Positioning method, positioning apparatus, positioning system, and computing device

Abstract

The embodiment of the present application relates to the technical field of positioning, and discloses a positioning method, which comprises the following steps: acquiring current image data; the current image data is an image captured by a camera arranged on a terminal device on a space above the terminal device, and a plurality of markers are arranged in the space above the terminal device; calculating target angles between each two markers and the terminal device according to the current image data; and determining a target position of the terminal device according to a corresponding relationship between the target angles and coordinates of the terminal device. Through the above method, the embodiment of the present application achieves the beneficial effect of effectively improving indoor positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, specifically to a positioning method, positioning device, positioning system, computing device, and computer-readable storage medium. Background Technology

[0002] Currently, for outdoor environments, the mainstream outdoor positioning technology—Global Navigation Satellite System (GNSS)—can achieve meter-level positioning in open outdoor environments. However, in indoor environments, where people spend 80% of their daily lives, GNSS cannot meet the needs of high-precision positioning due to building obstruction and multipath effects. Accurate positioning plays a crucial role in various applications, and high-precision positioning methods are fundamental to many higher-level applications, including emergency safety, smart warehousing, crowd monitoring, precision marketing, mobile health, and virtual reality games. In recent years, the consumer demand for high-precision positioning in indoor environments has shown a growing trend. However, the inventors of this application have discovered that existing positioning methods have relatively low positioning accuracy. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a positioning method, a positioning device, a computing device, and a computer-readable storage medium to solve the technical problem of low positioning accuracy in the prior art.

[0004] According to one aspect of the present invention, a positioning method is provided, the method comprising:

[0005] Acquire current image data; the current image data is an image captured by a camera installed on the terminal device of the space above the terminal device, and the space above the terminal device is provided with multiple markers;

[0006] Calculate the target angles between each pair of markers and the terminal device based on the current image data;

[0007] The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0008] In an alternative approach, before calculating the target angle between each pair of markers and the terminal device based on the current image data, the method further includes: constructing a relative coordinate system with the camera as the origin, wherein the imaging focal plane of the camera is parallel to the xoy plane of the relative coordinate system.

[0009] In one optional approach, calculating the target angle between each pair of markers and the terminal device based on the current image data includes: determining the projection information of the markers and the terminal device on the imaging focal plane in a relative coordinate system based on the current image data and the parameter information of the camera; and calculating the target angle between each pair of markers and the terminal device based on the projection information.

[0010] In one optional approach, determining the projection information of the target marker on the imaging focal plane in the relative coordinate system based on the current image data and the camera's parameter information includes: determining, based on the current image data and the parameter information, a first projection point of the m-th marker captured by the camera on the imaging focal plane, the center point of the imaging focal plane, and a second projection point of the n-th marker on the imaging focal plane; and determining a first projection angle and a second projection angle based on the first projection point, the second projection point, and the focal length; wherein the first projection angle is P. m O c T m Angle; where P m As the first projection point, the O c Let T be the center point. m For P m The foot of the perpendicular to the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the included angle of the second projection is P. n O c T n Angle; where P n As the first projection point, the O c Let T be the center point. n For P n The foot of the perpendicular from the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the first object-image angle and the second object-image angle are determined according to the first projection point, the second projection point, and the focal length of the camera; wherein, the first object-image angle is the angle between the line segment from the first projection point to the camera and the z-axis of the relative coordinate system, and the second object-image angle is the angle between the line segment from the second projection point to the camera and the z-axis of the relative coordinate system; the expression of the m-th marker is determined according to the first object-image angle and the first projection angle, and the expression of the n-th marker is determined according to the second object-image angle, i.e., the second projection angle; the target angle between the m-th marker and the n-th marker is determined according to the expressions of the m-th marker and the n-th marker.

[0011] In one optional approach, determining the target angle between the m-th marker and the n-th marker based on the expressions of the m-th marker and the n-th marker includes: at marker L m and sign L n Assume two positions S on the straight line leading to terminal device U. m and S n , among which, S m and S n The distance to user U is r; then S m and S n They are represented as follows:

[0012]

[0013]

[0014] The target angle γ is obtained using the following formula. mn cosine value:

[0015]

[0016] In one optional approach, determining the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device includes:

[0017] Based on the optimal solution expression and the search feasible region, find the optimal solution for the terminal device coordinates corresponding to the target angle;

[0018] The optimal solution expression is:

[0019]

[0020] Where, γ′ mn (x u y u , z u (x) represents the assumed coordinates of the terminal device. u y u , z u The precise angle value represented by ) is K, where K is the number of markers;

[0021] The feasible search domain is:

[0022] (x u y u , z u )∈Φ f (x u y u , z u ).

[0023] According to another aspect of the present invention, a positioning device is provided, comprising:

[0024] The acquisition module is used to acquire current image data; the current image data is an image captured by a camera set on the terminal device of the space above the terminal device, and the space above the terminal device is provided with multiple markers;

[0025] The calculation module is used to calculate the target angle between each pair of markers and the terminal device based on the current image data;

[0026] The determination module is used to determine the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device.

[0027] According to another aspect of the present invention, a positioning system is provided, the positioning system comprising: a plurality of markers arranged in an upper space and a terminal device with a camera; the terminal device being used to perform the positioning method as described above.

[0028] According to another aspect of the present invention, a computing device is provided, comprising:

[0029] The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus.

[0030] The memory is used to store at least one executable instruction that causes the processor to perform the operation of the positioning method.

[0031] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction, which, when executed on a computing device, causes the computing device to perform the operation of the computing method.

[0032] This invention improves indoor positioning accuracy by acquiring current image data, which is an image captured by a camera on a terminal device of the space above the terminal device. The space above the terminal device has multiple markers. The target angle between each pair of markers and the terminal device is calculated based on the current image data. The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0033] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0034] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0035] Figure 1 A flowchart illustrating the positioning method provided in an embodiment of the present invention is shown;

[0036] Figure 2 This diagram illustrates the calculation of the target angle in the positioning method provided by an embodiment of the present invention.

[0037] Figure 3 This diagram illustrates the structure of the terminal device and the marker in the positioning method provided by an embodiment of the present invention.

[0038] Figure 4 A schematic diagram of the positioning device provided in an embodiment of the present invention is shown;

[0039] Figure 5 A schematic diagram of the structure of a computing device provided in an embodiment of the present invention is shown. Detailed Implementation

[0040] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0041] Currently, for outdoor environments, the mainstream outdoor positioning technology—Global Navigation Satellite System (GNSS)—can achieve meter-level positioning in open outdoor environments. However, in indoor environments, where people spend 80% of their daily lives, GNSS cannot meet the needs of high-precision positioning due to building obstruction and multipath effects. Accurate positioning plays a crucial role in various applications, and high-precision positioning methods are fundamental to many higher-level applications, including emergency safety, smart warehousing, crowd monitoring, precision marketing, mobile health, and virtual reality gaming. In recent years, the consumer demand for high-precision positioning in indoor environments has shown a steadily increasing trend.

[0042] Current positioning methods include Wi-Fi positioning, ultrasonic positioning, and Bluetooth positioning. Among these, Wi-Fi positioning is one of the more mature and widely used technologies, mainly divided into two types. The first type uses the signal strength of a mobile device and three wireless network access points, employing a differential algorithm to perform relatively accurate triangulation of a person or vehicle, but its average positioning error is over 6 meters. The second type pre-records a massive amount of signal strength at known location points, achieving accurate positioning by comparing the signal strength of newly added devices with this vast database. This method can improve positioning accuracy to some extent, but the rapid growth of the database leads to increased operating and maintenance costs, hindering large-scale deployment. Ultrasonic positioning primarily uses reflective ranging, determining the object's position through methods such as polygonal positioning. The system consists of a master rangefinder and several receivers. The master rangefinder can be placed on the target, while the receivers are fixed in fixed positions. During positioning, a signal of the same frequency is emitted to the receivers, which then reflect it back to the master rangefinder. The distance is calculated based on the time difference between the emitted and reflected waves, thus determining the location. Bluetooth positioning technology is similar to Wi-Fi positioning technology, but with slightly higher accuracy. Bluetooth positioning requires a Bluetooth module in the device and an external Bluetooth base station. The advantages of this technology are its small device size and ease of operation; positioning is achieved simply by enabling the device's Bluetooth function.

[0043] However, among existing positioning technologies, Wi-Fi positioning achieves a relatively high accuracy of only 1-2 meters, with an average error of 5.2 meters, making precise positioning impossible. Ultrasonic positioning offers higher overall accuracy and a simpler structure, but ultrasonic waves are significantly affected by multipath effects and non-line-of-sight propagation. Furthermore, ultrasonic frequencies are influenced by the Doppler effect and temperature, and require substantial basic hardware infrastructure, resulting in higher costs. Bluetooth positioning suffers from weak anti-interference capabilities and relatively low stability.

[0044] Based on this, this application proposes a positioning method and device that can greatly improve positioning accuracy and is less susceptible to interference.

[0045] Figure 1 A flowchart of a positioning method provided by an embodiment of the present invention is shown. This method is executed by a computing device. The computing device can be a terminal device in the positioning system with a camera, or a terminal device in the positioning system connected to a camera. The camera is used to acquire images of the space above the terminal device. The positioning system also includes markers disposed in the space above the terminal device, specifically LED lights installed on an indoor ceiling. Figure 1 As shown, the method includes the following steps:

[0046] Step 110: Obtain current image data; the current image data is an image captured by a camera set on the terminal device of the space above the terminal device, and the space above the device is provided with multiple markers.

[0047] In this embodiment of the invention, the absolute coordinates of each marker are known and pre-stored in the terminal device. Specifically, the markers can be LED lights, with LED lights of different colors positioned at different locations on the indoor ceiling. These LED lights can be arranged according to a certain distance pattern or randomly; this embodiment of the invention does not impose specific limitations. The position coordinates of each LED light can be distinguished by its emission wavelength (i.e., different colors). In other words, the terminal device pre-stores the correspondence between the color of the LED light and its absolute coordinates. The parameters of the camera are known and also pre-stored in the terminal device. The camera's shooting range covers the area of ​​at least two markers.

[0048] Step 120: Calculate the target angle between each pair of markers and the terminal device based on the current image data.

[0049] In this embodiment of the invention, before calculating the target angle between each pair of markers and the terminal device based on the current image data, a relative coordinate system with the camera as the origin is constructed, and the imaging focal plane of the camera is parallel to the xoy plane of the relative coordinate system. The center point of the imaging focal plane is the point through which the z-axis of the relative coordinate system passes, that is, the point on the imaging focal plane where the camera is projected orthogonally. The camera can be abstracted as a point; specifically, the position of the camera's center can be taken as the camera's position. In this embodiment of the invention, since the camera is mounted on the terminal device and the distance between the terminal device and the LED light is relatively large, the terminal device and the camera can be considered as one position.

[0050] Specifically, determining the target angle in this embodiment of the invention includes the following steps:

[0051] Step 1201: Based on the current image data and the parameter information of the camera, determine the target marker in the relative coordinate system and the projection information of the terminal device on the imaging focal plane.

[0052] in, Figure 2 The angle γ at which the m-th LED Lm and the n-th LED Ln reach the terminal device U is shown. m，n A measurement schematic diagram is provided. The projection information of the markers and the terminal device on the imaging focal plane in the relative coordinate system includes: the position of each marker on the imaging focal plane, the position of the terminal device on the imaging focal plane, the first projection angle, the second projection angle, the first object-image angle, and the second object-image angle. For example... Figure 2 As shown, Oc P is the center point of the camera's imaging focal plane. m For the m-th identifier L m At the first projection point on the imaging focal plane of the camera, P n For the nth identifier L n The second projection point O on the imaging focal plane c T m and O c T n The focal plane of the image passes through the center point O. c P is a line segment parallel to the x-axis of the relative coordinate system. m T m Perpendicular to O c T m T m For the foot of the perpendicular, T n Similarly.

[0053] Among them, P m and O c The coordinates can be obtained from the camera's parameter information. Since all projection points are on the imaging focal plane, the z-coordinates of all projection points are the same. m The x-axis and y-axis coordinates are respectively related to P m and O c The same, therefore, we can obtain P. m O c With T m O c The first projection angle between Similarly, we can obtain P n O c With T n O c The first projection angle between

[0054] Specifically, we can obtain:

[0055]

[0056]

[0057] Since the coordinates of terminal device U and the vertical distance from the ceiling to the terminal device are known, based on the camera's parameter information and the information in the current image data, P can be obtained by measuring the markers in the current image data and using the parameter information. m and O c The coordinates of P, therefore P m U and O c The first object-image angle θ between U (i.e., the relative coordinate system z-axis) and U. m , and P nU and O c The first object-image angle θ between U and U n They are respectively:

[0058]

[0059]

[0060] Among them, O c U represents the focal length of the camera.

[0061] Step 1202: Calculate the target angle between each pair of markers and the terminal device based on the projection information.

[0062] Due to the symmetry of the object and image, the line passing through the origin of the marker and the line passing through the origin of the image projection point are the same straight line. Therefore, the angle between this straight line and the z-axis of the coordinate system is also the first object-image angle and the second object-image angle. Thus, it can be determined through θ... m and To represent the m-th identifier L m Coordinates in a relative coordinate system, expressed by θ n and To represent the nth identifier L n Coordinates in a relative coordinate system. Specifically, the m-th LED and the n-th LED (L) on the ceiling. m and L n The position can be represented by θ and Represented as:

[0063]

[0064]

[0065] Where, r m and r n The m-th identifier L m And the distance from the nth marker to the terminal device.

[0066] In the sign L m and sign L n Assume two positions S on the straight line leading to terminal device U (that is, the line from the two markers to the origin). m and S n S m and S n The distance to user U is r, and L is... m and L n The angle reaching the terminal device U is converted to S. m and S n The angle at which S reaches the terminal device U. m and S nThey are represented as follows:

[0067]

[0068]

[0069] Therefore, we can obtain:

[0070]

[0071] Therefore, the target angle γ m，n The cosine value is expressed as:

[0072]

[0073] The already calculated first projection angle Second projection angle The angle between the first object and the image is θ m and the angle θ between the second object and the image n Substituting into the above formula, we obtain the target angle γ. m，n .

[0074] Step 130: Determine the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device.

[0075] In embodiments of the present invention, such as Figure 3 As shown, since the angle between any two markers and the terminal device remains constant in any coordinate system, in this embodiment of the invention, the target angle between any two markers and the terminal device remains constant in both the absolute coordinate system (geocentric coordinate system) and the relative coordinate system. Specifically, the absolute coordinates L of the markers on the ceiling are known. k (x l，k y l，k , z l，k ) represents the coordinates of the k-th LED, γ m，n

[0076] Let be the target angle between the m-th and n-th LEDs and the terminal device.

[0077]

[0078] Among them, v u and v l，m These are the coordinates of the terminal device and the coordinates of the m-th marker, respectively. u -v l，m Let v be the vector pointing from the m-th marker to the terminal device. A fundamental premise of image-based high-precision positioning is the invariance of the angle of arrival; regardless of the coordinate system, the target angles of the m-th and n-th markers reaching the terminal device remain constant. The absolute coordinate system is v = (x, y, z).T And the relative coordinate system v′=(x′,y′,z′) T The relationship can be represented as:

[0079] v=Gv′+Δ

[0080] Here, G is a transformation matrix that satisfies G T G = I3, where I3 is a 3×3 identity matrix; Δ is a 3×1 vector representing the movement of the origin in both coordinate systems. The cosine values ​​of the target angles of the m-th and n-th markers in the absolute coordinate system are:

[0081]

[0082] It can be seen that the target angle γ m，n The value of does not change with the coordinate system. Therefore, regardless of the angle of the receiver of the terminal device, it will not affect the measured value of the angle, nor will it affect the positioning.

[0083] Therefore, after obtaining the target angle, it is only necessary to determine the coordinates of the terminal device corresponding to the target angle. Thus, this is transformed into finding the optimal solution for the terminal device coordinates corresponding to the target angle.

[0084] expression:

[0085] Searchable feasible region: (x u y u , z u )∈Φ f (x u y u , z u )

[0086] In this embodiment of the invention, the output is the coordinates of the terminal device that minimizes the above expression within the search feasible region. This embodiment requires distinguishing different markers based on their color or shape; for example, the wavelength of an LED can correspond to different LED colors. Wherein, γ... m，n Let γ′ be the target angle of the m-th and n-th markers. m，n (x u y u , z u (x) represents the coordinates of the assumed terminal device. u y u , z uThe precise angle value represented by () can be used to solve the above problem using the Method of Exhaustion (MEX) and the Least-Square Method (LSM) to obtain the coordinates of the terminal device. The MEX algorithm is effective when the number of LEDs is small because its search space is only three-dimensional. However, as the number of LEDs increases, the objective function increases dramatically, leading to an exponential increase in computational complexity. Therefore, the MEX algorithm is extremely effective when the number of LEDs involved in positioning is small. The MEX algorithm cannot be applied to large-scale LED scenarios. The LSM algorithm has a computation speed of less than one millisecond, but its positioning accuracy is lower than that of the MEX algorithm. The LSM algorithm is relatively complex and will not be elaborated here. Its main idea is to reduce the dimensionality of the three-dimensional positioning problem based on spatial geometry theory. The LSM algorithm requires the LED array to be arranged in an "X" shape to transform the problem of solving a nonlinear equation system into a problem of solving a linear equation system. In this embodiment of the invention, the absolute coordinates of LEDs (pixels) in an image captured by a terminal camera are known, and different LEDs can be distinguished based on their color. The user's coordinates are deduced by measuring the angles between each pair of LEDs and the terminal, achieving rapid and accurate estimation of the user's position. This image-based visible light precision positioning system achieves the highest level of positioning accuracy at a low cost. Supported by the MEX (Method of Exhaustion) algorithm, a positioning error as small as 3.2 cm can be achieved, and the terminal device can be positioned at any angle. Furthermore, multiple LEDs only need to be within the camera's field of view to complete the positioning.

[0087] This invention improves indoor positioning accuracy by acquiring current image data, which is an image captured by a camera on a terminal device of the space above the terminal device. The space above the terminal device has multiple markers. The target angle between each pair of markers and the terminal device is calculated based on the current image data. The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0088] Figure 4 A schematic diagram of the positioning device provided in an embodiment of the present invention is shown. Figure 4 As shown, the device 300 includes: an acquisition module 310, a calculation module 320, and a determination module 330.

[0089] The acquisition module 310 is used to acquire current image data; the current image data is an image captured by a camera set on the terminal device of the space above the terminal device, and the space above the terminal device is provided with multiple markers;

[0090] The calculation module 320 is used to calculate the target angle between each pair of markers and the terminal device based on the current image data;

[0091] The determining module 330 is used to determine the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device.

[0092] Before calculating the target angle between each pair of markers and the terminal device based on the current image data, the method further includes: constructing a relative coordinate system with a camera as the origin, wherein the imaging focal plane of the camera is parallel to the xoy plane of the relative coordinate system.

[0093] In one optional approach, calculating the target angle between each pair of markers and the terminal device based on the current image data includes: determining the projection information of the markers and the terminal device on the imaging focal plane in a relative coordinate system based on the current image data and the parameter information of the camera; and calculating the target angle between each pair of markers and the terminal device based on the projection information.

[0094] In one optional approach, determining the projection information of the target marker on the imaging focal plane in the relative coordinate system based on the current image data and the camera's parameter information includes: determining, based on the current image data and the parameter information, a first projection point of the m-th marker captured by the camera on the imaging focal plane, the center point of the imaging focal plane, and a second projection point of the n-th marker on the imaging focal plane; and determining a first projection angle and a second projection angle based on the first projection point, the second projection point, and the focal length; wherein the first projection angle is P. m O c T m Angle; where P m As the first projection point, the O c Let T be the center point. m For P m The foot of the perpendicular to the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the included angle of the second projection is P. n O c T n Angle; where P n As the first projection point, the O c Let T be the center point. n For P nThe foot of the perpendicular from the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the first object-image angle and the second object-image angle are determined according to the first projection point, the second projection point, and the focal length of the camera; wherein, the first object-image angle is the angle between the line segment from the first projection point to the camera and the z-axis of the relative coordinate system, and the second object-image angle is the angle between the line segment from the second projection point to the camera and the z-axis of the relative coordinate system; the expression of the m-th marker is determined according to the first object-image angle and the first projection angle, and the expression of the n-th marker is determined according to the second object-image angle, i.e., the second projection angle; the target angle between the m-th marker and the n-th marker is determined according to the expressions of the m-th marker and the n-th marker.

[0095] In one optional approach, determining the target angle between the m-th marker and the n-th marker based on the expressions of the m-th marker and the n-th marker includes: at marker L m and sign L n Assume two positions S on the straight line leading to terminal device U. m and S n , among which, S m and S n The distance to user U is r; then S m and S n They are represented as follows:

[0096]

[0097]

[0098] The target angle γ is obtained using the following formula. mn cosine value:

[0099]

[0100] In one optional approach, determining the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device includes:

[0101] Based on the optimal solution expression and the search feasible region, find the optimal solution for the terminal device coordinates corresponding to the target angle;

[0102] The optimal solution expression is:

[0103]

[0104] Where, γ′ mn (x u yu , z u (x) represents the assumed coordinates of the terminal device. u y u , z u The precise angle value represented by ) is K, where K is the number of markers;

[0105] The feasible search domain is:

[0106] (x u y u , z u )∈Φ f (x u y u , z u ).

[0107] The specific working steps of the positioning device in this embodiment are largely the same as the specific process steps of the positioning method in the above embodiments, and will not be repeated here.

[0108] This invention improves indoor positioning accuracy by acquiring current image data, which is an image captured by a camera on a terminal device of the space above the terminal device. The space above the terminal device has multiple markers. The target angle between each pair of markers and the terminal device is calculated based on the current image data. The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0109] According to another aspect of the present invention, a positioning system is provided, the positioning system comprising: a plurality of markers arranged in an upper space and a terminal device with a camera; the terminal device being used to perform the positioning method as described above.

[0110] Figure 5 The diagram shows a structural schematic of a computing device provided in an embodiment of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the computing device.

[0111] like Figure 5 As shown, the computing device may include: a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0112] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. Communication interface 404 is used to communicate with other network elements such as clients or other servers. The processor 402 executes program 410, specifically performing the relevant steps described above in the positioning method embodiment.

[0113] Specifically, program 410 may include program code, which includes computer-executable instructions.

[0114] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The computing device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0115] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0116] Specifically, program 410 can be called by processor 402 to cause the computing device to perform the following operations:

[0117] Acquire current image data; the current image data is an image captured by a camera installed on the terminal device of the space above the terminal device, and the space above the terminal device is provided with multiple markers;

[0118] Calculate the target angles between each pair of markers and the terminal device based on the current image data;

[0119] The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0120] Before calculating the target angle between each pair of markers and the terminal device based on the current image data, the method further includes: constructing a relative coordinate system with a camera as the origin, wherein the imaging focal plane of the camera is parallel to the xoy plane of the relative coordinate system.

[0121] In one optional approach, calculating the target angle between each pair of markers and the terminal device based on the current image data includes: determining the projection information of the markers and the terminal device on the imaging focal plane in a relative coordinate system based on the current image data and the parameter information of the camera; and calculating the target angle between each pair of markers and the terminal device based on the projection information.

[0122] In one optional approach, determining the projection information of the target marker on the imaging focal plane in the relative coordinate system based on the current image data and the camera's parameter information includes: determining, based on the current image data and the parameter information, a first projection point of the m-th marker captured by the camera on the imaging focal plane, the center point of the imaging focal plane, and a second projection point of the n-th marker on the imaging focal plane; and determining a first projection angle and a second projection angle based on the first projection point, the second projection point, and the focal length; wherein the first projection angle is P. m O c T m Angle; where P m As the first projection point, the O c Let T be the center point. m For P m The foot of the perpendicular to the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the included angle of the second projection is P. n O c T n Angle; where P n As the first projection point, the O c Let T be the center point. n For P n The foot of the perpendicular from the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the first object-image angle and the second object-image angle are determined according to the first projection point, the second projection point, and the focal length of the camera; wherein, the first object-image angle is the angle between the line segment from the first projection point to the camera and the z-axis of the relative coordinate system, and the second object-image angle is the angle between the line segment from the second projection point to the camera and the z-axis of the relative coordinate system; the expression of the m-th marker is determined according to the first object-image angle and the first projection angle, and the expression of the n-th marker is determined according to the second object-image angle, i.e., the second projection angle; the target angle between the m-th marker and the n-th marker is determined according to the expressions of the m-th marker and the n-th marker.

[0123] In one optional approach, determining the target angle between the m-th marker and the n-th marker based on the expressions of the m-th marker and the n-th marker includes: at marker L m and sign L n Assume two positions S on the straight line leading to terminal device U. m and S n , among which, S m and S n The distance to user U is r; then S m and Sn They are represented as follows:

[0124]

[0125]

[0126] The target angle γ is obtained using the following formula. mn cosine value:

[0127]

[0128] In one optional approach, determining the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device includes:

[0129] Based on the optimal solution expression and the search feasible region, find the optimal solution for the terminal device coordinates corresponding to the target angle;

[0130] The optimal solution expression is:

[0131]

[0132] Where, γ′ mn (x u y u , z u (x) represents the assumed coordinates of the terminal device. u y u , z u The precise angle value represented by ) is K, where K is the number of markers;

[0133] The feasible search domain is:

[0134] (x u y u , z u )∈Φ f (x u y u , z u ).

[0135] This invention improves indoor positioning accuracy by acquiring current image data, which is an image captured by a camera on a terminal device of the space above the terminal device. The space above the terminal device has multiple markers. The target angle between each pair of markers and the terminal device is calculated based on the current image data. The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0136] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a computing device, causes the computing device to perform the positioning method in any of the above method embodiments.

[0137] Executable instructions can be used to cause a computing device to perform the following operations:

[0138] Acquire current image data; the current image data is an image captured by a camera installed on the terminal device of the space above the terminal device, and the space above the terminal device is provided with multiple markers;

[0139] Calculate the target angles between each pair of markers and the terminal device based on the current image data;

[0140] The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0141] Before calculating the target angle between each pair of markers and the terminal device based on the current image data, the method further includes: constructing a relative coordinate system with a camera as the origin, wherein the imaging focal plane of the camera is parallel to the xoy plane of the relative coordinate system.

[0142] In one optional approach, calculating the target angle between each pair of markers and the terminal device based on the current image data includes: determining the projection information of the markers and the terminal device on the imaging focal plane in a relative coordinate system based on the current image data and the parameter information of the camera; and calculating the target angle between each pair of markers and the terminal device based on the projection information.

[0143] In one optional approach, determining the projection information of the target marker on the imaging focal plane in the relative coordinate system based on the current image data and the camera's parameter information includes: determining, based on the current image data and the parameter information, a first projection point of the m-th marker captured by the camera on the imaging focal plane, the center point of the imaging focal plane, and a second projection point of the n-th marker on the imaging focal plane; and determining a first projection angle and a second projection angle based on the first projection point, the second projection point, and the focal length; wherein the first projection angle is P. m O c T m Angle; where P m As the first projection point, the O c Let T be the center point. m For P mThe foot of the perpendicular to the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the included angle of the second projection is P. n O c T n Angle; where P n As the first projection point, the O c Let T be the center point. n For P n The foot of the perpendicular from the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the first object-image angle and the second object-image angle are determined according to the first projection point, the second projection point, and the focal length of the camera; wherein, the first object-image angle is the angle between the line segment from the first projection point to the camera and the z-axis of the relative coordinate system, and the second object-image angle is the angle between the line segment from the second projection point to the camera and the z-axis of the relative coordinate system; the expression of the m-th marker is determined according to the first object-image angle and the first projection angle, and the expression of the n-th marker is determined according to the second object-image angle, i.e., the second projection angle; the target angle between the m-th marker and the n-th marker is determined according to the expressions of the m-th marker and the n-th marker.

[0144] In one optional approach, determining the target angle between the m-th marker and the n-th marker based on the expressions of the m-th marker and the n-th marker includes: at marker L m and sign L n Assume two positions S on the straight line leading to terminal device U. m and S n , among which, S m and S n The distance to user U is r; then S m and S n They are represented as follows:

[0145]

[0146]

[0147] The target angle γ is obtained using the following formula. mn cosine value:

[0148]

[0149] In one optional approach, determining the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device includes:

[0150] Based on the optimal solution expression and the search feasible region, find the optimal solution for the terminal device coordinates corresponding to the target angle;

[0151] The optimal solution expression is:

[0152]

[0153] Where, γ′ mn (x u y u , z u (x) represents the assumed coordinates of the terminal device. u y u , z u The precise angle value represented by ) is K, where K is the number of markers;

[0154] The feasible search domain is:

[0155] (x u y u , z u )∈Φ f (x u y u , z u ).

[0156] This invention improves indoor positioning accuracy by acquiring current image data, which is an image captured by a camera on a terminal device of the space above the terminal device. The space above the terminal device has multiple markers. The target angle between each pair of markers and the terminal device is calculated based on the current image data. The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device.

[0157] This invention provides a positioning device for performing the above-described positioning method.

[0158] This invention provides a computer program that can be called by a processor to cause a computing device to execute the positioning method in any of the above method embodiments.

[0159] This invention provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed on a computer, cause the computer to perform the positioning method in any of the above method embodiments.

[0160] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of the present invention are not directed to any particular programming language. It should be understood that the content of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0161] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0162] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0163] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0164] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A positioning method, characterized in that, The method includes: Acquire current image data; the current image data is an image captured by a camera installed on the terminal device of the space above the terminal device, and the space above the terminal device is provided with multiple markers; Calculate the target angles between each pair of markers and the terminal device based on the current image data; The target position of the terminal device is determined based on the correspondence between the target angle and the coordinates of the terminal device. Before calculating the target angle between each pair of markers and the terminal device based on the current image data, the method further includes: constructing a relative coordinate system with a camera as the origin, wherein the imaging focal plane of the camera is parallel to the xoy plane of the relative coordinate system; Based on the current image data and the camera's parameter information, the projection information of the marker and the terminal device on the imaging focal plane in the relative coordinate system is determined; wherein, based on the current image data and the camera's parameter information, the first projection point of the m-th marker captured by the camera on the imaging focal plane, the center point of the imaging focal plane, and the second projection point of the n-th marker on the imaging focal plane are determined. Based on the first projection point, the second projection point, and the focal length, the first projection angle and the second projection angle are determined respectively; wherein, the first projection angle is... Angle; among which, As the first projection point, the The center point, for The foot of the perpendicular to the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; the included angle of the second projection is... Angle; among which, For the second projection point, for The foot of the perpendicular to the line segment passing through the center point and parallel to the x-axis of the relative coordinate system; Based on the first projection point, the second projection point, and the focal length of the camera, the first object-image angle and the second object-image angle are determined respectively; wherein, the first object-image angle is the angle between the line segment from the first projection point to the camera and the z-axis of the relative coordinate system, and the second object-image angle is the angle between the line segment from the second projection point to the camera and the z-axis of the relative coordinate system. Based on the first image angle and the first projection angle, determine the expression for the m-th marker, and based on the second image angle and the second projection angle, determine the expression for the n-th marker; Based on the expressions of the m-th marker and the n-th marker, determine the target angle between the m-th marker and the n-th marker; Based on the projection information, the target angle between each pair of the markers and the terminal device is calculated.

2. The method according to claim 1, characterized in that, Determining the target angle between the m-th marker and the n-th marker based on the expressions of the m-th marker and the n-th marker includes: In the sign and signage Reaching terminal equipment U Assume two positions on the straight line and ,in, and Reaching users U The distance between them is r; but and They are represented as follows: The target angle is obtained using the following formula. cosine value: ； in, The first projection angle, For the second projection angle, The angle between the first object and the image. The angle between the second object and the image.

3. The method according to claim 1 or 2, characterized in that, Determining the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device includes: Based on the optimal solution expression and the search feasible region, find the optimal solution for the terminal device coordinates corresponding to the target angle; The optimal solution expression is: in, The coordinates of the assumed terminal device The precise angle value represented, where K is the number of markers; The feasible search domain is: From the target perspective.

4. A positioning device, characterized in that, The apparatus for performing the positioning method according to any one of claims 1-3, the apparatus comprising: The acquisition module is used to acquire current image data; the current image data is an image captured by a camera set on the terminal device of the space above the terminal device, and the space above the device is provided with multiple markers; The calculation module is used to calculate the target angle between each pair of markers and the terminal device based on the current image data; The determination module is used to determine the target position of the terminal device based on the correspondence between the target angle and the coordinates of the terminal device.

5. A positioning system, characterized in that, The positioning system includes: multiple markers arranged in the upper space and a terminal device with a camera; The terminal device is used to perform the positioning method as described in any one of claims 1-3.

6. A computer device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the positioning method as described in any one of claims 1-3.

7. A computer-readable storage medium, characterized in that, The storage medium stores at least one executable instruction, which, when executed on a computing device, causes the computing device to perform the positioning method as described in any one of claims 1-3.

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