Positioning enhancement method and device fusing RTK positioning and AR positioning

Abstract

The invention provides a positioning enhancement method and device fusing RTK positioning and AR positioning, and relates to the technical field of positioning. When the method is executed, the RTK high-precision positioning coordinates are firstly obtained in real time, then the AR augmented reality inertial navigation positioning is corrected by using the RTK high-precision positioning coordinates, then the AR augmented reality inertial navigation positioning coordinates are obtained in real time, and finally, the AR augmented reality inertial navigation positioning coordinates are used for performing supplementary enhancement on the RTK high-precision positioning so as to improve the positioning precision of the RTK high-precision positioning. Therefore, through a mode of fusing AR visual inertial navigation positioning and RTK high-precision positioning, the problems of large inertial navigation positioning accumulative error and unstable RTK high-precision positioning signals are solved, and the positioning precision of RTK high-precision positioning is further improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning enhancement method and device integrating RTK positioning and AR positioning. Background Art

[0002] When using functions such as field data collection and path navigation on the mobile terminal, we need to know our own position for calculation. Generally, we can use GPS or RTK handheld high-precision positioning devices to obtain our own GNSS positioning information, but in places where the signal is poor or blocked by buildings, the positioning information may be lost. In the prior art, when the RTK GNSS positioning signal is lost, the current positioning is predicted and calculated based on the speed and direction before the signal is lost. However, this method has a relatively large limitation, that is, the target needs to move forward steadily at a predetermined speed and direction, and cannot turn or stop. Otherwise, the position prediction result will not match the current actual position, resulting in low positioning accuracy of RTK high-precision positioning.

[0003] In summary, how to improve the positioning accuracy of RTK high-precision positioning is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the present application provides a positioning enhancement method and device that integrates RTK positioning and AR positioning, aiming to improve the positioning accuracy of RTK high-precision positioning.

[0005] In a first aspect, the present application provides a positioning enhancement method integrating RTK positioning and AR positioning, comprising:

[0006] In a second aspect, the present application provides a positioning enhancement device integrating RTK positioning and AR positioning, including:

[0007] The first acquisition module is used to obtain RTK high-precision positioning coordinates in real time;

[0008] A correction module, used to correct the AR augmented reality inertial navigation positioning using the RTK high-precision positioning coordinates;

[0009] The second acquisition module is used to obtain the AR augmented reality inertial navigation positioning coordinates in real time;

[0010] The supplementary enhancement module is used to supplement and enhance the RTK high-precision positioning by using the AR augmented reality inertial navigation positioning seat.

[0011] Optionally, the device further comprises:

[0012] A calculation module, used to calculate a high-precision posture through the RTK high-precision positioning coordinates;

[0013] A replacement module is used to replace the high-precision posture with an AR augmented reality posture.

[0014] Optionally, the device further comprises:

[0015] The same-frequency processing module is used to perform same-frequency processing on the high-precision posture and the AR augmented reality posture.

[0016] Optionally, the device further comprises:

[0017] The calculation module is used to reduce jitter by calculating the weights of the RTK high-precision positioning and the AR augmented reality inertial navigation positioning.

[0018] Optionally, the supplementary enhancement module includes:

[0019] A conversion unit, used to convert the AR augmented reality inertial navigation positioning coordinates into coordinates of a real scene using a coordinate system rotation formula to obtain converted coordinates;

[0020] A combining unit is used to combine the converted coordinates with the RTK high-precision positioning coordinates to achieve supplementary enhancement of the RTK high-precision positioning.

[0021] In a third aspect, an embodiment of the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the positioning enhancement method of fusing RTK positioning and AR positioning as described in any one of the implementation methods in the first aspect of the embodiment of the present application.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the positioning enhancement method of integrating RTK positioning and AR positioning as described in any one of the implementation methods in the first aspect of the embodiment of the present application.

[0023] The present application provides a positioning enhancement method that integrates RTK positioning and AR positioning. When executing the method, the RTK high-precision positioning coordinates are first obtained in real time, and then the AR augmented reality inertial navigation positioning is corrected using the RTK high-precision positioning coordinates, and then the AR augmented reality inertial navigation positioning coordinates are obtained in real time. Finally, the AR augmented reality inertial navigation positioning coordinates are used to supplement and enhance the RTK high-precision positioning to improve the positioning accuracy of the RTK high-precision positioning. In this way, by integrating AR visual inertial navigation positioning with RTK high-precision positioning, the problems of large cumulative errors of inertial navigation positioning and unstable RTK high-precision positioning signals are solved, thereby improving the positioning accuracy of RTK high-precision positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A flowchart of a positioning enhancement method that integrates RTK positioning and AR positioning provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of using a coordinate system rotation formula to convert the coordinates of an AR scene into the coordinates of a real scene provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of the structure of a positioning enhancement device integrating RTK positioning and AR positioning provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. The present application provides a positioning enhancement method and device that integrates RTK positioning and AR positioning, which is used in the field of positioning technology. The above is only an example and does not limit the application field of the method and device name provided in the present application.

[0030] When using functions such as field data collection and path navigation on the mobile terminal, we need to know our own position for calculation. Generally, we can use GPS or RTK handheld high-precision positioning devices to obtain our own GNSS positioning information, but in places where the signal is poor or blocked by buildings, the positioning information may be lost. In the prior art, when the RTK GNSS positioning signal is lost, the current positioning is predicted and calculated based on the speed and direction before the signal is lost. However, this method has a relatively large limitation, that is, the target needs to move forward steadily at a predetermined speed and direction, and cannot turn or stop. Otherwise, the position prediction result will not match the current actual position, resulting in low positioning accuracy of RTK high-precision positioning.

[0031] After research, the inventor proposed the technical solution of this application, which first obtains RTK high-precision positioning coordinates in real time, then uses RTK high-precision positioning coordinates to correct AR augmented reality inertial navigation positioning, and then obtains AR augmented reality inertial navigation positioning coordinates in real time, and finally uses AR augmented reality inertial navigation positioning coordinates to supplement and enhance RTK high-precision positioning to improve the positioning accuracy of RTK high-precision positioning. In this way, by integrating AR visual inertial navigation positioning with RTK high-precision positioning, the problems of large cumulative errors of inertial navigation positioning and unstable RTK high-precision positioning signals are solved, thereby improving the positioning accuracy of RTK high-precision positioning.

[0032] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. It should be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0033] See also Figure 1 , Figure 1 A flowchart of a positioning enhancement method for integrating RTK positioning and AR positioning provided in an embodiment of the present application includes:

[0034] S101: Obtain RTK high-precision positioning coordinates in real time.

[0035] RTK (Real-Time Kinematic) positioning technology is a high-precision satellite navigation technology that uses the relative position difference between two or more GNSS receivers (such as GPS, Beidou, GLONASS, etc.) to correct position data in real time. Through a high-precision carrier phase differential algorithm, RTK can reduce the error of traditional satellite positioning from several meters to centimeters.

[0036] S102: Correcting AR augmented reality inertial navigation positioning using RTK high-precision positioning coordinates.

[0037] Specifically, high-precision position and posture are calculated through RTK high-precision positioning coordinates. Position and posture is a compound word that can be broken down into "position + posture". After obtaining RTK high-precision positioning coordinates, these coordinate data can be used to calculate the current device's position and posture. This usually involves algorithms such as coordinate transformation and posture estimation. These algorithms can calculate the position and posture of the device in space in real time based on the movement and rotation of the device.

[0038] Replace AR augmented reality pose with high-precision pose. Specifically, in AR augmented reality applications, the pose data of the device is usually needed to determine the position and pose of virtual elements in the real world. The high-precision pose data obtained by RTK can replace the original AR pose data, thereby improving the positioning accuracy and stability of AR applications.

[0039] In some implementations, in order to ensure the real-time and smoothness of AR applications, it is necessary to process high-precision pose data and AR pose data at the same frequency. This means that it is necessary to ensure that the update frequency of RTK positioning data matches the rendering frequency of AR applications, so that the latest pose information of the device can be reflected in real time in AR applications.

[0040] In some embodiments, jitter or instability may occur during the combination of RTK positioning and AR positioning. In order to reduce this jitter, a weight calculation method can be used. Specifically, a higher weight can be assigned to the RTK positioning data based on its accuracy and stability, and a relatively lower weight can be assigned to the AR positioning data based on its real-time and continuity. Then, the two positioning data are fused according to their respective weights to obtain a more stable and smoother pose data. This method helps to reduce the jitter problem caused by the instability of a single positioning data source.

[0041] S103: Acquire AR augmented reality inertial navigation positioning coordinates in real time.

[0042] The AR coordinates of the current mobile device are obtained in real time. The mobile device may be a mobile phone.

[0043] S104: Use AR augmented reality inertial navigation positioning to supplement and enhance RTK high-precision positioning.

[0044] Specifically, the coordinate system rotation formula is used to transform the AR augmented reality inertial navigation positioning coordinates into the coordinates of the real scene, and the transformed coordinates are obtained, such as Figure 2 As shown, Figure 2 A schematic diagram of using a coordinate system rotation formula to convert the coordinates of an AR scene into the coordinates of a real scene is provided in an embodiment of the present application. The coordinate rotation transformation formula is:

[0045] x ′ =x×cos(θ)+y×sin(θ);

[0046] y ′ =x×sin(θ)-y×cos(θ);

[0047] Among them, (x, y) is the coordinate in the AR scene, (x', y') is the coordinate in the real scene after conversion, and θ is the rotation angle.

[0048] Combine high-precision coordinates with AR inertial navigation coordinates to supplement and enhance RTK high-precision positioning.

[0049] In the embodiment of the present application, the RTK high-precision positioning coordinates are first obtained in real time, and then the RTK high-precision positioning coordinates are used to correct the AR augmented reality inertial navigation positioning, and then the AR augmented reality inertial navigation positioning coordinates are obtained in real time. Finally, the AR augmented reality inertial navigation positioning coordinates are used to supplement and enhance the RTK high-precision positioning to improve the positioning accuracy of the RTK high-precision positioning. In this way, by integrating AR visual inertial navigation positioning with RTK high-precision positioning, the problems of large cumulative errors of inertial navigation positioning and unstable RTK high-precision positioning signals are solved, thereby improving the positioning accuracy of RTK high-precision positioning.

[0050] The above are some specific implementations of the positioning enhancement device method for integrating RTK positioning and AR positioning provided in the embodiments of the present application. Based on this, the present application also provides a corresponding device. The device provided in the embodiments of the present application will be introduced from the perspective of functional modularization.

[0051] See also Figure 3 , Figure 3 A structural diagram of a positioning enhancement device that integrates RTK positioning and AR positioning provided in an embodiment of the present application, the positioning enhancement device 300 that integrates RTK positioning and AR positioning includes:

[0052] The first acquisition module 310 is used to acquire RTK high-precision positioning coordinates in real time;

[0053] A correction module 320 is used to correct the AR augmented reality inertial navigation positioning using the RTK high-precision positioning coordinates;

[0054] The second acquisition module 330 is used to acquire the AR augmented reality inertial navigation positioning coordinates in real time;

[0055] The supplementary enhancement module 340 is used to supplement and enhance the RTK high-precision positioning by using the AR augmented reality inertial navigation positioning system.

[0056] Optionally, the device 300 further includes:

[0057] A calculation module, used to calculate a high-precision posture through the RTK high-precision positioning coordinates;

[0058] A replacement module is used to replace the high-precision posture with an AR augmented reality posture.

[0059] Optionally, the device 300 further includes:

[0060] The same-frequency processing module is used to perform same-frequency processing on the high-precision posture and the AR augmented reality posture.

[0061] Optionally, the device 300 further includes:

[0062] The calculation module is used to reduce jitter by calculating the weights of the RTK high-precision positioning and the AR augmented reality inertial navigation positioning.

[0063] Optionally, the supplementary enhancement module 340 includes:

[0064] A conversion unit, used to convert the AR augmented reality inertial navigation positioning coordinates into coordinates of a real scene using a coordinate system rotation formula to obtain converted coordinates;

[0065] A combining unit is used to combine the converted coordinates with the RTK high-precision positioning coordinates to achieve supplementary enhancement of the RTK high-precision positioning.

[0066] The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

[0067] like Figure 4 As shown, the computer device 01 is in the form of a general computing device. The components of the computer device 01 may include but are not limited to: one or more processors or processing units 03, a system memory 08, and a bus 04 connecting different system components (including the system memory 08 and the processing unit 03).

[0068] Bus 04 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0069] The computer device 01 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 01, including volatile and non-volatile media, removable and non-removable media.

[0070] The system memory 08 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 09 and / or cache memory 10. The computer device 01 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 11 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4not shown, usually called a "hard drive"). Although Figure 4 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 04 via one or more data medium interfaces. The memory 08 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0071] A program / utility 12 having a set (at least one) of program modules 13 may be stored, for example, in the memory 08, such program modules 13 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include an implementation of a network environment. The program modules 13 generally perform the functions and / or methods of the embodiments described herein.

[0072] The computer device 01 may also communicate with one or more external devices 02 (e.g., keyboard, pointing device, display 07, etc.), one or more devices that enable a user to interact with the computer device 01, and / or any device that enables the computer device 01 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via input / output (I / O) interface 06. Furthermore, the computer device 01 may also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) via network adapter 05. Figure 4 As shown, the network adapter 05 communicates with other modules of the computer device 01 via the bus 04. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with computer device 01, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0073] The processor unit 03 executes various functional applications and data processing by running programs stored in the system memory 08, such as implementing a positioning enhancement method that integrates RTK positioning and AR positioning provided in an embodiment of the present application.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0075] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0076] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0077] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A positioning enhancement method integrating RTK positioning and AR positioning, characterized in that: include: Obtain RTK high-precision positioning coordinates in real time; Correcting the AR augmented reality inertial navigation positioning using the RTK high-precision positioning coordinates; Get AR augmented reality inertial navigation positioning coordinates in real time; The AR augmented reality inertial navigation positioning system is used to supplement and enhance the RTK high-precision positioning.

2. The method according to claim 1, characterized in that The correction of AR augmented reality inertial navigation positioning using the RTK high-precision positioning coordinates includes: Calculate the high-precision posture through the RTK high-precision positioning coordinates; The high-precision posture replaces the AR augmented reality posture.

3. The method according to claim 2, characterized in that After replacing the AR augmented reality posture with the high-precision posture, the method further includes: The high-precision posture and the AR augmented reality posture are processed at the same frequency.

4. The method according to claim 2, after replacing the AR augmented reality posture with the high-precision posture, the method further comprises: The jitter is reduced by calculating the weights of the RTK high-precision positioning and the AR augmented reality inertial navigation positioning.

5. The method according to claim 1, characterized in that The method of using the AR augmented reality inertial navigation positioning system to supplement and enhance the RTK high-precision positioning includes: The AR augmented reality inertial navigation positioning coordinates are converted into coordinates of a real scene using a coordinate system rotation formula to obtain converted coordinates; The converted coordinates are combined with the RTK high-precision positioning coordinates to achieve supplementary enhancement of the RTK high-precision positioning.

6. A positioning enhancement device integrating RTK positioning and AR positioning, characterized in that: include: The first acquisition module is used to obtain RTK high-precision positioning coordinates in real time; A correction module, used to correct the AR augmented reality inertial navigation positioning using the RTK high-precision positioning coordinates; The second acquisition module is used to obtain the AR augmented reality inertial navigation positioning coordinates in real time; The supplementary enhancement module is used to supplement and enhance the RTK high-precision positioning by using the AR augmented reality inertial navigation positioning seat.

7. The device according to claim 6, characterized in that The device also includes: A calculation module, used to calculate a high-precision posture through the RTK high-precision positioning coordinates; A replacement module is used to replace the high-precision posture with an AR augmented reality posture.

8. The device according to claim 6, characterized in that The device also includes: The same-frequency processing module is used to perform same-frequency processing on the high-precision posture and the AR augmented reality posture.

9. A computer device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the positioning method for integrating RTK positioning and AR positioning as described in any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on the terminal device, the terminal device executes the positioning method for integrating RTK positioning and AR positioning as described in any one of claims 1 to 5.

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