AR intelligent high-precision positioning navigation method, device and system

Abstract

The invention provides an AR intelligent high-precision positioning navigation method, device and system. The method comprises the following steps: acquiring a target shot point of seismic acquisition operation selected by a user; aR navigation is started, the current GPS position of a user and the GPS position of a target shot point are positioned, and a marked three-dimensional pile body is generated at the position corresponding to the target shot point; estimating the step length and the step number of the user according to the acceleration data acquired by the acceleration sensor; determining the current orientation of the user according to the angle data acquired by the angular velocity sensor and the orientation data acquired by the orientation sensor; determining a path direction and a path distance from the current position of the user to the target shot point according to the current GPS position of the user and the GPS position of the target shot point; the user is guided to reach the position of the three-dimensional pile body; according to the method, the workload of measurement personnel can be reduced, environmental pollution and mark disappearance are avoided, rapid point selection and rapid and accurate navigation guidance are realized, the working efficiency is effectively improved, the working time is shortened, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of geological prospecting technology, and in particular to an AR intelligent high-precision positioning and navigation method, device and system. Background Art

[0002] Seismic exploration is one of the main methods of oil and gas exploration. The acquisition of seismic data mainly involves obtaining the original seismic data of underground geological information by artificially exciting and receiving seismic waves. In existing seismic acquisition operations, a pile number operation mode is generally adopted. Surveyors first measure the points to be laid out, then place physical piles at the operation points and use paint or paper to mark the pile numbers. When laying out the lines, the marked pile numbers are used to find the laying out operation points. When looking for the laying out operation points, operators can use existing navigation software to navigate to the physical pile locations placed by surveyors before performing operations. Summary of the invention

[0003] The inventors of the present application have discovered that the existing method of using physical stakes to mark the points for setting out lines results in a huge workload for surveyors due to the large number of points for setting out lines, which may be hundreds of thousands or even millions. The use of paint or paper for marking may pollute the environment on the one hand, and on the other hand, since the intervals between subsequent setting out lines are usually relatively long, which may be more than two weeks or longer, the measurement marks previously made with paint or paper may disappear during the setting out line operation and may be lost, which requires additional measurement, delaying the operation time and progress and increasing the workload.

[0004] In addition, existing navigation software generally provides navigation guidance based on the road network topology structure, but many work sites of seismic data collection operations are in the field. Existing navigation software is not suitable for such field operations and cannot provide accurate navigation guidance for workers, resulting in the inability of workers to quickly and accurately reach the work location during the operation project, affecting the speed and efficiency of the operation.

[0005] In view of the above problems, the present invention is proposed to provide an AR intelligent high-precision positioning and navigation method, device and system that overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present invention provides an AR intelligent high-precision positioning and navigation method, comprising:

[0007] Obtain the target shot point of the seismic acquisition operation selected by the user;

[0008] Start AR navigation, locate the user's current GPS position and the GPS position of the target shot point, and generate a marked three-dimensional pile body at the corresponding position of the target shot point;

[0009] Estimate the user's step length and number of steps based on the acceleration data obtained by the acceleration sensor;

[0010] Determine the current position of the user based on the angle data obtained by the angular velocity sensor and the position data obtained by the position sensor;

[0011] According to the user's current GPS position and the GPS position of the target shot point, determine the path direction and path distance from the user's current position to the target shot point;

[0012] The user's moving direction is adjusted according to the user's step length and number of steps, the user's current position, the path direction and the distance, and the user is guided to move along the path direction for the path distance to reach the marked three-dimensional pile position and record the position information.

[0013] In some optional embodiments, obtaining a target shot point of a seismic acquisition operation selected by a user includes:

[0014] In response to a login request from a user, guiding the user to log in;

[0015] Provide users with project information of seismic acquisition operations, task information under each project, and shot point information under each task through a human-computer interaction interface;

[0016] Get the shot point selected by the user as the target shot point.

[0017] In some optional embodiments, the method of locating the current GPS position of the user and the GPS position of the target shot point, and generating a marked three-dimensional pile body at the position corresponding to the target shot point, includes:

[0018] Locating the user's current GPS position and the GPS position of the target shot point based on positioning information of at least one satellite navigation positioning system;

[0019] According to the identification information of the target shot point and the GPS position of the target shot point, a highly recognizable virtual three-dimensional pile body is generated at the corresponding position of the target shot point in the AR real-view map, and a pile number is added to the three-dimensional pile body.

[0020] In some optional embodiments, estimating the step length and number of steps of the user according to the acceleration data acquired by the acceleration sensor includes:

[0021] Calculate the overall acceleration of the human body according to the three-axis acceleration data of the human body's walking motion obtained by the acceleration sensor;

[0022] Extracting periodic intensity features during human motion according to the overall acceleration, wherein the intensity features include acceleration variation features of the human body in horizontal and vertical directions;

[0023] Identify the peaks and troughs generated by the human body's pace according to the intensity feature, count the trough between two consecutive peaks or the peak between two consecutive troughs as one step, and accumulate the number of steps of the user;

[0024] According to the count readings of the acceleration sensor, the distance between the coordinate positions corresponding to two adjacent count readings is determined as the step length of the user.

[0025] In some optional embodiments, determining the moving orientation of the user according to the angle data acquired by the angular velocity sensor and the orientation data acquired by the orientation sensor includes:

[0026] Determine the change of the user's moving position at different times based on the angle data obtained by the angular velocity sensor;

[0027] Determine the user's orientation at different times based on the orientation data obtained by the orientation sensor;

[0028] The user's moving position is determined based on the user's moving position changes and directions at different times.

[0029] In some optional embodiments, determining the path direction and path distance from the user's current position to the destination shot point according to the user's current GPS position and the GPS position of the destination shot point includes:

[0030] According to the user's current GPS position coordinates and the GPS position coordinates of the target shot point, the straight-line distance from the user's current position to the target shot point is determined as the path distance, and the path direction is determined according to the azimuth of the directed straight line from the user's current position to the target shot point.

[0031] In some optional embodiments, adjusting the user's moving direction according to the user's step length and number of steps, the user's current position, the path direction and the distance, guiding the user to move along the path direction for the path distance to reach the marked three-dimensional pile position and recording the position information includes:

[0032] Determine the next moving direction of the user according to the path direction and the current position of the user, and guide the user to move forward along the moving direction; during the movement, if the moving direction of the user determined according to the path direction and the current position of the user deviates, re-determine the next moving direction of the user, and guide the user to move forward along the re-determined moving direction;

[0033] Update the path distance from the user's current position to the destination point based on the user's step length and the number of steps taken along the moving direction;

[0034] If the path distance is less than a preset threshold or the user position coincides with the three-dimensional pile position, it is considered that the user has reached the destination shot point, and navigation is terminated and the position information of the destination shot point is recorded.

[0035] In a second aspect, an embodiment of the present invention provides an AR intelligent high-precision positioning and navigation device, comprising:

[0036] An acquisition module, used to acquire a target shot point of a seismic acquisition operation selected by a user;

[0037] A navigation start module is used to start AR navigation, locate the user's current GPS position and the GPS position of the target shot point, and generate a marked three-dimensional pile body at the corresponding position of the target shot point;

[0038] An estimation module, used to estimate the user's step length and number of steps based on acceleration data obtained by the acceleration sensor;

[0039] An orientation determination module, used to determine the current orientation of the user based on the angle data obtained by the angular velocity sensor and the orientation data obtained by the orientation sensor;

[0040] A path estimation module is used to determine the path direction and path distance from the user's current position to the target shot point based on the user's current GPS position and the GPS position of the target shot point;

[0041] The AR navigation module is used to adjust the user's moving direction according to the user's step length and number of steps, the user's current position, the path direction and the distance, guide the user to move along the path direction for the path distance to reach the marked three-dimensional pile position and record the position information.

[0042] In a third aspect, an embodiment of the present invention provides an AR intelligent high-precision positioning and navigation system, including:

[0043] Monitoring and management system and the AR intelligent high-precision positioning and navigation device as described above;

[0044] The monitoring and management system is used to provide users with project information of seismic acquisition operations, task information under each project and shot point information under each task, as well as receiving the location information of the target shot point reported by the AR intelligent high-precision positioning and navigation device.

[0045] In a fourth aspect, an embodiment of the present invention provides a computer storage medium, in which computer executable instructions are stored. When the computer executable instructions are executed by a processor, the AR intelligent high-precision positioning and navigation method as described above is implemented.

[0046] In a fifth aspect, an embodiment of the present invention provides a navigation device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the AR intelligent high-precision positioning and navigation method as described above is implemented.

[0047] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0048] The target shot point of the seismic acquisition operation selected by the user is obtained, and after the AR navigation is started, a marked three-dimensional pile body is generated at the corresponding position of the target shot point. No manual measurement and piling is required, which reduces the workload of the surveying personnel. No paint or paper marking is required, which can avoid environmental pollution and disappearance of the mark, improve the speed and efficiency of the operation, and reduce the workload of the operators; based on the generated three-dimensional pile body position, the user is guided to navigate, and the path direction and path distance from the user's current position to the three-dimensional pile body are determined according to the GPS position of the three-dimensional pile body and the user's real-time GPS position. According to the user's current direction, the user's step length and number of steps and other information, the user is guided to move forward along the position of the target shot point until the user sees the marked three-dimensional pile body and determines that the target shot point has been reached. This navigation method does not rely on the road network topology structure, and can also be used for the scene of seismic acquisition field operation. It can realize fast point selection, fast and accurate navigation, and accurately guide the user to the target operation position, effectively improving the work efficiency of the seismic acquisition operation project, reducing working time, reducing labor costs, and reducing environmental pollution.

[0049] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0050] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0052] Figure 1 This is a flow chart of the AR intelligent high-precision positioning and navigation method in an embodiment of the present invention.

[0053] Figure 2 This is a diagram of the system login interface in an embodiment of the present invention;

[0054] Figure 3 Selecting a shot point interface diagram in an embodiment of the present invention;

[0055] Figure 4 This is an example diagram of AR navigation and path guidance in an embodiment of the present invention;

[0056] Figure 5 This is an example diagram of a pile number and a three-dimensional pile body with high recognition at a close distance in an embodiment of the present invention;

[0057] Figure 6 This is an example diagram of a three-dimensional pile body after reaching the destination in an embodiment of the present invention;

[0058] Figure 7 This is a principle block diagram of a navigation guidance algorithm in an embodiment of the present invention;

[0059] Figure 8 A motion trajectory comparison diagram in an embodiment of the present invention;

[0060] Fig. 9 This is a navigation flow diagram in an embodiment of the present invention;

[0061] Fig.10 This is a schematic diagram of the structure of an AR intelligent high-precision positioning and navigation device in an embodiment of the present invention;

[0062] Fig.11 It is a structural diagram of an AR intelligent high-precision positioning and navigation system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0064] In order to solve the problems existing in the prior art, the embodiment of the present invention provides an AR intelligent high-precision positioning and navigation method, the process of which is as follows: Figure 1 As shown, the following steps are included:

[0065] Step S11: Acquire the target shot point of the seismic acquisition operation selected by the user.

[0066] When the user selects the target shot point, it can be achieved through the human-computer interaction interface of the application. The user first logs in to the application, and then makes a selection based on the selection information provided by the application. The process of selecting the target shot point includes: responding to the user's login request and guiding the user to log in; providing the user with project information of the seismic acquisition operation, task information under each project, and shot point information under each task through the human-computer interaction interface; and obtaining the shot point selected by the user as the target shot point.

[0067] See also Figure 2As shown, the user uses the system login interface to enter the account and password to complete the login process, such as the user name TTT and the password 123. After the user completes the login, the user is presented with selectable information, such as first displaying a list of projects, and the user selects the desired project. After completing the project selection, the user is presented with a list of tasks for the project. After the user completes the task selection, the user is presented with the gun point information of the task. The displayed gun point information can be found in Figure 3 As shown, it can be displayed by the identification information of the shot point, for example: 90011002, 90011003, ... etc. The user selects the displayed shot point to complete the selection of the target shot point.

[0068] Step S12: Start AR navigation, locate the user's current GPS position and the GPS position of the target shot point, and generate a marked three-dimensional pile body at the corresponding position of the target shot point;

[0069] Based on the positioning information of at least one satellite navigation and positioning system, the user's current GPS position and the GPS position of the target shot point are located; based on the identification information of the target shot point and the GPS position of the target shot point, a highly recognizable virtual three-dimensional pile body is generated at the corresponding position of the target shot point in the AR real-life map, and a pile number is added to the three-dimensional pile body.

[0070] For example, the above method is used in current mobile terminals, tablet computers, AR glasses and other devices, integrating Beidou and / or GPS high-precision positioning technology, so that current mobile terminals, tablet computers, AR glasses and other devices have high-precision positioning capabilities, so that the user's GPS position can be accurately located according to the above devices, and the GPS position of the target artillery point selected in the AR navigation can be located.

[0071] See also Figure 4 As shown, according to the target shot point selected above, for example, the target shot point 10011003 is selected, and according to the target GPS position corresponding to the target shot point, a three-dimensional pile body is generated, and the pile number 10011003 is marked on the three-dimensional pile body.

[0072] Step S13: Estimate the user's stride length and number of steps based on the acceleration data acquired by the acceleration sensor.

[0073] Calculate the overall acceleration of the human body according to the three-axis acceleration data of the human body's walking motion obtained by the acceleration sensor; extract the periodic intensity characteristics of the human body during the motion process according to the overall acceleration, wherein the intensity characteristics include the acceleration change characteristics of the human body in the horizontal and vertical directions; identify the peaks and troughs generated by the human body's pace according to the intensity characteristics, count the trough between two consecutive peaks or the peak between two consecutive troughs as one step, and accumulate the number of steps of the user; determine the distance between the coordinate positions corresponding to two adjacent count readings as the step length of the user according to the count reading of the acceleration sensor;

[0074] When the user is walking, the acceleration sensor can obtain the three-axis acceleration data of the user when walking, and calculate the overall acceleration of the user based on the three-axis acceleration data. After obtaining the overall acceleration of the user when walking, the periodic intensity characteristics of the user when walking are obtained based on the overall acceleration, and the periodic change data of the acceleration in the horizontal and vertical directions when the user is walking are obtained based on the periodic characteristic data; taking the mobile terminal as an example, the coordinate system of the three-axis accelerometer of the mobile terminal is based on the mobile terminal itself, not the earth coordinate system. The coordinate system of the three-axis accelerometer of the mobile terminal is divided into X-axis, Y-axis and Z-axis. The overall acceleration of the user is the three-axis acceleration value collected by ax, ay, and az. The step counting algorithm includes peak detection and trough detection. If the peak of the user's continuous sampling is detected to be higher than the threshold, it is regarded as a peak. If it is lower than the threshold, it enters the trough detection. If there is a trough between two consecutive peaks, it is recorded as a step of the user. If there is a peak between two consecutive troughs, it is recorded as a step of the user.

[0075] According to the user's current position, the current coordinates are set to (X0, Y0). Every time the user takes a step, the coordinates of the next step are (X1, Y1). The actual step length of the user's step is calculated based on the user's current coordinates (X0, Y0) and the user's next step coordinates (X1, Y1).

[0076] Step S14: determining the current orientation of the user according to the angle data acquired by the angular velocity sensor and the orientation data acquired by the orientation sensor.

[0077] According to the angle data obtained by the angular velocity sensor, the changes in the user's moving azimuth at different times are determined; according to the azimuth data obtained by the azimuth sensor, the direction of the user at different times is determined; according to the changes in the user's moving azimuth at different times and the direction, the user's moving azimuth is determined.

[0078] The angular data obtained by the angular velocity sensor, taking the mobile terminal as an example, the angular velocity data is obtained by using the angular velocity sensor of the mobile terminal. The angular velocity data includes accelerometer data and gyroscope reading data, and the combined acceleration of the acceleration of the mobile terminal movement and the gravity acceleration (9.81m / s^2) is obtained. This combined velocity data is the acceleration data. The larger the acceleration data, the greater the acceleration, and vice versa. The angular velocity data is obtained by using the angular velocity sensor of the mobile terminal, and the returned data is the user's angular velocity. The larger the absolute value of the angular velocity data, the faster the angle changes, and vice versa. When rotating clockwise along the axis, the angular velocity data is read as positive, and when rotating counterclockwise, the angular velocity data is read as negative. The obtained angle data is determined based on the above-mentioned acceleration data and the above-mentioned angular velocity data, and then the changes in the user's moving direction at different times are obtained based on the angle data.

[0079] The orientation data obtained by the orientation sensor, taking the mobile terminal as an example, uses the magnetometer in the mobile terminal to obtain the orientation data, and uses the direction function in the mobile terminal to obtain the direction parameters. The sensor (sensor) related application call interface (API) for obtaining the direction parameters is placed in the Android hardware (android.hardware) package. There are three main classes used: sensor (Sensor), sensor event (SensorEvent), sensor manager (SensorManager) and a sensor listening (SensorEventListener) interface. The sensor manager (SensorManager) naturally takes on the management work and is responsible for registering and listening to the status of a certain sensor (Sensor). The data of the sensor (Sensor) is returned through the sensor event (SensorEvent). The orientation data is obtained according to the direction parameters obtained by the above mobile terminal, and then the user's direction at different times is determined according to the orientation data.

[0080] The gyroscope and magnetometer work together to determine the user's direction. By obtaining the user's moving position data and orientation data at the current moment, the user's moving position at the current moment is determined. The user's moving position data and orientation data can also be obtained at the next moment to determine the user's moving position at the next moment. Furthermore, the user's moving position data and orientation data at different moments can determine the user's moving position at different moments.

[0081] Step S15: Determine the path direction and path distance from the user's current position to the destination shot point based on the user's current GPS position and the GPS position of the destination shot point.

[0082] According to the user's current GPS position coordinates and the GPS position coordinates of the target shot point, the straight-line distance from the user's current position to the target shot point is determined as the path distance, and the path direction is determined according to the azimuth of the directed straight line from the user's current position to the target shot point.

[0083] See also Figure 7 As shown, the accelerometer reading uses peak detection to obtain the user's steps; the gyroscope and magnetometer work together to determine the user's direction; the current GPS position and the target gun point GPS position are used to determine the rough distance through GPS distance calculation, and the steps, direction, and rough distance are calculated through precise position and direction to determine the navigation guidance route and distance;

[0084] Taking a mobile terminal as an example, the user uses the mobile terminal to obtain the current GPS position when performing a task. The user uses the mobile terminal to select the target shot point where the task needs to be performed and determines the GPS position of the target shot point. After determining the GPS positions of the user's current and the target shot point, the distance between the two is first roughly calculated using the current GPS coordinates of the mobile terminal and the GPS coordinates of the target shot point. The accurate distance calculation to the target shot point is achieved through the real-time update of the data and the combination of step counting and stride length.

[0085] The current GPS position latitude data is calculated through the operation function (Rad) to convert the current latitude into the current latitude radian;

[0086] The current GPS position longitude data is calculated through the operation function (Rad) to convert the current longitude into the current longitude radian;

[0087] The latitude data of the GPS position of the destination is calculated by the operation function (Rad), and the latitude of the destination is converted into the latitude radian of the destination;

[0088] The GPS position data of the destination is operated by the operation function (Rad) to convert the longitude of the destination into the arc of longitude of the destination;

[0089] The difference latitude radian is obtained by calculating the difference between the current latitude radian and the target latitude radian;

[0090] The difference longitude radian is obtained by calculating the difference between the current longitude radian and the target longitude radian;

[0091] The exact distance is calculated using the following formula, where the distance is represented by result:

[0092] The sine function (Math.Asin) is used to calculate half of the difference in latitude radians to obtain the intermediate value e;

[0093] The power function (Math.Pow) operates on e and 2 to obtain the intermediate value f;

[0094] The sine function (Math.Asin) is used to calculate half of the difference in radians to obtain the intermediate value g;

[0095] The power function (Math.Pow) operates on g and 2 to obtain the intermediate value h;

[0096] The cosine function (Math.Cos) calculates the current latitude radian to obtain the intermediate value i;

[0097] The cosine function (Math.Cos) calculates the destination longitude in radians to obtain the intermediate value j;

[0098] The square root function (Math.Sqrt) operates on f+i*j*h to obtain the intermediate value m;

[0099] Final result result = 2*m*earth radius (EARTH_RADIUS)

[0100] The distance between the current GPS position and the target shot point GPS position is obtained by calculating the above formula;

[0101] During the navigation process, the user has calculated the distance and number of steps of each step through the algorithm. The distance walked by the user during navigation is obtained based on the number and distance of each step. Combined with the position and distance result of the current position and the target shot point during navigation, the precise distance between the user's position and the target shot point during walking can be obtained.

[0102] According to the above data, the following is rendered in the human-computer interaction interface of the mobile terminal: Figure 4 The navigation path shown renders the three-dimensional marks of the current position and the target shot point and marks the stake number 10011003 on the three-dimensional marks, displays a navigation straight line between the current position and the target shot point, and marks the navigation distance 41.6 meters on the navigation straight line.

[0103] Step S16: adjusting the user's moving direction according to the user's step length and number of steps, the user's current position, path direction and distance, guiding the user to move forward along the path direction, displaying the path distance to reach the marked three-dimensional pile position and recording the position information.

[0104] According to the path direction and the user's current position, the user's next moving direction is determined, and the user is guided to move forward in the guided direction; during the movement, if the user's moving direction determined according to the path direction and the user's current position deviates, the user's next moving direction is re-determined, and the user is guided to move forward in the re-determined moving direction; according to the user's step length and the number of steps moved along the moving direction, the path distance from the user's current position to the destination point is updated; if the path distance is less than a preset threshold or the user's position coincides with the three-dimensional pile position, it is considered that the user has reached the destination shot point, and the navigation is terminated and the position information of the destination shot point is recorded.

[0105] See also Figure 4 As shown, according to the above data, the three-dimensional pile of the current position and the target shot point is displayed in the human-computer interaction interface of the mobile terminal, and the pile number 10011003 is marked on the three-dimensional pile body. A navigation straight line is displayed between the current position and the target shot point, and the navigation distance 41.6 meters is marked on the navigation straight line. The user moves forward in the direction of the straight line. When the user takes a step, the mobile terminal renders the following according to the above data Figure 4 In the scenario shown, the user can continue to move forward according to the straight line direction;

[0106] After the user moves a certain distance, the mobile terminal is used to determine the distance the user has moved based on the user's step length and the number of steps moved in the moving direction, such as Figure 5 As shown, the three-dimensional pile of the user's current position and the target shot point is displayed on the human-computer interaction interface of the mobile terminal, and the pile number 10011003 is marked on the three-dimensional pile body. A straight line with a navigation mark is displayed between the current position and the target shot point, and the precise distance 8.4 meters from the current position to the target shot point is marked on the above straight line; according to the user's step length and the number of steps moved along the moving direction, the path distance from the user's current position to the target shot point is updated in real time, and the user's forward direction is adjusted in real time, so that the user can reach the target shot point along the shortest path from the current position to the target shot point.

[0107] For example, a user uses a mobile terminal to navigate according to the straight line direction from the user's current position to the target shot point. When the user reaches the target shot point, the user is considered to have reached the target shot point when the position of the user coincides with the three-dimensional pile body or the distance is less than a certain value. Figure 6 As shown, the current position and the generated three-dimensional pile body are displayed on the human-computer interaction interface of the mobile terminal. After reaching the target shot point position, the navigation ends, the target shot point position is recorded, and the navigation ends.

[0108] The above navigation method is adopted, and the trajectory calculated by the navigation method is closer to the real trajectory, such as Figure 8 As shown, the ground truth curve represents the ideal navigation route, the estimated curve represents the navigation guidance route when using the existing navigation technology based on the road network topology structure for navigation, and the route does not use the trajectory of the position and distance calculation technology of the present application, and the estimated_mc curve represents the trajectory using the position and distance calculation technology of the present application. It can be seen that the estimated_mc curve trajectory is closer to the ideal navigation route.

[0109] The above method of the embodiment of the present invention obtains the target shot point of the seismic acquisition operation selected by the user, and after starting AR navigation, generates a marked three-dimensional pile body at the corresponding position of the target shot point, does not require manual measurement and piling, reduces the workload of surveyors, does not require paint or paper markings, can avoid environmental pollution and mark disappearance, improves the speed and efficiency of the operation, and reduces the workload of operators; based on the generated three-dimensional pile body position, the user is navigated and guided, and the path direction and path distance from the user's current position to the three-dimensional pile body are determined according to the GPS position of the three-dimensional pile body and the user's real-time GPS position. According to the user's current direction, the user's step length and number of steps, etc., the user is guided to move forward along the position of the target shot point until the user sees the marked three-dimensional pile body and determines that the target shot point has been reached. The navigation method does not rely on the road network topology structure, and can also be used for the scene of seismic acquisition field operations, can realize fast point selection, fast and accurate navigation, accurately guide users to reach the target operation position, effectively improve the work efficiency of seismic acquisition operations, reduce working time, reduce labor costs, and reduce environmental pollution.

[0110] Based on the same inventive concept, an embodiment of the present invention further provides an AR intelligent high-precision positioning navigation device, which can be arranged in a navigation device, such as an autonomous driving vehicle navigation device, and the structure of the device is as follows: Fig.10 As shown, including:

[0111] An acquisition module 101 is used to acquire a target shot point of a seismic acquisition operation selected by a user;

[0112] The navigation start module 102 is used to start AR navigation, locate the user's current GPS position and the GPS position of the target shot point, and generate a marked three-dimensional pile body at the corresponding position of the target shot point;

[0113] An estimation module 103, configured to estimate the step length and number of steps of the user according to the acceleration data acquired by the acceleration sensor;

[0114] The orientation determination module 104 is used to determine the current orientation of the user according to the angle data obtained by the angular velocity sensor and the orientation data obtained by the orientation sensor;

[0115] A path estimation module 105, for determining a path direction and a path distance from the user's current position to the target shot point according to the user's current GPS position and the GPS position of the target shot point;

[0116] The AR navigation module 106 is used to adjust the user's moving direction according to the user's step length and number of steps, the user's current position, the path direction and the distance, guide the user to move along the path direction for the path distance to reach the marked three-dimensional pile position and record the position information.

[0117] Regarding an AR intelligent high-precision positioning and navigation device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0118] Based on the same inventive concept, an embodiment of the present invention further provides an AR intelligent high-precision positioning navigation system, which can be set in a navigation device, such as an autonomous driving vehicle navigation device. The structure of the system is as follows: Fig.11 As shown, including:

[0119] like Fig.10 The AR intelligent high-precision positioning and navigation device 111 shown;

[0120] The monitoring and management system 112 is used to provide users with project information of seismic acquisition operations, task information under each project and shot point information under each task, and receive location information of target shot points reported by an AR intelligent high-precision positioning and navigation device.

[0121] The system realizes the positioning and navigation process as follows Fig. 9 As shown, the user starts navigation using the AR navigation system. The user requests a project list from the monitoring management system through the AR navigation system. The AR navigation system queries the monitoring management system for project list information and provides feedback. The user selects the user's project according to the project list. The user requests a task list from the monitoring management system through the AR navigation system. The monitoring management system queries the user's task list information and provides feedback. The AR navigation system displays the user's task list. The user searches for the task pile number according to the task list. The AR navigation system guides the user to complete the navigation task and uploads the positioning information to the monitoring management system. The monitoring management system receives and stores the position information, and the user arrives at the destination. The navigation system completes the navigation task and the user ends the navigation.

[0122] Regarding an AR intelligent high-precision positioning and navigation system in the above embodiment, the specific manner in which each AR intelligent high-precision positioning and navigation device performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0123] An embodiment of the present invention provides a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned AR intelligent high-precision positioning and navigation method is implemented.

[0124] An embodiment of the present invention provides a navigation device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the aforementioned AR intelligent high-precision positioning and navigation method is implemented.

[0125] Unless otherwise specifically stated, terms such as processing, computing, calculating, determining, displaying, etc. may refer to the actions and / or processes of one or more processing or computing systems, or similar devices, which operate and convert data represented as physical (e.g., electronic) quantities within registers or memories of a processing system into other data similarly represented as physical quantities within memories, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals may be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0126] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0127] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0128] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0129] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0130] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0131] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. An AR intelligent high-precision positioning and navigation method, characterized in that: include: Obtain the target shot point of the seismic acquisition operation selected by the user; Start AR navigation, locate the user's current GPS position and the GPS position of the target shot point, and generate a marked three-dimensional pile body at the corresponding position of the target shot point; Estimate the user's step length and number of steps based on the acceleration data obtained by the acceleration sensor; Determine the current position of the user based on the angle data obtained by the angular velocity sensor and the position data obtained by the position sensor; According to the user's current GPS position and the GPS position of the target shot point, determine the path direction and path distance from the user's current position to the target shot point; The user's moving direction is adjusted according to the user's step length and number of steps, the user's current position, the path direction and the distance, and the user is guided to move along the path direction for the path distance to reach the marked three-dimensional pile position and record the position information.

2. The method according to claim 1, characterized in that The step of obtaining the target shot point of the seismic acquisition operation selected by the user includes: In response to a login request from a user, guiding the user to log in; Provide users with project information of seismic acquisition operations, task information under each project, and shot point information under each task through a human-computer interaction interface; Get the shot point selected by the user as the target shot point.

3. The method according to claim 1, characterized in that The method of locating the current GPS position of the user and the GPS position of the target shot point, and generating a marked three-dimensional pile body at the position corresponding to the target shot point, includes: Locating the user's current GPS position and the GPS position of the target shot point based on positioning information of at least one satellite navigation positioning system; According to the identification information of the target shot point and the GPS position of the target shot point, a highly recognizable virtual three-dimensional pile body is generated at the corresponding position of the target shot point in the AR real-view map, and a pile number is added to the three-dimensional pile body.

4. The method according to claim 1, characterized in that The step length and number of steps of the user are estimated according to the acceleration data acquired by the acceleration sensor, including: Calculate the overall acceleration of the human body according to the three-axis acceleration data of the human body's walking motion obtained by the acceleration sensor; Extracting periodic intensity features during human motion according to the overall acceleration, wherein the intensity features include acceleration variation features of the human body in horizontal and vertical directions; Identify the peaks and troughs generated by the human body's pace according to the intensity feature, count the trough between two consecutive peaks or the peak between two consecutive troughs as one step, and accumulate the number of steps of the user; According to the count readings of the acceleration sensor, the distance between the coordinate positions corresponding to two adjacent count readings is determined as the step length of the user.

5. The method according to claim 1, characterized in that The step of determining the moving direction of the user according to the angle data acquired by the angular velocity sensor and the direction data acquired by the direction sensor comprises: Determine the change of the user's moving position at different times based on the angle data obtained by the angular velocity sensor; Determine the user's orientation at different times based on the orientation data obtained by the orientation sensor; The user's moving position is determined based on the user's moving position changes and directions at different times.

6. The method according to claim 1, characterized in that Determining the path direction and path distance from the user's current position to the target shot point according to the user's current GPS position and the GPS position of the target shot point includes: According to the user's current GPS position coordinates and the GPS position coordinates of the target shot point, the straight-line distance from the user's current position to the target shot point is determined as the path distance, and the path direction is determined according to the azimuth of the directed straight line from the user's current position to the target shot point.

7. The method according to claim 1, characterized in that The method further comprises: adjusting the moving direction of the user according to the step length and number of steps of the user, the current position of the user, the path direction and the distance, guiding the user to move forward along the path direction by the path distance to reach the position of the marked three-dimensional pile body and recording the position information, including: Determine the next moving direction of the user according to the path direction and the current position of the user, and guide the user to move forward along the moving direction; during the movement, if the moving direction of the user determined according to the path direction and the current position of the user deviates, re-determine the next moving direction of the user, and guide the user to move forward along the re-determined moving direction; Update the path distance from the user's current position to the destination point based on the user's step length and the number of steps taken along the moving direction; If the path distance is less than a preset threshold or the user position coincides with the three-dimensional pile position, it is considered that the user has reached the destination shot point, and navigation is terminated and the position information of the destination shot point is recorded.

8. An AR intelligent high-precision positioning and navigation device, characterized in that: include: An acquisition module, used to acquire a target shot point of a seismic acquisition operation selected by a user; A navigation start module is used to start AR navigation, locate the user's current GPS position and the GPS position of the target shot point, and generate a marked three-dimensional pile body at the corresponding position of the target shot point; An estimation module, used to estimate the user's step length and number of steps based on acceleration data obtained by the acceleration sensor; An orientation determination module, used to determine the current orientation of the user based on the angle data obtained by the angular velocity sensor and the orientation data obtained by the orientation sensor; A path estimation module is used to determine the path direction and path distance from the user's current position to the target shot point based on the user's current GPS position and the GPS position of the target shot point; The AR navigation module is used to adjust the user's moving direction according to the user's step length and number of steps, the user's current position, the path direction and the distance, guide the user to move along the path direction for the path distance to reach the marked three-dimensional pile position and record the position information.

9. An AR intelligent high-precision positioning and navigation system, characterized in that: include: A monitoring and management system and an AR intelligent high-precision positioning and navigation device as claimed in claim 8; The monitoring and management system is used to provide users with project information of seismic acquisition operations, task information under each project and shot point information under each task, as well as receiving the location information of the target shot point reported by the AR intelligent high-precision positioning and navigation device.

10. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by the processor, the AR intelligent high-precision positioning and navigation method described in any one of claims 1-7 is implemented.

11. A navigation 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 program, the AR intelligent high-precision positioning and navigation method described in any one of claims 1 to 7 is implemented.

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