSU and the time when RSU sends the positioning information is Δt i , i = 1, 2, ..., n, then the estimated air interface position of OBU1 And Δt can be obtained by solving the following equation:

[0116]

[0117]

[0118]

[0119]

[0120] Where c is the speed of light.

[0121] Assume that the vehicle camera detects icon tag6, and selects the distance from the estimated air interface position according to the air interface positioning result, that is, the estimated air interface position. The positions of the three nearest icons (tag4, tag5, and tag6) are used as the candidate icon position set (x tag,i ,y tag,i ,z tag,i ), i = 4, 5, 6, based on visual positioning, determine the relative position relationship between the OBU (vehicle) and the icon, and determine the candidate position set of the vehicle Based on the least squares principle, select the candidate position set of the vehicle Mid-range air interface estimated position The nearest coordinates are taken as the final positioning result of the vehicle, that is,

[0122] See also Figure 6 For environments such as tunnels, since RSUs are generally distributed linearly, air interface positioning can usually only provide one-dimensional positioning results, that is, the position of the OBU along the lane. At this time, the number of RSUs based on TDOA positioning can be reduced to 2. Assume that RSU1, RSU2, RSU3 and RSU4 have entered the synchronization state, and OBU1 obtains the three-dimensional coordinates (x RSU,i ,y RSU,i ,z RSU,i ), i = 3, 4. The clock difference between OBU1 and RSU is Δt, and the deviation between the time when OBU receives the RSU positioning message and the time when RSU sends it is Δt i , i = 3, 4. Then the position of OBU1 along the lane And Δt can be obtained by solving the following equation:

[0123]

[0124]

[0125] Where c is the speed of light, and Determined by the coordinates of the RSU.

[0126] Assume that the vehicle camera detects icon tag6, and selects the distance from the estimated air interface position according to the air interface positioning result, that is, the estimated air interface position. The positions of the three nearest icons (tag4, tag5, and tag6) are used as the candidate icon position set (x tag,i ,y tag,i ,z tag,i ), i = 4, 5, 6, based on visual positioning, determine the relative position relationship between the OBU (vehicle) and the icon, and determine the candidate position set of the vehicle Based on the least squares principle, select the candidate position set of the vehicle Mid-range air interface estimated position The nearest coordinates are taken as the final positioning result of the vehicle, that is,

[0127] like Figure 7As shown, an embodiment of the present invention also provides a terminal, including a processor 700; and a memory 710 connected to the processor 700 through a bus interface, the memory 710 is used to store programs and data used by the processor 700 when performing operations, and the processor 700 calls and executes the programs and data stored in the memory 710.

[0128] The user equipment further includes a transceiver 720 , which is connected to the bus interface and is used to receive and send data under the control of the processor 700 ; the processor 700 is used to read the program in the memory 710 .

[0129] Specifically, the transceiver 720 is used to receive positioning information sent by multiple roadside devices.

[0130] The processor 700 is used to determine the estimated air interface position of the terminal and the position information of multiple icons around the roadside equipment based on the positioning information; and, based on the position information of the icons and the estimated air interface position of the terminal, determine a candidate icon set, the candidate icon set including multiple candidate icons that are closest to the estimated air interface position; and, based on visual positioning, determine the relative position relationship between the terminal and each of the candidate icons, and determine the candidate position set of the terminal based on the position information of the candidate icons and the relative position relationship, the candidate position set including the candidate position of the terminal determined based on each candidate icon in the candidate icon set; and, based on the estimated air interface position and the candidate position set, determine the final positioning position of the terminal.

[0131] Optionally, the transceiver 720 is specifically used to receive the identity identification number of the roadside device, the location information of the roadside device and the location information of the icon sent by multiple roadside devices; or

[0132] The location information of the roadside device and the location information of the icon are acquired through an electronic map, and the identity identification number of the roadside device sent by a plurality of roadside devices is received.

[0133] Optionally, the processor 700 is specifically configured to determine the estimated air interface position of the terminal according to the sending time of the positioning information, the receiving time of the positioning information, and the position information of a plurality of the roadside devices.

[0134] Optionally, the processor 700 is specifically used to determine multiple pose matrices of the camera corresponding to the terminal according to the position coordinates of each candidate icon; and perform matrix transformation on each pose matrix of the camera to obtain the relative position relationship between the terminal and each candidate icon.

[0135] Optionally, the processor 700 is specifically configured to determine the final positioning position of the terminal using the candidate position of the terminal that is closest to the air interface estimated position in the candidate position set.

[0136] Optionally, the icon is any one of the following:

[0137] QR code identification;

[0138] Text logo;

[0139] Symbol identification;

[0140] Graphic identity.

[0141] Optionally, the transceiver 720 is also used to receive positioning information sent by two roadside devices.

[0142] Among them, Figure 7 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 700 and various circuits of memory represented by memory 710 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 720 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 730 may also be an interface capable of externally connecting or internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 710 may store data used by the processor 700 when performing operations.

[0143] like Figure 8 As shown, an embodiment of the present invention further provides a positioning device, applied to a terminal, comprising:

[0144] The receiving module 801 is used to receive positioning information sent by multiple roadside devices;

[0145] A first determining module 802 is used to determine the estimated air interface position of the terminal and the position information of multiple icons around the roadside equipment according to the positioning information;

[0146] A second determining module 803 is used to determine a candidate icon set according to the position information of the icon and the estimated air interface position of the terminal, wherein the candidate icon set includes a plurality of candidate icons that are closest to the estimated air interface position;

[0147] A third determination module 804 is used to determine the relative position relationship between the terminal and each of the candidate icons based on visual positioning, and determine a candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, wherein the candidate position set includes the candidate positions of the terminal determined based on each candidate icon in the candidate icon set;

[0148] The fourth determining module 805 is configured to determine a final positioning position of the terminal according to the air interface estimated position and the candidate position set.

[0149] The device provided by the embodiment of the present invention can realize air interface positioning by receiving positioning information sent by multiple roadside devices; determining the estimated air interface position of the terminal and the position information of multiple icons around the roadside device based on the positioning information; determining a candidate icon set based on the position information of the icon and the estimated air interface position of the terminal, the candidate icon set including multiple candidate icons that are closest to the estimated air interface position; determining the relative position relationship between the terminal and each of the candidate icons based on visual positioning, and determining the candidate position set of the terminal based on the position information of the candidate icons and the relative position relationship, the candidate position set including the candidate position of the terminal determined based on each candidate icon in the candidate icon set, so as to realize visual positioning; determining the final positioning position of the terminal based on the estimated air interface position and the candidate position set, so as to realize the fusion of air interface positioning and visual positioning to improve the positioning accuracy.

[0150] Optionally, the receiving module 801 includes:

[0151] A first receiving unit is configured to receive the identity number of the roadside device, the location information of the roadside device, and the location information of the icon sent by multiple roadside devices; or

[0152] The second receiving unit is used to obtain the location information of the roadside device and the location information of the icon through an electronic map, and receive the identity identification number of the roadside device sent by multiple roadside devices.

[0153] Optionally, the first determining module 802 includes:

[0154] The first determining unit is used to determine the estimated air interface position of the terminal according to the sending time of the positioning information, the receiving time of the positioning information and the position information of the plurality of roadside devices.

[0155] Optionally, the third determining module 803 includes:

[0156] A second determining unit, configured to determine a plurality of posture matrices of a camera corresponding to the terminal according to the position coordinates of each of the candidate icons;

[0157] A matrix conversion unit is used to perform matrix conversion on each posture matrix of the camera to obtain a relative position relationship between the terminal and each of the candidate icons.

[0158] Optionally, the fourth determining module 805 includes:

[0159] The third determining unit is configured to determine a final positioning position of the terminal using the candidate position of the terminal that is closest to the air interface estimated position in the candidate position set.

[0160] Optionally, the icon is any one of the following:

[0161] QR code identification;

[0162] Text logo;

[0163] Symbol identification;

[0164] Graphic identity.

[0165] Optionally, when the roadside equipment is distributed linearly, the receiving module 801 is used to:

[0166] Receive positioning information sent by two roadside devices.

[0167] It should be noted that the positioning device provided in the embodiment of the present invention is a device capable of executing the above positioning method, so all embodiments of the above positioning method are applicable to the device and can achieve the same or similar technical effects.

[0168] An embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the positioning method as described in any one of the above items are implemented.

[0169] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0170] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0171] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A positioning method, applied to a terminal, It is characterized in that include: Receive positioning information sent by multiple roadside devices; Determine, according to the positioning information, an estimated air interface position of the terminal and position information of a plurality of icons around the roadside equipment; Determine a candidate icon set according to the position information of the icon and the estimated air interface position of the terminal, wherein the candidate icon set includes a plurality of candidate icons that are closest to the estimated air interface position; Based on visual positioning, determine the relative position relationship between the terminal and each of the candidate icons, and determine a candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, wherein the candidate position set includes the candidate positions of the terminal determined based on each candidate icon in the candidate icon set; Determining a final positioning position of the terminal according to the air interface estimated position and the candidate position set; Wherein, determining the relative position relationship between the terminal and each of the candidate icons based on visual positioning includes: Determine, according to the position coordinates of each of the candidate icons, a plurality of pose matrices of the camera corresponding to the terminal; Perform matrix transformation on each posture matrix of the camera to obtain the relative position relationship between the terminal and each of the candidate icons.

2. The positioning method according to claim 1, It is characterized in that Receive positioning information sent by multiple roadside devices, including: Receiving identification numbers of the roadside devices, location information of the roadside devices, and location information of icons sent by multiple roadside devices; or The location information of the roadside device and the location information of the icon are acquired through an electronic map, and the identity identification number of the roadside device sent by a plurality of roadside devices is received.

3. The positioning method according to claim 2, It is characterized in that Determining, according to the positioning information, an estimated air interface position of the terminal, including: The estimated air interface position of the terminal is determined according to the sending time of the positioning information, the receiving time of the positioning information, and the position information of the plurality of roadside devices.

4. The positioning method according to claim 1, It is characterized in that Determining a final positioning position of the terminal according to the air interface estimated position and the candidate position set includes: The candidate position of the terminal that is closest to the air interface estimated position in the candidate position set is used to determine the final positioning position of the terminal.

5. The positioning method according to claim 1, It is characterized in that The icon is any of the following: QR code identification; Text logo; Symbol identification; Graphic identity.

6. The positioning method according to claim 1, It is characterized in that In the case where the roadside devices are linearly distributed, receiving positioning information sent by a plurality of roadside devices includes: Receive positioning information sent by two roadside devices.

7. A terminal, It is characterized in that The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the positioning method as claimed in any one of claims 1 to 6.

8. A positioning device, applied to a terminal, It is characterized in that include: A receiving module, used for receiving positioning information sent by multiple roadside devices; A first determination module, configured to determine the estimated air interface position of the terminal and the positions of multiple icons around the roadside equipment according to the positioning information; A second determining module, configured to determine a candidate icon set according to the position information of the icon and the estimated air interface position of the terminal, wherein the candidate icon set includes a plurality of candidate icons that are closest to the estimated air interface position; a third determination module, configured to determine a relative position relationship between the terminal and each of the candidate icons based on visual positioning, and determine a candidate position set of the terminal according to the position information of the candidate icons and the relative position relationship, wherein the candidate position set includes candidate positions of the terminal determined based on each candidate icon in the candidate icon set; A fourth determination module, configured to determine a final positioning position of the terminal according to the air interface estimated position and the candidate position set; Wherein, the third determination module includes: A second determining unit, configured to determine a plurality of posture matrices of a camera corresponding to the terminal according to the position coordinates of each of the candidate icons; A matrix conversion unit is used to perform matrix conversion on each posture matrix of the camera to obtain a relative position relationship between the terminal and each of the candidate icons.

9. A readable storage medium, It is characterized in that The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the positioning method according to any one of claims 1 to 6 are implemented.

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