Method and System for Data Sharing between Beidou Terminals Based on HarmonyOS

Abstract

The present invention discloses a method and system for data sharing between Beidou terminals based on the HarmonyOS. The method includes: obtaining the positioning text data of a first Beidou terminal and the positioning pictures of a second Beidou terminal based on the HarmonyOS, extracting the geographical feature description vectors in the positioning text data and extracting the geographical image feature vectors in the positioning pictures; setting a positioning picture annotation model based on the positioning text data, calculating the matching degree between the geographical feature description vectors and the geographical image feature vectors, and annotating the corresponding geographical feature description vectors whose matching degree exceeds a preset matching degree threshold at the corresponding positions of the positioning pictures; using the annotated positioning pictures as the final positioning pictures and sharing them among multiple Beidou terminals.

Description

Technical Field

[0001] The present invention belongs to the technical field of data sharing between Beidou terminals, and more specifically, relates to a method and system for data sharing between Beidou terminals based on the HarmonyOS operating system. Background Technique

[0002] Beidou positioning data usually includes satellite information received by a satellite signal receiver, such as the position, speed, time, etc. of the satellite, as well as the position, time, etc. of the receiver itself. This data can be used in application fields such as positioning, navigation, map making, and navigation.

[0003] The accuracy and reliability of Beidou positioning data depend on various factors, including the performance of the receiver, the surrounding environment, the satellite distribution, etc. Usually, Beidou positioning data can provide positioning accuracy from meters to centimeters and is suitable for different application scenarios, such as vehicle navigation, ship positioning, logistics tracking, etc.

[0004] However, sometimes there may be text positioning data and positioning pictures between multiple Beidou terminals, but there is no intelligent and efficient solution for how to perform linkage annotation between them. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes a method for data sharing between Beidou terminals based on the HarmonyOS operating system, including:

[0006] Obtain the positioning text data of the first Beidou terminal and the positioning picture of the second Beidou terminal based on the HarmonyOS operating system, extract the geographical feature description vector from the positioning text data and extract the geographical image feature vector from the positioning picture;

[0007] Set up a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vector and the geographical image feature vector, and label the corresponding geographical feature description vector whose matching degree exceeds the preset matching degree threshold at the corresponding position of the positioning picture;

[0008] Use the labeled positioning picture as the final positioning picture and share it among multiple Beidou terminals.

[0009] Furthermore, the positioning picture annotation model based on the positioning text data includes:

[0010]

[0011] Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the first Beidou terminal positioning text data and the geographical image feature vector of the second Beidou terminal positioning picture, n is the number of geographical feature description vectors, and m is the number of geographical image feature vectors. is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector. is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector.

[0012] Furthermore, the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector includes:

[0013] Map the i-th geographical feature description vector to the i-th point p in space, and map the j-th geographical image feature vector to the i-th point q in the same space. Then the spatial weight function is expressed as:

[0014]

[0015] Among them, σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle.

[0016] Furthermore, the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as:

[0017]

[0018] Among them, S is the number of scales, N s (p) is the neighborhood of point p at the s-th scale, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale.

[0019] Furthermore, both the geographical feature description vector and the geographical image feature vector include: terrain feature vector, landform feature vector, and building feature vector.

[0020] The present invention also proposes a data sharing system between Beidou terminals based on the HarmonyOS, including:

[0021] A feature vector acquisition module, which is used to acquire the positioning text data of the first Beidou terminal based on the HarmonyOS operating system and the positioning pictures of the second Beidou terminal, extract the geographical feature description vectors in the positioning text data, and extract the geographical image feature vectors in the positioning pictures;

[0022] A model setting module, which is used to set a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vector and the geographical image feature vector, and mark the corresponding geographical feature description vector whose matching degree exceeds the preset matching degree threshold on the corresponding position of the positioning picture;

[0023] A sharing module, which is used to use the annotated positioning picture as the final positioning picture and share it among multiple Beidou terminals.

[0024] Further, the positioning picture annotation model based on the positioning text data includes:

[0025]

[0026] Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the positioning text data of the first Beidou terminal and the geographical image feature vector of the positioning picture of the second Beidou terminal, n is the number of geographical feature description vectors, m is the number of geographical image feature vectors, is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector, is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector.

[0027] Further, the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector includes:

[0028] Map the i-th geographical feature description vector to the i-th point p in space, and map the j-th geographical image feature vector to the i-th point q in the same space, then the spatial weight function is expressed as:

[0029]

[0030] Among them, σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle.

[0031] Further, the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as:

[0032]

[0033] Among them, S is the number of scales, N s (p) is the neighborhood of the s-th scale of point p, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale.

[0034] Furthermore, both the geographical feature description vector and the geographical image feature vector include: terrain feature vector, landform feature vector, and building feature vector.

[0035] Compared with the prior art by the above technical solution conceived by the present invention, the following beneficial effects are achieved:

[0036] The present invention obtains the positioning text data of the first Beidou terminal and the positioning pictures of the second Beidou terminal based on the HarmonyOS, extracts the geographical feature description vector from the positioning text data and the geographical image feature vector from the positioning pictures; sets a positioning picture annotation model based on the positioning text data, calculates the matching degree between the geographical feature description vector and the geographical image feature vector, and marks the corresponding geographical feature description vector whose matching degree exceeds the preset matching degree threshold at the corresponding position of the positioning picture; uses the marked positioning picture as the final positioning picture and shares it among multiple Beidou terminals. According to the above technical solution, the present invention can mark the positioning text positioning data obtained by the Beidou terminal on the positioning pictures of other Beidou terminals, make the positioning image display more location information, and then share it, so that users can use the Beidou navigation more simply and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is the flowchart of the method in Embodiment 1 of the present invention;

[0038] Figure 2 is the system structure diagram of Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0039] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0040] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a storage medium, and a display screen. Among them, at least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0041] The processor may include one or more processing cores. The processor connects various parts within the entire terminal using various interfaces and circuits, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the storage medium, as well as calling data stored in the storage medium.

[0042] The storage medium may include a Random Access Memory (RAM), or may also include a Read-Only Memory (ROM). The storage medium can be used to store instructions, programs, code, code sets, or instructions.

[0043] The display screen is used to display the interaction interfaces of various application programs.

[0044] In the formula of the present invention, all subscripts are only used to distinguish parameters and have no actual meaning.

[0045] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, etc., which will not be elaborated here.

[0046] Embodiment 1

[0047] As Figure 1 shown, the embodiment of the present invention provides a method for data sharing between Beidou terminals based on the HarmonyOS, including:

[0048] Step 101, obtain the positioning text data of the first Beidou terminal and the positioning pictures of the second Beidou terminal based on the HarmonyOS, extract the geographical feature description vectors in the positioning text data, and extract the geographical image feature vectors in the positioning pictures;

[0049] Specifically, both the geographical feature description vectors and the geographical image feature vectors include: terrain feature vectors, landform feature vectors, and building feature vectors.

[0050] Step 102, set a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vectors and the geographical image feature vectors, and label the corresponding geographical feature description vectors whose matching degree exceeds a preset matching degree threshold at the corresponding positions on the positioning pictures;

[0051] Specifically, the positioning picture annotation model based on the positioning text data includes:

[0052]

[0053] Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the first Beidou terminal positioning text data and the geographical image feature vector of the second Beidou terminal positioning picture, n is the number of geographical feature description vectors, and m is the number of geographical image feature vectors. is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector. is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector.

[0054] Specifically, the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector includes:

[0055] Map the i-th geographical feature description vector to the i-th point p in space, and map the j-th geographical image feature vector to the i-th point q in the same space. Then the spatial weight function is expressed as:

[0056]

[0057] Among them, σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle.

[0058] Specifically, the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as:

[0059]

[0060] Among them, S is the number of scales, N s (p) is the neighborhood of the s-th scale of point p, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, and g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale.

[0061] Step 103: Use the labeled positioning picture as the final positioning picture and share it among multiple Beidou terminals.

[0062] Embodiment 2

[0063] As Figure 2 shown, the embodiment of the present invention also proposes a data sharing system between Beidou terminals based on the HarmonyOS, including:

[0064] A feature vector acquisition module, which is used to acquire the positioning text data of the first Beidou terminal based on the HarmonyOS operating system and the positioning pictures of the second Beidou terminal, extract the geographical feature description vectors in the positioning text data, and extract the geographical image feature vectors in the positioning pictures;

[0065] Specifically, both the geographical feature description vector and the geographical image feature vector include: terrain feature vector, landform feature vector, and building feature vector.

[0066] A model setting module, which is used to set a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vector and the geographical image feature vector, and mark the corresponding geographical feature description vectors whose matching degree exceeds the preset matching degree threshold on the corresponding positions of the positioning pictures;

[0067] Specifically, the positioning picture annotation model based on the positioning text data includes:

[0068]

[0069] Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the positioning text data of the first Beidou terminal and the geographical image feature vector of the positioning pictures of the second Beidou terminal, n is the number of geographical feature description vectors, m is the number of geographical image feature vectors, is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector, is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector.

[0070] Specifically, the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector includes:

[0071] Map the i-th geographical feature description vector to the i-th point p in space, and map the j-th geographical image feature vector to the i-th point q in the same space. Then the spatial weight function is expressed as:

[0072]

[0073] Among them, σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle.

[0074] Specifically, the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as:

[0075]

[0076] where S is the number of scales, N s (p) is the neighborhood of the sth scale of point p, f s (x) is the geographical feature description vector at point x in the neighborhood of the sth scale, g s (x) is the geographical image feature vector at point x in the neighborhood of the sth scale.

[0077] A sharing module, configured to use the labeled positioning picture as the final positioning picture and share it among multiple Beidou terminals.

[0078] Embodiment 3

[0079] The embodiment of the present invention also proposes a storage medium storing multiple instructions for implementing the method for data sharing between Beidou terminals based on the HarmonyOS.

[0080] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0081] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, obtain the positioning text data of the first Beidou terminal and the positioning picture of the second Beidou terminal based on the HarmonyOS, extract the geographical feature description vector from the positioning text data and extract the geographical image feature vector from the positioning picture;

[0082] Specifically, both the geographical feature description vector and the geographical image feature vector include: terrain feature vector, landform feature vector, and building feature vector.

[0083] Step 102, set a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vector and the geographical image feature vector, and label the corresponding geographical feature description vector with a matching degree exceeding a preset matching degree threshold at the corresponding position on the positioning picture;

[0084] Specifically, the positioning picture annotation model based on the positioning text data includes:

[0085]

[0086] where Match(v1, v2) is the matching degree between the geographical feature description vector of the positioning text data of the first Beidou terminal and the geographical image feature vector of the positioning picture of the second Beidou terminal, n is the number of geographical feature description vectors, and m is the number of geographical image feature vectors, is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector, and is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector.

[0087] Specifically, the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector includes:

[0088] Mapping the i-th geographical feature description vector to the i-th point p in space, and mapping the j-th geographical image feature vector to the i-th point q in the same space, then the spatial weight function is expressed as:

[0089]

[0090] where σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle.

[0091] Specifically, the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as:

[0092]

[0093] where S is the number of scales, N s (p) is the neighborhood of point p at the s-th scale, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale.

[0094] Step 103: Use the labeled positioning picture as the final positioning picture and share it among multiple Beidou terminals.

[0095] Embodiment 4

[0096] The embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute a data sharing method between Beidou terminals based on the HarmonyOS operating system.

[0097] Specifically, the electronic device in this embodiment can be a computer terminal, and the computer terminal can include: one or more processors and a storage medium.

[0098] Among them, the storage medium can be used to store software programs and modules, such as a method for data sharing between Beidou terminals based on the HarmonyOS in the embodiments of the present invention, corresponding program instructions / modules. The processor runs the software programs and modules stored in the storage medium to execute various functional applications and data processing, that is, to implement the above-mentioned method for data sharing between Beidou terminals based on the HarmonyOS. The storage medium can include a high-speed random access storage medium, and can also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium can further include a storage medium remotely set relative to the processor, and these remote storage media can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and their combinations.

[0099] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the steps: Step 101, obtain the positioning text data of the first Beidou terminal and the positioning picture of the second Beidou terminal based on the HarmonyOS, extract the geographical feature description vector in the positioning text data and extract the geographical image feature vector in the positioning picture;

[0100] Specifically, both the geographical feature description vector and the geographical image feature vector include: terrain feature vector, landform feature vector, and building feature vector.

[0101] Step 102, set a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vector and the geographical image feature vector, and mark the corresponding geographical feature description vector whose matching degree exceeds the preset matching degree threshold at the corresponding position of the positioning picture;

[0102] Specifically, the positioning picture annotation model based on the positioning text data includes:

[0103]

[0104] Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the positioning text data of the first Beidou terminal and the geographical image feature vector of the positioning picture of the second Beidou terminal, n is the number of geographical feature description vectors, m is the number of geographical image feature vectors, is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector, is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector.

[0105] Specifically, the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector Including:

[0106] Map the i-th geographical feature description vector to the i-th point p in space, and map the j-th geographical image feature vector to the j-th point q in the same space. Then the spatial weight function is expressed as:

[0107]

[0108] where σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle.

[0109] Specifically, the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as:

[0110]

[0111] where S is the number of scales, N s (p) is the neighborhood of point p at the s-th scale, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, and g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale.

[0112] Step 103: Use the marked positioning picture as the final positioning picture and share it among multiple Beidou terminals.

[0113] The serial numbers of the embodiments of the present invention above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0114] In the above embodiments of the present invention, each embodiment is described with emphasis. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] In several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0116] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0118] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, read-only storage media (ROM, Read-Only Memory), random access storage media (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs, etc., which can store program codes.

[0119] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A method for data sharing between Beidou terminals based on the HarmonyOS, characterized in that Including: Obtain the positioning text data of the first Beidou terminal based on the HarmonyOS operating system and the positioning pictures of the second Beidou terminal, extract the geographical feature description vectors in the positioning text data and extract the geographical image feature vectors in the positioning pictures; Set up a positioning picture annotation model based on the positioning text data, calculate the matching degree between the geographical feature description vectors and the geographical image feature vectors, and mark the corresponding geographical feature description vectors with the matching degree exceeding the preset matching degree threshold at the corresponding positions of the positioning pictures. Among them, the positioning picture annotation model based on the positioning text data includes: Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the first Beidou terminal positioning text data and the geographical image feature vector of the second Beidou terminal positioning picture. n is the number of geographical feature description vectors, and m is the number of geographical image feature vectors. is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector. is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector. Spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector including: Map the i-th geographical feature description vector to the i-th point p in space, and map the i-th geographical image feature vector to the i-th point q in the same space. Then the spatial weight function is expressed as: where σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the desired direction angle; The local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as: where S is the number of scales, N s (p) is the neighborhood of point p at the s-th scale, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale; Use the annotated positioning pictures as the final positioning pictures and share them among multiple Beidou terminals.

2. The method for data sharing between Beidou terminals based on the HarmonyOS as claimed in claim 1, wherein Both the geographical feature description vectors and the geographical image feature vectors include: terrain feature vectors, landform feature vectors and building feature vectors.

3. A data sharing system between Beidou terminals based on the HarmonyOS, characterized in that, Including: A feature vector acquisition module for obtaining the positioning text data of the first Beidou terminal based on the HarmonyOS operating system and the positioning pictures of the second Beidou terminal, extracting the geographical feature description vectors in the positioning text data and extracting the geographical image feature vectors in the positioning pictures; A model setting module for setting up a positioning picture annotation model based on the positioning text data, calculating the matching degree between the geographical feature description vectors and the geographical image feature vectors, and marking the corresponding geographical feature description vectors with the matching degree exceeding the preset matching degree threshold at the corresponding positions of the positioning pictures. Among them, the positioning picture annotation model based on the positioning text data includes: Among them, Match(v1, v2) is the matching degree between the geographical feature description vector of the first Beidou terminal positioning text data and the geographical image feature vector of the second Beidou terminal positioning picture, n is the number of geographical feature description vectors, and m is the number of geographical image feature vectors. is the spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector. is the local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector. Spatial weight function between the i-th geographical feature description vector and the j-th geographical image feature vector including: Map the i-th geographical feature description vector to the i-th point p in space, and map the j-th geographical image feature vector to the i-th point q in the same space. Then the spatial weight function is expressed as: Among them, σ is the standard deviation of the Gaussian kernel function, β is the direction angle adjustment factor, θ pq is the direction angle from point p to point q, and θ0 is the expected direction angle; The local similarity between the i-th geographical feature description vector and the j-th geographical image feature vector is expressed as: where S is the number of scales, N s (p) is the neighborhood of point p at the s-th scale, f s (x) is the geographical feature description vector at point x in the neighborhood of the s-th scale, g s (x) is the geographical image feature vector at point x in the neighborhood of the s-th scale; A sharing module for using the annotated positioning pictures as the final positioning pictures and sharing them among multiple Beidou terminals.

4. The data sharing system between Beidou terminals based on the HarmonyOS according to claim 3, wherein, Both the geographical feature description vectors and the geographical image feature vectors include: terrain feature vectors, landform feature vectors and building feature vectors.

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