Positioning method and related device

Abstract

A positioning method and a related device are applied to the technical field of positioning. The electronic device may acquire a map of the travelable space, the map indicating a screen of the travelable space. In the positioning process, the electronic equipment can obtain the first picture, the obtained picture is matched with the map of the marching space to determine which position the currently obtained picture is in the marching space, and therefore the position of the electronic equipment is determined. Therefore, positioning can be carried out in real time based on the picture acquired by the electronic equipment, and the accuracy and the real-time performance are relatively high. Moreover, the scheme is simple in operation process, shortens the operation time of the positioning process, can remarkably improve the use experience of the user during positioning, and achieves the instant-on and instant-use.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning method and related devices. Background Art

[0002] With the improvement of people's quality of life and the increase in the number of cars, the architectural structures of various parking lots are becoming more and more complex. When users park their cars in parking lots, it becomes increasingly difficult to get out of the parking lot and find their parked cars. For example, a shopping mall has a three-story parking lot with a total of more than 8,000 parking spaces. Users who enter the parking lot of the mall generally face the problems of "difficulty in finding the way" and "difficulty in finding the car".

[0003] Positioning in parking lots through electronic devices is a key technical point to solve this problem. However, the overall structure of the space available for vehicle travel is relatively complex (such as multiple floors, multiple parking spaces, etc.), and the architectural elements at different locations are relatively similar, making it difficult for positioning based on traditional positioning systems (such as GPS, network positioning) to accurately indicate the user's location. Especially for spaces such as parking lots located inside buildings, the indoor network positioning accuracy is poor, and the strength and stability of indoor network signals are lower, which further reduces the indoor user positioning accuracy and poor user experience. Summary of the invention

[0004] The embodiments of the present application provide a positioning method and related devices, which can improve the positioning accuracy of the user in the drivable space and provide a better user experience.

[0005] In a first aspect, a positioning method is provided, which can be performed by an electronic device, including but not limited to handheld terminals, wearable devices and other electronic devices.

[0006] The method comprises: obtaining a three-dimensional map of a first movable space; obtaining a first picture, and obtaining a first position of an electronic device in the first movable space according to the first picture and the three-dimensional map of the first movable space.

[0007] In the above technical solution, the electronic device can obtain a map of the traversable space, and the map can indicate a picture of the traversable space. During positioning, the electronic device can determine which position in the three-dimensional space the currently acquired picture is in by combining the acquired picture and the three-dimensional map of the traversable space, thereby obtaining the position of the electronic device in the traversable space and achieving positioning. This solution is based on the picture acquired by the electronic device for positioning, and the positioning accuracy is relatively high, and it is not easy to cause the problem of positioning "drift". For example, the user only needs to turn on the image sensor, or turn on the application to automatically call the image sensor, and then the picture can be taken to achieve positioning. Therefore, the operating process of the embodiment of the present application is relatively simple, which shortens the operation time of the positioning process, and can significantly improve the user experience when using positioning, and achieve out-of-the-box use.

[0008] In addition, since the only information that needs to be input in real time during the positioning process is the captured image, this solution is not restricted by the network connection status and is suitable for terminal positioning under a variety of network conditions, providing a good user experience.

[0009] Furthermore, the method further includes: displaying a first interface, the first interface including a view of the first travelable space and a position of the first position in the view of the first travelable space.

[0010] In the above aspects, the first movable space is used to distinguish different movable spaces. Among them, the movable space refers to a space used to accommodate movable objects (including living objects and inanimate objects) to move. For example, people and cars can walk, move, stop, etc. in the movable space. For another example, the movable space has a road and a parking space.

[0011] In some possible cases, the traversable space may be semi-enclosed in design, for example, the traversable space has an exit and an entrance, and the rest of the space is generally enclosed in design, with walls or even a multi-layer structure.

[0012] In some other possible situations, the traversable space is located indoors or inside a building. Since the network connection inside a building is prone to be unstable, the present application uses the captured images and maps for positioning, and can achieve the positioning function without a network.

[0013] In some other possible situations, the traversable space is located indoors and underground, for example, the traversable space may be an underground garage.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the three-dimensional map of the first movable space is obtained by fusing visual information collected by devices that have traveled in the first movable space. For example, the three-dimensional map of the first movable space is obtained by fusing visual information collected by vehicles that have traveled in the first movable space. The visual information includes but is not limited to information from image sensors, laser radars, millimeter-wave radars and other visual sensors. For example, the visual information may include one or more of pixel images, point cloud images and the like.

[0015] Taking the first movable space as an example, the vehicle collects and fuses the self-constructed map of the basement through the perception system (such as cameras, radars, etc.) in the basement, and uploads the self-constructed map to the cloud. When multiple vehicles upload their self-constructed maps for the same basement, the cloud can unify the fusion of the self-constructed maps uploaded by multiple vehicles to form an accurate three-dimensional map of the basement.

[0016] In this implementation method, the three-dimensional map itself is also obtained based on visual information, and can better reflect the architectural features in the space in the form of images, thereby improving the accuracy of matching the picture and further improving the accuracy of positioning.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the first spatial map may be pre-configured in the electronic device, or may be obtained by the electronic device through a network. The “pre-configured” here may be before positioning.

[0018] Exemplarily, the installation package may include one or more three-dimensional maps of movable spaces (including the three-dimensional map of the first movable space), and the electronic device may obtain the one or more three-dimensional maps of movable spaces by downloading the installation package.

[0019] As another example, when the electronic device is close to a certain area (such as a city or urban area), it can download a three-dimensional map of the traversable space in the city or urban area through the network. The cloud can actively push the three-dimensional map of the traversable space to the electronic device, or the electronic device can actively request the three-dimensional map of the traversable space from the cloud.

[0020] In combination with the first aspect, in some implementations of the first aspect, the method further includes: receiving indication information of a first traversable space from a first vehicle, the first vehicle being associated with the electronic device, the first traversable space being a traversable space entered by the first vehicle.

[0021] In this implementation, the first vehicle can indicate to the electronic device which one (or which ones) of the three-dimensional maps of the space needs to be matched, thereby saving matching time and improving positioning speed and positioning accuracy.

[0022] In combination with the first aspect, in some implementations of the first aspect, the method further includes: obtaining indication information of a first movable space from the cloud, the first movable space being a movable space where a first vehicle is located, and the first vehicle is associated with the electronic device.

[0023] In this implementation, the electronic device can obtain from the cloud which (or which) three-dimensional maps of the space need to be matched, thereby saving matching time and improving positioning speed and positioning accuracy.

[0024] In combination with the first aspect, in some implementations of the first aspect, the method further includes: before obtaining the three-dimensional map of the first movable space, detecting the network environment of the electronic device; when the network environment of the electronic device is normal, executing the step of "obtaining indication information of the first movable space from the cloud".

[0025] In this implementation, when the network of the electronic device is normal, the identifier of the traversable space where the current vehicle is located can be obtained from the cloud, which can save matching time and improve positioning speed and positioning accuracy. Moreover, the network status is tested before obtaining information, which can reduce the probability of information acquisition failure and improve positioning efficiency.

[0026] In combination with the first aspect, in some implementations of the first aspect, obtaining a first position of the electronic device in the first movable space according to the first screen and the three-dimensional map of the first movable space includes:

[0027] Matching the spatial elements in the first picture with the spatial elements in the three-dimensional map of the first traversable space to determine the hit spatial elements; determining the first position of the electronic device in the traversable space according to the position of the hit spatial elements in the three-dimensional map of the first traversable space. Further, the method further includes: extracting the spatial elements in the first picture.

[0028] Exemplarily, the spatial elements may include buildings (eg, walls, columns, ceilings, etc.), lane lines, parking space lines, parking space numbers, signs (eg, floor signs, elevator signs, exit signs, etc.).

[0029] In combination with the first aspect, in some implementations of the first aspect, the method further includes:

[0030] The direction of the electronic device in the three-dimensional map of the first movable space is determined according to the first screen and the three-dimensional map of the first movable space.

[0031] In combination with the first aspect, in some implementations of the first aspect, the three-dimensional map of the first traversable space includes multiple images taken from multiple perspectives, and the method further includes:

[0032] Determining a target image that matches the first picture according to the first picture and the three-dimensional map of the first movable space;

[0033] The orientation of the electronic device in the three-dimensional map of the first movable space is determined according to a first viewing angle corresponding to the target image.

[0034] In combination with the first aspect, in some implementations of the first aspect, the first interface further includes a direction of the electronic device in the movable space.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: determining a destination point, the destination point being located in the first traversable space; and displaying a second interface, the second interface including a view of the first traversable space and a navigation route from the first position to the destination point. By combining the captured images to achieve accurate positioning, the user can be quickly and easily led to find the destination, thereby improving the user experience.

[0036] In combination with the first aspect, in some implementations of the first aspect, the method further includes: receiving an operation instruction input by a user, where the operation instruction indicates the destination point.

[0037] In combination with the first aspect, in some implementations of the first aspect, the destination point is a parking position of the first vehicle.

[0038] In the second aspect, a positioning method is provided, which can be performed by a vehicle. The vehicle is a vehicle in a broad sense, and can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), mobile robots, etc. For another example, the robot can be an intelligent handling robot (Automated Guided Vehicle, AGV), a walkable conversational robot, a service robot, and other robots. Including but not limited to electronic devices such as handheld terminals and wearable devices.

[0039] The method includes: acquiring a second picture, and sending indication information of the first movable space to an electronic device when the second picture matches an entrance picture of the first movable space. The electronic device is associated with a first vehicle, and the indication information electronic device of the first movable space is located in a three-dimensional map of the first movable space, and the three-dimensional map of the first movable space is used to indicate a three-dimensional picture of the first movable space.

[0040] In combination with the second aspect, in some implementations of the second aspect, the method includes: obtaining the position of the first vehicle; determining an entrance screen of at least one traversable space to be matched according to the position of the first vehicle, the at least one traversable space including the first traversable space.

[0041] In combination with the second aspect, in some implementations of the second aspect, the method includes: obtaining the vertical height of the entrance of the first movable space; detecting the change in altitude of the first vehicle, and sending indication information of the first movable space to the electronic device when the second screen matches the entrance screen of the first movable space and the absolute value of the difference between the change in altitude of the vehicle and the vertical height of the entrance of the first movable space is less than a preset threshold.

[0042] That is to say, sending indication information of the first movable space to the electronic device when the second screen matches the entrance screen of the first movable space includes: sending indication information of the first movable space to the electronic device when the second screen matches the entrance screen of the first movable space and the absolute value of the difference between the vehicle's altitude change and the vertical height of the entrance of the first movable space is less than a preset threshold.

[0043] In a third aspect, a positioning system is provided, which includes an electronic device and a vehicle, wherein the electronic device is used to implement the method described in the first aspect or any possible implementation of the first aspect, and the vehicle is used to implement the method described in the second aspect or any possible implementation of the second aspect.

[0044] In a fourth aspect, a positioning device is provided, the positioning device comprising an acquisition unit, a processing unit and a display unit, and the positioning device is used in the method described in the first aspect or any possible implementation of the first aspect. Optionally, the positioning device may also include an image sensor and / or a display module, wherein the image sensor is used to capture a picture, and the display module is used to present an interface, such as a graphical user interface (GUI).

[0045] In a fifth aspect, a positioning device is provided, the positioning device comprising an acquisition unit, a processing unit and a communication unit, and the positioning device is used to implement the method described in the second aspect or any possible implementation of the second aspect. Optionally, the positioning device may also include a visual sensor.

[0046] In a sixth aspect, an electronic device is provided, the electronic device comprising a memory and a processor, wherein the memory is used to store program instructions;

[0047] When the processor executes the program instructions in the memory, the electronic device executes the method described in the first aspect or any possible implementation manner of the first aspect.

[0048] In a seventh aspect, a vehicle is provided, the vehicle comprising a memory and a processor, the memory being used to store program instructions;

[0049] When the processor executes the program instructions in the memory, the electronic device executes the method described in the second aspect or any possible implementation manner of the second aspect.

[0050] In an eighth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores program instructions, wherein the program instructions are used to implement the method described in the first aspect or any possible implementation manner of the first aspect, or to implement the method described in the first aspect or any possible implementation manner of the first aspect.

[0051] In a ninth aspect, a computer program product is provided, which comprises instructions or a computer program, and when the instructions or the computer program are executed, the method of any one of the first aspect or the method of any one of the second aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The following is a brief introduction to the drawings required for describing the embodiments.

[0053] Figure 1 It is a schematic diagram of the hardware structure of an electronic device;

[0054] Figure 2 It is a schematic diagram of the software structure of an electronic device;

[0055] Figure 3 It is a flowchart of a positioning method provided in an embodiment of the present application;

[0056] Figure 4 is a schematic diagram of a map provided in an embodiment of the present application;

[0057] Figure 5 is a schematic diagram of a user interface provided in an embodiment of the present application;

[0058] Figure 6 is a schematic diagram of another user interface provided in an embodiment of the present application;

[0059] Figure 7 is a schematic diagram of another user interface provided in an embodiment of the present application;

[0060] Figure 8 is a schematic diagram of a first screen provided in an embodiment of the present application;

[0061] Fig. 9 is a schematic diagram of a space element provided in an embodiment of the present application;

[0062] Fig.10 is a schematic diagram of a first interface provided in an embodiment of the present application;

[0063] Fig.11 is a schematic diagram of a second interface provided in an embodiment of the present application;

[0064] Fig.12 It is a schematic diagram of information interaction provided by an application embodiment;

[0065] Fig.13 is a flowchart of another positioning method provided in an embodiment of the present application;

[0066] Fig.14 This is a schematic diagram of a scene of a vehicle entering a basement provided by an embodiment of the present application;

[0067] Fig.15 is a structural schematic diagram of a positioning device provided in an embodiment of the present application;

[0068] Fig.16 It is a structural schematic diagram of another positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0070] The electronic device may be a user device, an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user device. The electronic device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, an electronic device in a 5G network or an electronic device in an evolved public land mobile communication network (PLMN), etc.

[0071] The movable space mentioned in the embodiments of the present application refers to a space in which movable objects (including living objects and inanimate objects) can be accommodated and moved. For example, people and cars can walk, move, stop, etc. in the movable space. In some schemes, there are roads and parking spaces in the movable space, such as a parking lot. In some possible situations, the movable space can be a semi-enclosed design, for example, the movable space has an exit and an entrance, and the remaining areas are usually closed. For example, there are walls or even multi-layer structures in the movable space. In some other possible situations, the movable space is located indoors, or inside a building, such as an indoor parking lot. In some other possible situations, the movable space is located indoors and underground, for example, the movable space can be an underground garage.

[0072] Let's combine Figure 1 An electronic device suitable for the present application is described.

[0073] Exemplarily, the electronic device 100 may include a processor 110, an interface (such as an external memory interface 120), a camera 193 and a display screen 194. Further, the electronic device may also include one or more of the following modules: an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0074] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0075] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). Among them, different processing units may be independent devices or integrated into one or more processors. The controller may generate an operation control signal according to the instruction opcode and the timing signal to complete the control of fetching and executing instructions. A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a high-speed cache memory. The memory may store instructions or data that the processor 110 has just used or circulated. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. Repeated access is avoided, the waiting time of the processor 110 is reduced, and the efficiency of the system is improved.

[0076] In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc. Among them, the USB interface 130 is an interface that complies with the USB standard specification, and can specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transmit data between the electronic device 100 and a peripheral device. It can also be used to connect headphones and play audio through headphones. The interface can also be used to connect other electronic devices, such as AR devices.

[0077] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0078] The charging management module 140 is used to receive charging input from a charger. The power management module 141 is used to power one or more modules through the battery 142 and / or the charging management module 140. The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0079] The mobile communication module 150 can provide wireless communication solutions including 2G / 3G / 4G / 5G etc. applied on the electronic device 100 .

[0080] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), star flash, etc., which are applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, modulates the frequency of the electromagnetic wave signal and filters it, and sends the processed signal to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, modulate the frequency of it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0081] In some embodiments, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0082] The electronic device 100 implements the display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

[0083] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

[0084] The electronic device 100 can realize the shooting function through ISP, camera 193, video codec, GPU, display screen 194 and application processor. Camera 193 is used to capture static images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0085] The electronic device 100 can implement audio functions such as music playing and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0086] The gyro sensor 180B can be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (i.e., x, y, and z axes) can be determined by the gyro sensor 180B. The gyro sensor 180B can be used for anti-shake shooting. For example, when the shutter is pressed, the gyro sensor 180B detects the angle of the electronic device 100 shaking, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to offset the shaking of the electronic device 100 through reverse movement to achieve anti-shake. The gyro sensor 180B can also be used for navigation and somatosensory game scenes.

[0087] The pressure sensor 180A is used to sense the pressure signal and can convert the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A can be arranged on the display screen 194. The air pressure sensor 180C is used to measure the air pressure. In some embodiments, the electronic device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist in positioning and navigation.

[0088] The acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in all directions (generally three axes). When the electronic device 100 is stationary, the magnitude and direction of gravity can be detected. It can also be used to identify the posture of the electronic device and is applied to applications such as horizontal and vertical screen switching and pedometers.

[0089] The distance sensor 180F is used to measure the distance. The electronic device 100 can measure the distance by infrared or laser. In some embodiments, when shooting a scene, the electronic device 100 can use the distance sensor 180F to measure the distance to achieve fast focusing.

[0090] The proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The light emitting diode may be an infrared light emitting diode. The electronic device 100 emits infrared light outward through the light emitting diode. The electronic device 100 uses a photodiode to detect infrared reflected light from nearby objects. When sufficient reflected light is detected, it can be determined that there is an object near the electronic device 100. When insufficient reflected light is detected, the electronic device 100 can determine that there is no object near the electronic device 100. The electronic device 100 can use the proximity light sensor 180G to detect that the user holds the electronic device 100 close to the ear to talk, so as to automatically turn off the screen to save power. The proximity light sensor 180G can also be used in leather case mode and pocket mode to automatically unlock and lock the screen.

[0091] The ambient light sensor 180L is used to sense the ambient light brightness. The electronic device 100 can adaptively adjust the brightness of the display screen 194 according to the perceived ambient light brightness. The ambient light sensor 180L can also be used to automatically adjust the white balance when taking pictures. The ambient light sensor 180L can also cooperate with the proximity light sensor 180G to detect whether the electronic device 100 is in a pocket to prevent accidental touches.

[0092] The touch sensor 180K is also called a "touch control device". The touch sensor 180K can be set on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also called a "touch control screen". The touch sensor 180K is used to detect touch operations acting on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through the display screen 194. In other embodiments, the touch sensor 180K can also be set on the surface of the electronic device 100, which is different from the position of the display screen 194.

[0093] The magnetic sensor 180D, the fingerprint sensor 180H, the temperature sensor 180J, the bone conduction sensor 180M, the button 190, the motor 191, the indicator 192, the SIM card interface 195 and other related modules can refer to the introduction in the relevant technology.

[0094] The above is a schematic diagram of the hardware architecture of the electronic device. The following will continue to introduce the software architecture of the electronic device by taking the electronic device 100 as an example.

[0095] The software system of the electronic device 100 may adopt a layered architecture, an event-driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture. In the embodiment of the present invention, the Android system of the layered architecture is taken as an example to exemplify the software structure of the electronic device 100.

[0096] Figure 2 1 is a software structure diagram of the electronic device 100 of an embodiment of the present invention. The layered architecture divides the software into several layers, each layer has a clear role and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom, namely, the application layer, the application framework layer, the Android runtime (Android runtime) and the system library, and the kernel layer.

[0097] The application layer can include a series of application packages. Figure 2 As shown, the application package may include camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message and other applications.

[0098] The application framework layer provides application programming interface (API) and programming framework for the applications in the application layer. The application framework layer includes some predefined functions. Figure 2 As shown, the application framework layer may include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, and the like. The window manager is used to manage window programs. The window manager can obtain the size of the display screen, determine whether there is a status bar, lock the screen, capture the screen, and the like. The content provider is used to store and obtain data and make the data accessible to the application. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phone books, and the like. The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, and the like. The view system can be used to build applications. The display interface may be composed of one or more views. For example, a display interface including a text notification icon may include a view for displaying text and a view for displaying pictures. The phone manager is used to provide communication functions for the electronic device 100. For example, the management of call status (including connecting, hanging up, and the like). The resource manager provides various resources for the application, such as localized strings, icons, pictures, layout files, video files, and the like. The notification manager enables the application to display notification information in the status bar, which can be used to convey notification-type messages and can automatically disappear after a short stay without user interaction. For example, the notification manager is used to notify download completion, message reminders, etc. The notification manager can also be a notification that appears in the system top status bar in the form of an icon or scroll bar text, such as a notification of an application running in the background, or a notification that appears on the screen in the form of a dialog window. For example, a text message is displayed in the status bar, a prompt sound is emitted, an electronic device vibrates, an indicator light flashes, etc.

[0099] Android Runtime includes core libraries and virtual machines. Android runtime is responsible for scheduling and management of the Android system. The core library consists of two parts: one is the function that the Java language needs to call, and the other is the Android core library. The application layer and the application framework layer run in the virtual machine. The virtual machine executes the Java files of the application layer and the application framework layer as binary files. The virtual machine is used to perform object life cycle management, stack management, thread management, security and exception management, and garbage collection.

[0100] The system library can include multiple functional modules. For example: surface manager, media library, 3D graphics processing library (for example: OpenGL ES), 2D graphics engine (for example: SGL), etc. The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications. The media library supports playback and recording of a variety of commonly used audio and video formats, as well as static image files, etc. The media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc. The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, synthesis, and layer processing, etc. The 2D graphics engine is a drawing engine for 2D drawing. The kernel layer is the layer between hardware and software. The kernel layer contains at least display driver, camera driver, audio driver, and sensor driver.

[0101] The following is an example of the workflow of the software and hardware of the electronic device 100 in conjunction with the capture and photography scene. When the touch sensor 180K receives a touch operation, the corresponding hardware interrupt is sent to the kernel layer. The kernel layer processes the touch operation into an original input event (including touch coordinates, timestamp of the touch operation, and other information). The original input event is stored in the kernel layer. The application framework layer obtains the original input event from the kernel layer and identifies the control corresponding to the input event. Taking the touch operation as a touch single-click operation, and the control corresponding to the single-click operation is the control of the camera application icon as an example, the camera application calls the interface of the application framework layer, starts the camera application, and then starts the camera driver by calling the kernel layer, and captures a static image or video through the camera 193.

[0102] The following combination Figures 2 to 14 The positioning method provided in the embodiments of the present application is described in detail.

[0103] With the development of urbanization, more and more high-rise buildings have made people's demand for accurate positioning in space more and more intense. The embodiment of the present application provides a positioning method and related devices, which can improve the positioning accuracy and positioning efficiency of users in a drivable space and improve user experience.

[0104] See also Figure 3 , Figure 3 is a flow chart of a positioning method provided in an embodiment of the present application. Optionally, the method can be applied to Figure 1The electronic device 100. It should be understood that for the convenience of description, the order of S301 to S304 is used for description, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. Steps S301-S304 are as follows:

[0105] Step S301: the electronic device obtains a three-dimensional map of a first movable space.

[0106] The first movable space can accommodate movable objects, such as a parking lot, or a parking building, an underground garage, etc. The three-dimensional map of the first movable space is used to indicate the three-dimensional picture of the first movable space. For example, the three-dimensional map can indicate the three-dimensional coordinate position of some or all of the spatial elements in the first movable space in the space. Among them, the spatial elements may include buildings (such as walls, columns, ceilings, or pipes, etc.), lane lines, driving direction arrows, color blocks, speed bumps, parking lines, parking space numbers, signs (such as floor indications, elevator indications, exit indications, etc.), and further, the three-dimensional map can also indicate the attribute information of the spatial elements, such as one or more of the position, color, texture, size, etc. It should be understood that the storage and transmission of the three-dimensional map can be in a variety of forms, such as directly using a three-dimensional model for storage, or it can be stored in the plane map after the attribute information of the spatial elements is expressed through a perspective relationship. That is to say, the three-dimensional here refers to the ability to show the characteristics of the spatial elements in the three-dimensional world, and does not mean that the ground Figure 1 For example, in some solutions, maps can also show the three-dimensional characteristics of spatial elements, and even the height and depth of spatial elements can be shown through translation, rotation, and perspective conversion. Such maps also fall within the scope of three-dimensional maps.

[0107] See also Figure 4 , Figure 4 is a schematic diagram of a map provided in an embodiment of the present application. The map may include spatial elements such as walls, support columns, parking spaces, basement partitions, parking space numbers, elevator entrances, lanes, lane lines, signs or entrances and exits. Figure 4 The three-dimensional map shown may reflect the position of the above-mentioned spatial elements in the three-dimensional space, and further include one or more of the position of the spatial elements and the color, texture, etc. of the spatial elements. Furthermore, the three-dimensional map may also reflect the size of the above-mentioned elements in three dimensions.

[0108] In some possible solutions, the three-dimensional map of the first movable space is obtained by fusing the visual information collected by the device that has traveled in the first movable space. For example, the three-dimensional map of the first movable space is obtained by fusing the visual information collected by the vehicle that has traveled in the first movable space. Among them, the visual information includes but is not limited to information from image sensors, information from visual sensors such as laser radars and millimeter-wave radars. For example, the visual information may include one or more of pixel images, point cloud images, fused images (such as the self-constructed map described below), etc. Taking the first movable space as a basement as an example, the vehicle collects and fuses the self-constructed map in the basement through a perception system (such as a camera, radar, etc.) in the basement, and uploads the self-constructed map to the cloud. When multiple vehicles upload the self-constructed maps of the same basement, the cloud can unify the fusion of the self-constructed maps uploaded by multiple vehicles to form an accurate three-dimensional map for the basement. In other words, the three-dimensional map can be obtained based on the visual information collected by the crowdsourcing vehicle.

[0109] It should be understood that the first traversable space may belong to one or more of the multiple traversable spaces. For ease of understanding, the following are several exemplary methods for obtaining a three-dimensional map of the first traversable space:

[0110] Method 1: The three-dimensional map of the first traversable space is pre-configured in the electronic device. For example, the installation package may include one or more three-dimensional maps of the traversable space (including the three-dimensional map of the first traversable space), and the electronic device may obtain the one or more three-dimensional maps of the traversable space by downloading the installation package.

[0111] Optionally, the three-dimensional maps included in the installation package can all be regarded as the three-dimensional maps of the first movable space. Alternatively, the three-dimensional map of the first movable space can be determined from other input information.

[0112] Method 2: The electronic device can obtain a three-dimensional map of the first movable space through the network. When the exemplary electronic device is close to a certain area (such as a city or urban area), it can download a three-dimensional map of the movable space in the city or urban area through the network. Optionally, the cloud can also actively send the three-dimensional map of the movable space to the electronic device, or optionally, the electronic device can actively request the three-dimensional map of the movable space from the cloud.

[0113] In a third method, the electronic device may determine the three-dimensional map of the first movable space from the three-dimensional map of at least one movable space according to the indication information of the first movable space. The indication information may be one or more of a name, an ID, a location (such as one or more of longitude, latitude, or altitude), an ID of a map tile, geographic fence information, and the like.

[0114] Optionally, the indication information of the first movable space may be determined by the electronic device according to its own location information, or received from a user input, or received from another device. Several possible solutions are described below:

[0115] In some examples, the electronic device 100 may display multiple indicator cards (or spaces) of possible moving spaces. The electronic device 100 may respond to a user operation (e.g., a click operation) on any one of the multiple indicator cards to determine that the possible moving space corresponding to the indicator card is the first possible moving space. For details, see Figure 5 The user interface 500 shown. Figure 5 As shown, the user interface 500 may include a title "Select parking lot", a control 501, a control 502, a control 503, an indication card 504 (i.e., an interface for indicating a movable space), and a control 505. Controls 501 to 503 are used to filter the indication cards displayed this time. For example, control 501 is used to select or input the city where the parking lot is located, control 502 is used to select or input the district (or county) where the parking lot is located, control 502 is used to select or input the street where the parking lot is located (or the granularity of other areas), and control 505 is used to slide the card list, thereby triggering the update of the displayed indication card. It should be understood that the number of controls can be more or less (or even none). In some examples, the electronic device 100 can generate a selection operation for "XX community parking lot" according to the indication card 504 in response to a user operation (e.g., a click operation) on the indication card 504, thereby obtaining a three-dimensional map of "XX community parking lot".

[0116] In some other examples, the electronic device 100 can receive indication information of a first movable space sent by a vehicle (referred to as the first vehicle for easy distinction). For example, the first vehicle enters the "XX community parking lot", and its ID corresponds to P011, then the first vehicle can send indication information of the "XX community parking lot" to the electronic device 100, for example, sending the ID "P011" of the movable space to the electronic device. In this example, the electronic device 100 can be associated with one or more vehicles. For example, an application is installed on the electronic device 100, account information is established in the application, and the account information is associated with a certain vehicle. For another example, when the electronic device 100 is an electronic device used by a car owner, it should be understood that the car owner involved in the embodiments of the present application refers to the legally authorized user of the vehicle.

[0117] like Figure 6The figure shows a possible user interface provided by an embodiment of the present application, and the user interface 600 may include controls 601, 602, 603, and 604. Among them, control 601 is used to display the first movable space (i.e., "XX community parking lot") where the first vehicle is located, control 602 is used to prompt the user to trigger positioning, control 603 is used to trigger the selection of other parking lots, and control 604 is used to trigger the entry into the shooting process.

[0118] In some other examples, the electronic device 100 may receive the indication information of the first movable space sent by the cloud. For example, the electronic device 100 requests its own location from the cloud, and the cloud sends the indication information of the nearest movable space around the location of the electronic device 100 to the electronic device 100. For another example, the vehicle may send its own location to the cloud or replace it with (the indication information of the movable space where it is located), and the cloud may send the indication information of the first movable space to the electronic device 100, and the first movable space is the nearest movable space currently for the first vehicle (or the movable space where the first vehicle is located).

[0119] like Figure 7 700 is a schematic diagram of another user interface provided in an embodiment of the present application. The user interface 700 may include a title "Select the parking lot you are in", a control 701, a control 702, a control 703, a control 704, and a control 705. Among them, the control 701 is used to display the first movable space (i.e., "XX community parking lot") where the electronic device 100 is associated with the first vehicle and a map around it, wherein the location and map of the first movable space where the first vehicle is located may be provided to the electronic device 100 by the cloud. The control 702 is used to display the specific location of the first vehicle in the map, the control 703 is used to prompt the user to trigger positioning, the control 704 is used to trigger the selection of other parking lots, and the control 705 is used to trigger the entry into the shooting process.

[0120] As a possible implementation, the electronic device can detect its own network environment, and when the network environment of the electronic device is normal, obtain the indication information of the first traversable space from the cloud. Specifically, the normal network environment of the electronic device may include the following situations: sending or receiving information successfully, or the data transmission rate (or replaced by upload rate, download rate) is greater than the preset first network rate threshold, etc.

[0121] It should be understood that the above-mentioned multiple methods can be combined. Taking the combination of methods one and three as an example, the electronic device is pre-configured with a plurality of three-dimensional maps of movable spaces, and the three-dimensional map of one of the movable spaces is determined by receiving the indication information from the vehicle. Taking the combination of methods one and two as an example, the electronic device can be pre-configured with a plurality of three-dimensional maps of movable spaces, and the three-dimensional map is maintained by the cloud. When there is an update to a certain (or a certain group) of three-dimensional maps of movable spaces, the cloud can provide update information to the electronic device to update the three-dimensional map in the electronic device to obtain one or more updated three-dimensional maps of movable spaces. Taking the combination of methods one and two as an example, the three-dimensional map of part of the movable space can be pre-set in the APP, and the electronic device obtains the three-dimensional map of this part of the movable space by installing and downloading the APP. Further, in the subsequent use process, the user can selectively download the map of the specified area according to his own needs. At the same time, when the map in the cloud is updated, it will also be pushed to the electronic device, and the user can choose whether to update the three-dimensional map according to his own needs.

[0122] In some possible implementations, the map of the traversable space may be desensitized to avoid privacy and information security issues. Optionally, the map may be stored in an electronic device for a long period of time.

[0123] Step S302: the electronic device acquires a first picture.

[0124] Wherein, obtaining may include obtaining from a sensor, or reading from stored image data (e.g., obtaining from a photo album). Optionally, the first picture may include one image or multiple images, or may also include video data. For example, when the electronic device captures a picture through a camera, the electronic device may obtain a video stream captured by the camera, and capture one or more frames of images in the video stream as the first picture.

[0125] For example, the electronic device may include a camera, and the electronic device may call the camera to shoot a picture, thereby obtaining a picture from the camera. Figure 8 It is a schematic diagram of a first screen provided in an embodiment of the present application.

[0126] In some embodiments, step S302 is performed after receiving the user's operation. Figure 3 The method shown can be integrated as a function in an application (APP), and step S302 is executed after the user opens the application. Figure 6 , the electronic device can shoot the first picture in response to the user clicking the control 604 or long pressing the control 604. Of course, the user's operation of entering the shooting process is not limited to the several operations shown here. For example, the user can also enter the shooting process by pressing the volume key.

[0127] Furthermore, the electronic device may first obtain permission to use the camera (e.g., permission to shoot, record, etc.), and then use the camera to shoot the image. As a possible implementation, when the electronic device turns on the positioning function (e.g., when the positioning application is turned on), it may display a prompt message to prompt the user to authorize the function or the positioning application to use the camera. In another case, the user may authorize the positioning function (e.g., when the positioning application is turned on) to use the camera through the system settings function of the electronic device.

[0128] Step S303: the electronic device obtains a first position of the electronic device according to the first picture and the three-dimensional map of the first movable space.

[0129] Among them, the first position is in the first movable space. Specifically, the electronic device determines, based on the first picture and the three-dimensional map of the movable space, at which position in the three-dimensional space the currently acquired picture is located, thereby obtaining the position of the electronic device in the movable space. The first picture acquired by the electronic device may be taken at any position in the first movable space, that is, for the picture taken by the user at any position in the map, the electronic device can match it with the map, and obtain the corresponding position of the electronic device in the map when the match is successful, so that the user can accurately and timely locate his position, even without the support of the network, which significantly improves the convenience of use.

[0130] As a possible implementation, the three-dimensional map of the first movable space is obtained by fusing multiple images, and each of the multiple images can be associated with one or a group of coordinate positions. When matching, the electronic device can determine the target image matched by the first picture from the multiple images, and the position associated with the target image can be used as the first position of the electronic device, or the position associated with the target image is related to the first position of the electronic device. Further, when matching, the electronic device can match the spatial elements in the first picture with the spatial elements in the multiple pictures to obtain the hit spatial elements, thereby determining the target image matching the first picture based on the hit spatial elements.

[0131] As mentioned above, the three-dimensional map of the first movable space can be obtained by fusing the images taken by the vehicle in the first movable space. In some schemes, when the vehicle takes a picture, it can associate the currently taken picture with its current position. Accordingly, when the taken picture is used to fuse to obtain the three-dimensional map of the first movable space, the image of the picture contained in the three-dimensional map also corresponds to the position. In this way, when the electronic device uses the first picture taken to achieve positioning, the electronic device can match a picture similar to the first picture from the three-dimensional map, thereby inferring the current position of the electronic device based on the position corresponding to the matched picture.

[0132] As a possible implementation, the electronic device may match the spatial elements in the first screen with the spatial elements in the three-dimensional map in the first traversable space to determine the hit spatial elements, and determine the first position of the electronic device in the traversable space according to the position of the hit spatial elements in the three-dimensional map of the first traversable space (e.g., the vector coordinates of the hit spatial elements). The hit spatial elements refer to the spatial elements in the first screen that can be matched with the spatial elements in the three-dimensional map, for example, the matching degree is greater than a first threshold, and the first threshold here can be predefined or pre-set.

[0133] See also Fig. 9 , Fig. 9 is a schematic diagram of a space element provided by an embodiment of the present application. The electronic device can be Fig. 9 Multiple spatial elements are extracted from the picture shown, such as a sign 901, text (or floor indicator) 902, parking space number (i.e. 1273) 903, parking space number (i.e. 1272) 904, support column 905, wall 906 and text (or guide symbol) 907. The electronic device 100 can match the above one or more elements with the spatial elements in the three-dimensional map of the first movable space. Taking the matching of the parking space number as an example, the parking space number (i.e. 1273) 903 can be matched with the parking space number "1273" in the first movable space (i.e. the parking space number "1273" is the hit spatial element). Similarly, when the sign 901 can match the sign in the three-dimensional map, the sign 901 is regarded as the hit spatial element. According to the position of the hit spatial element (e.g. the parking space number "1273" etc.) in the three-dimensional map, the first position of the electronic device can be determined.

[0134] In some embodiments, the electronic device can also determine the orientation of the electronic device based on the first screen and the three-dimensional map in the first movable space. The orientation here refers to the relative orientation of the preset direction of the electronic device on the three-dimensional map of the movable space. Exemplarily, the preset direction of the electronic device is represented by the direction of the back of the electronic device when the electronic device is upright. In another exemplary embodiment, the preset direction can be the direction of the rotation axis of the gyroscope.

[0135] For ease of understanding, here are some possible ways to determine the direction:

[0136] Method 1: The electronic device can determine the orientation of the electronic device based on the viewing angle corresponding to the first screen. Exemplarily, the three-dimensional map contains multiple images taken from multiple viewing angles. During matching, the electronic device determines the target image matched by the first screen, and the target image is the image of the three-dimensional map at the first viewing angle. The orientation of the electronic device is the orientation of the first viewing angle or the orientation of the electronic device is related to the orientation of the first viewing angle. For example, when the electronic device uses a rear camera to capture a picture, the orientation of the electronic device is the orientation of the first viewing angle.

[0137] In the previous article, we mentioned that a three-dimensional map can be obtained based on the fusion of images taken at multiple positions. When a vehicle passes a certain position in the first movable space, a picture can be taken from a first perspective. The pictures taken at this position and this perspective are used to fuse to obtain a three-dimensional map, forming an image in the three-dimensional map. During positioning, after the electronic device captures the first picture, it matches the first picture with the image in the three-dimensional map. According to the shooting perspective corresponding to the picture matching the first picture (i.e., the first perspective), the shooting perspective of the electronic device when capturing the first picture can be determined, thereby determining the direction of the electronic device. In other words, the electronic device may be able to capture the first picture matching the picture just because it is in the position and orientation of the vehicle capturing the picture, and the position and orientation of the electronic device may be the same as the position and orientation of the vehicle capturing the picture.

[0138] Furthermore, when matching images based on the first picture, spatial elements in the first picture can be extracted, so as to match the spatial elements in the first picture with the spatial elements in the image in the three-dimensional map, thereby determining the image of the three-dimensional map that matches the first picture. Fig. 9 The first picture acquired by the electronic device includes an image of the sign 901. According to the image of the sign 901, a target image matched by the image is determined, and the target image is the image of the sign 901 in the first viewing angle of the three-dimensional map. The orientation of the electronic device is the orientation of the first viewing angle or the orientation of the electronic device is related to the orientation of the first viewing angle.

[0139] In method 2, the electronic device can determine the direction of the electronic device according to the corresponding position of the hit spatial element in the three-dimensional map. Fig. 9 In the case where the sign 901, text 902, parking space number 903, parking space number 904, support column 905, wall 906 and text 907 are hit in the first picture, and the positions of the above-mentioned spatial elements in the map are known, therefore, according to the positions of the spatial elements hit in the first picture in the three-dimensional map, the shooting angle of the first picture can be determined, and the direction of the electronic device is the shooting angle of the first picture, or the direction of the electronic device is related to the shooting angle.

[0140] Mode 3: The electronic device may determine the direction of the electronic device according to the state of the hit spatial element. Specifically, the electronic device may determine the direction of the electronic device in the first movable space according to the position of the hit spatial element in the first movable space and the state of the hit spatial element in the first screen. Fig. 9 , the three-dimensional map includes the position of the sign 901, and the electronic device determines the direction of the electronic device according to the change of the sign in the first screen in six degrees of freedom (or three degrees of freedom) compared with the sign 901 in the three-dimensional map. Among them, the three degrees of freedom are the degrees of freedom of movement along the three rectangular coordinate axes of x, y, and z, and the six degrees of freedom are the degrees of freedom of movement along the three rectangular coordinate axes of x, y, and z and the degrees of freedom of rotation around these three coordinate axes, wherein the directions of the coordinate axes can be predefined, for example, with reference to the geodetic coordinate system.

[0141] In some possible implementations, the images captured by the electronic device or vehicle are mainly used to participate in the calculation process (such as the aforementioned matching process). After the calculation is completed, the images can be deleted, thereby reducing storage pressure and improving data security.

[0142] Step S304: the electronic device displays a first interface.

[0143] The first interface includes a view of the first moving space and a position of the first position in the view of the first movable space. The view of the first movable space refers to a view obtained by viewing the three-dimensional map of the first movable space from any angle, such as a top view or a plan view of a certain floor. Furthermore, the view can also be rotated, enlarged, or reduced to form a new view based on the original view according to the user's operation.

[0144] In some specific implementations, combined with Figure 1 , the processor 110 of the electronic device 100 can output the first interface, and the display screen 194 of the electronic device can display the first interface.

[0145] Optionally, the first interface also includes the direction of the electronic device. Fig.10 , Fig.10 This is a schematic diagram of a first interface provided by an embodiment of the present application. The first interface 1000 includes a control 1001, and the control 1001 is used to indicate the position and orientation of the electronic device. At the same time, the first interface also displays a view of the first travel space. Through the relative position relationship between the view of the first travel space and the control 1001, the position of the first position in the view of the first travelable space can be expressed.

[0146] In some possible implementations, the electronic device may determine the destination point and display a second interface, the second interface including a view of the first traversable space and a navigation route from the first location to the destination point. Optionally, the destination point may be determined by receiving user input, for example, the user selects an elevator entrance as the destination point on the first interface. Alternatively, the destination point may be the location of the user's vehicle, for example, the destination point is the parking location of the first vehicle. See Fig.11 , Fig.11 It is an interface diagram of a second interface provided in an embodiment of the present application, wherein the second interface 1100 includes a map of the underground garage, the location of the vehicle, the first location, and the route from the first location to the location of the vehicle, wherein the control 1101 is used to indicate the location (i.e., the first location) and direction of the electronic device.

[0147] In some possible implementations, the electronic device 100 includes a gyroscope sensor 180B, which can determine the angular velocity of the electronic device 100 around three axes (e.g., x, y, and z axes), thereby calculating the direction and distance of movement of the electronic device 100 and achieving continuous navigation from the current position to the destination.

[0148] exist Figure 3 In the illustrated embodiment, the electronic device can obtain a map of the movable space. When positioning, the electronic device can determine which position in the movable space the currently acquired picture is in by combining the acquired picture and the map of the movable space, thereby obtaining the position of the electronic device in the movable space and achieving positioning. This solution uses the captured picture to perform positioning, and can perform real-time comparison based on the picture acquired by the electronic device, with relatively high accuracy. For example, the user only needs to turn on the image sensor, or turn on the application to automatically call the sensor, and the picture can be captured to achieve positioning. The operation process is relatively simple, which shortens the operation time of the positioning process, and can significantly improve the user experience when using positioning, achieving out-of-the-box use.

[0149] In addition, since the only information that needs to be input in real time during the positioning process is the captured image, this solution is not restricted by the network connection status and is suitable for terminal positioning under a variety of network conditions, providing a good user experience.

[0150] In some of the foregoing scenarios, the electronic device can interact with other devices. Fig.12 , Fig.12It is a schematic diagram of information interaction provided by an embodiment of the present application. The description of the electronic device 100 can be referred to above, and the vehicle 200 is used as an exemplary device with the ability to move, and can also be replaced by other mobile terminals in the specific implementation, such as an automatic guided vehicle. The cloud 300 refers to a device located at a remote end with relatively concentrated computing power, which can be implemented through a server, a virtual machine, a cloud, etc. Fig.12 As shown, the electronic device 100, the vehicle 200, and the cloud 300 can communicate with each other. It should be noted that Figure 3 The arrow direction shown is only an exemplary information exchange direction, and the unidirectional arrow is only for illustrative purposes to illustrate the possible flow of information, and does not limit the communication direction to be unidirectional.

[0151] Taking the communication between the electronic device 100 and the vehicle 200 as an example, the vehicle can provide the electronic device 100 with its own information, such as location information, information about the traversable space, etc. The location information includes longitude, latitude, address (such as street, building, etc.), and the information about the traversable space includes the identification (number or ID, etc.) of the traversable space and the information about the entrance to the traversable space (such as the number, identification, picture, etc. of the entrance).

[0152] Taking the communication between the electronic device 100 and the cloud 300 as an example, the cloud can provide the electronic device 100 with vehicle information or information about the movable space, etc. The vehicle information includes, for example, the current location of the vehicle, information about the movable space where the vehicle is currently located, etc. The movable space information includes, for example, a three-dimensional map of the movable space, etc.

[0153] Taking the communication among the electronic device 100 , the vehicle 200 and the cloud 300 as an example, the vehicle can provide its own information, such as location information, information about the movable space, etc., to the cloud 300 , and the cloud further provides information to the electronic device 100 .

[0154] Next, continue to combine Fig.13 , another positioning method provided in the embodiment of the present application is exemplarily introduced. Optionally, the method can be applied to Fig.12 The electronic device 100 and the vehicle 200 described above. It should be understood that for the convenience of description, the order of S1301 to S1306 is used for description, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. Steps S1301 to S1306 are as follows:

[0155] Step S1301: The vehicle obtains a second picture.

[0156] Exemplarily, the vehicle 200 (regarded as the first vehicle) may include a visual sensor, such as a camera, a radar, a laser radar, etc. The vehicle 200 may capture a picture through the visual sensor. Optionally, the second picture may include one (or frame) image or multiple (or frame) images, or may also include video data.

[0157] Step S1302: When the second screen matches the entrance screen of the first movable space, the vehicle sends indication information of the first movable space to the electronic device.

[0158] Specifically, the movable space may include an entrance, and the image of the entrance may be pre-set in the first vehicle or obtained by the first vehicle through the network. The first vehicle may match the captured image with the image of the entrance of the movable space. If the captured image can match the image of the entrance of the movable space, it indicates that the first vehicle has passed the entrance of the movable space, thereby providing the electronic device with the indication information of the movable space. Optionally, when matching, the matching may be performed by extracting spatial elements from the two, or image feature matching may be performed.

[0159] See also Fig.14 , Fig.14 This is a schematic diagram of a scene of a vehicle entering a basement provided by an embodiment of the present application. The basement can be regarded as a first traversable space. Before the vehicle enters the basement, the captured image can be continuously matched with one or more entrance images of the traversable space, and the indication information of the traversable space whose entrance image can match the second image is provided to the electronic device. Fig.14 , the entrance screen is the entrance screen of “XX shopping mall parking lot”, and at this time the first vehicle can provide the instruction information of “XX shopping mall parking lot” to the electronic device.

[0160] In a possible implementation, the first vehicle may first determine the nearby traversable space through location information, so as to make the matching more accurate. Among them, the location information may include one or more of longitude information, latitude information, altitude information, geo-fence information, map tile ID, address information, administrative division information, etc. As a possible implementation, the first vehicle obtains the location information of the first vehicle, and determines the entrance screen of at least one traversable space to be matched according to the location of the first vehicle, such as the entrance screen of garage 1, garage 2, and garage 3. It should be understood that a traversable space may include multiple entrances, and this application does not limit this. During matching, the first vehicle matches the captured second screen with the entrance screen of at least one traversable space to determine the first traversable space that matches the second screen. For example, the second screen can match the entrance screen of garage 1.

[0161] In some scenarios, the entrance to the traversable space has a certain slope. When the vehicle enters the entrance to the traversable space, its altitude may change. The first vehicle can determine whether the user has entered the traversable space based on the altitude change.

[0162] Furthermore, the first vehicle may determine the movable space entered by combining the altitude change and the entrance screen. In some possible implementations, the first vehicle may also obtain the vertical height of the entrance of one or more movable spaces, detect the altitude change of the first vehicle, and send the indication information of the first movable space to the electronic device when the second screen matches the entrance screen of the first movable space and the absolute value of the difference between the altitude change of the first vehicle and the vertical height of the entrance of the first movable space is less than a preset threshold. The preset threshold here can be predefined, for example, less than or equal to half of the vertical height of the entrance of the first movable space, etc.

[0163] In the above embodiment, when the absolute value of the difference between the altitude change of the vehicle and the vertical height of the entrance of the first movable space is less than a preset threshold, it indicates that the vehicle is very likely to have entered the first movable space. At this time, the vehicle can indicate the first movable space to the electronic device, which can improve the matching efficiency of the electronic device in subsequent positioning. Fig.14 ,exist Fig.14 The height difference of the entrance of the underground garage shown can be expressed as z1. When the second picture taken by the vehicle matches the entrance picture of the "XX shopping mall parking lot", and in the process of facing the said entrance, the change in its own altitude also matches z1, for example, the change is the same as z1 or the difference is less than the preset threshold, it indicates that the first vehicle has entered the "XX shopping mall parking lot". At this time, the user may get off the car in the XX shopping mall parking lot and enter the mall, and then need to find the first vehicle from the parking lot, and have the need to locate and find the car in the parking lot. In this case, the first vehicle indicates the parking lot it has entered to the electronic device, and the picture taken by the electronic device can be directly matched with the map of the "XX shopping mall parking lot", which significantly reduces the matching efficiency.

[0164] Accordingly, the electronic device can receive the indication information of the first movable space from the first vehicle. Optionally, the sending here can be direct sending or indirect sending, for example, after the vehicle 200 sends the indication information of the first movable space to the cloud 300, the cloud 300 sends the indication information of the first movable space to the electronic device 100.

[0165] Step S1303: The electronic device obtains a three-dimensional map of the first movable space.

[0166] For example, a plurality of three-dimensional maps of movable spaces are pre-set in the electronic device, and the three-dimensional map of the first movable space can be acquired through the indication information of the first movable space.

[0167] For another example, the electronic device may download a three-dimensional map of the first movable space from the cloud in advance through the indication information of the first movable space.

[0168] Step S1304: the electronic device acquires a first picture.

[0169] Step S1305: The electronic device obtains a first position according to the first picture and the three-dimensional map of the first movable space.

[0170] Optionally, the electronic device may also obtain the direction of the electronic device based on the first picture and the three-dimensional map of the first movable space.

[0171] Step S1306: The electronic device displays the first interface.

[0172] The first interface is used to indicate the position of the first position in the first traversable space.

[0173] Furthermore, the electronic device may also display a second interface, where the second interface is used to indicate a route from the first location to a destination, where the destination may include the location of the first vehicle or another location selected by the user.

[0174] It should be understood that steps S1303 to S1306 can refer to the relevant descriptions in the aforementioned steps S301 to S304, and will not be repeated here.

[0175] The above describes in detail the method and electronic device of the embodiments of the present application. The following provides some devices of the embodiments of the present application.

[0176] It should be understood that the division of the units in the device provided in the following embodiments is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be realized in the form of a processor calling software, or in the form of a hardware circuit, or in part by a processor calling software, and the rest by a hardware circuit.

[0177] In the embodiment of the present application, the processor is a circuit with the ability to process signals. In one implementation, the processor can be a circuit with the ability to read and run instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0178] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0179] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0180] Several possible arrangements are listed below.

[0181] See also Fig.15 , Fig.1515 is a schematic diagram of a positioning device provided in an embodiment of the present application. Optionally, the positioning device 1500 may be an independent device, such as an electronic device, etc. Alternatively, the positioning device 1500 may also be a device in an electronic device, such as a chip or an integrated circuit, etc.

[0182] The positioning device 1500 is used to implement the aforementioned positioning method, for example Figure 3 or Fig.13 The illustrated embodiment is a method implemented by the electronic device 100. In a possible implementation, the positioning device 1500 includes a processing unit 1501, an acquisition unit 1502 and a display unit 1503, and optionally also includes a communication unit 1504. Among them, the processing unit 1501 is used to implement the operations of determination, calculation, generation, matching, etc. in the aforementioned method, and the processing unit 1501 can also receive a variety of input data (such as a first picture, or multiple maps that can be performed in space, etc.), or can also output one or more processed data (such as outputting a first position, or a first picture, etc.). The acquisition unit 1502 is used to acquire a picture, for example, the acquisition unit can include a shooting unit, and the picture is obtained by shooting the shooting unit. The shooting unit can be implemented by one or more of a camera (or camera), radar, laser radar, etc. The display unit 1503 is used to display the picture, for example, the display unit 1503 can be a display screen. The communication unit 1504 is used to implement functions such as receiving and sending, and can realize communication between the positioning device 1500 and other devices.

[0183] As a possible implementation, the processing unit 1501 and / or the communication unit 1504 is used to obtain a three-dimensional map of the first movable space, the acquisition unit 1502 is used to obtain a first screen, and the processing unit 1501 is also used to obtain a first position of the electronic device in the first movable space based on the first screen and the three-dimensional map of the first movable space.

[0184] Further, the display unit 1503 is used to display a first interface, where the first interface includes a view of the first travel space and a position of the first position in the view of the first travelable space.

[0185] In some implementations, the three-dimensional map of the first traversable space is obtained by fusing visual information collected by devices that have traveled in the first traversable space.

[0186] In some implementations, the communication unit 1504 is further configured to receive indication information of the first traversable space from the first vehicle.

[0187] In some implementations, the communication unit 1504 is further configured to obtain indication information of the first traversable space from the cloud.

[0188] In some implementations, the communication unit 1504 is further configured to detect a network environment of the electronic device.

[0189] In some implementations, the processing unit 1501 is further configured to match the spatial elements in the first screen with the spatial elements in the three-dimensional map of the first traversable space to determine the hit spatial elements, and determine the first position of the electronic device in the traversable space according to the position of the hit spatial elements in the three-dimensional map of the first traversable space. Further, the processing unit 1501 is further configured to extract the spatial elements in the first screen.

[0190] In some implementations, the three-dimensional map of the first traversable space includes multiple images taken from multiple perspectives. The processing unit is further configured to:

[0191] The direction of the electronic device in the three-dimensional map of the first movable space is determined according to the first screen and the three-dimensional map of the first movable space.

[0192] In some implementations, the three-dimensional map of the first traversable space includes multiple images taken from multiple perspectives. The processing unit is further configured to:

[0193] Determining a target image that matches the first picture according to the first picture and the three-dimensional map of the first movable space;

[0194] The orientation of the electronic device in the three-dimensional map of the first movable space is determined according to a first viewing angle corresponding to the target image.

[0195] In some implementations, the first interface also includes the orientation of the electronic device in the traversable space.

[0196] In some implementations, the processing unit 1501 is further configured to determine a destination point, which is located in the first traversable space. The display unit 1503 is further configured to display a second interface, which includes a view of the first traversable space and a navigation route from the first position to the destination point. Optionally, the destination point is a parking position of the first vehicle.

[0197] In some implementations, the positioning device further includes an input interface, and the processing unit 1501 is used to receive an operation instruction input by a user through the input interface. The operation instruction indicates the destination point.

[0198] See also Fig.16 , Fig.16 16 is a schematic diagram of a positioning device provided in an embodiment of the present application. Optionally, the positioning device 1600 may be an independent device, such as a vehicle, etc. Alternatively, the positioning device 1600 may also be a device in an independent device, such as a chip or an integrated circuit, etc.

[0199] The positioning device 1600 is used to implement the aforementioned positioning method, for example Figure 3 or Fig.13 The illustrated embodiment is a method implemented by the vehicle 200. In a possible implementation, the positioning device 1600 includes a processing unit 1601, an acquisition unit 1602, and a communication unit 1603, wherein the processing unit 1601 is used to implement the operations of determination, calculation, generation, matching, etc. in the aforementioned method, and the processing unit 1601 can also receive a variety of input data (such as a second screen, a position, or a plurality of entrance screens of a space that can be carried out, etc.), or can also output one or more processed data (such as outputting indication information of a space that can be carried out, etc.). The acquisition unit 1602 is used to acquire a screen, and the acquisition unit 1602 can include one or more of a camera (or camera), a radar, a laser radar, etc. The communication unit 1603 is used to implement functions such as receiving, sending, or acquiring, and can realize communication between the positioning device 1600 and other devices.

[0200] As a possible implementation, the acquisition unit 1602 is used to acquire the second picture, the processing unit 1601 is used to determine that the second picture matches the entrance picture of the first movable space, and the communication unit 1603 is used to send the indication information of the first movable space to the electronic device. The electronic device is associated with the first vehicle, the indication information of the first movable space is located by the electronic device in the three-dimensional map of the first movable space, and the three-dimensional map of the first movable space is used to indicate the three-dimensional picture of the first movable space.

[0201] In some implementations, the processing unit 1601 and / or the communication unit 1603 is also used to obtain the position of the first vehicle, and the processing unit 1601 is also used to determine the entrance picture of at least one traversable space to be matched according to the position of the first vehicle, and the at least one traversable space includes the first traversable space.

[0202] In some implementations, the processing unit 1601 and / or the communication unit 1603 obtains the vertical height of the entrance of the first movable space. The processing unit 1601 is also used to detect the altitude change of the first vehicle. The communication unit 1603 is also used to send the indication information of the first movable space to the electronic device when the second picture matches the entrance picture of the first movable space and the absolute value of the difference between the altitude change of the vehicle and the vertical height of the entrance of the first movable space is less than a preset threshold.

[0203] The embodiment of the present application also provides a terminal, and the movable terminal includes the aforementioned positioning device 1600. Exemplarily, the movable terminal can be an intelligent terminal or a means of transportation such as a vehicle, a robot, a drone, a ship, or a ship. Among them, the vehicle is a vehicle in a broad sense, which can be a means of transportation (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a mower, a harvester, etc.), etc. For another example, the robot can be an intelligent handling robot (Automated Guided Vehicle, AGV), a walkable conversational robot, a service robot, and other robots.

[0204] The embodiment of the present application further provides a vehicle, the vehicle comprising a memory and a processor, the memory being used to store program instructions; when the processor executes the program instructions in the memory, the vehicle executes Fig.13 The positioning method in the illustrated embodiment.

[0205] The present application also provides a positioning system, which includes an electronic device and a vehicle, wherein the electronic device is used to implement Fig.13 In the embodiment shown, the method on the electronic device 100 side is used to implement the vehicle Fig.13 The method is shown on the vehicle 200 side in the embodiment shown.

[0206] The present application also provides a chip, which includes a logic circuit and a communication interface. The communication interface is used to receive or send a signal; the logic circuit is used to receive or send a signal through the communication interface. The chip is used to implement the aforementioned positioning method, for example Figure 3 or Fig.13 The positioning method shown.

[0207] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor (or communication device), the aforementioned positioning method is implemented, for example Figure 3 or Fig.13 The positioning method shown.

[0208] The present application also provides a computer program product, which includes computer instructions, and the computer instructions are used to implement the aforementioned positioning method, for example Figure 3 or Fig.13 The positioning method shown.

[0209] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0210] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items.

[0211] For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0212] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first node and the second node are only for the convenience of describing fresh parameters in different implementations, and do not indicate differences in their execution operations, importance, structure, etc.

[0213] In the above embodiments, the term "when..." can be interpreted as meaning "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modification, equivalent substitution, improvement, etc. made within the concept and principle of the present application shall be included in the protection scope of the present application.

[0214] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

Claims

1. A positioning method, characterized in that: Applied to electronic equipment, the method comprises: Acquire a three-dimensional map of a first movable space, where the first movable space is used to accommodate the movable object to move, and the three-dimensional map of the first movable space is used to indicate a three-dimensional picture of the first movable space; Get the first picture; Obtaining a first position of the electronic device in the first movable space according to the first picture and the three-dimensional map of the first movable space; A first interface is displayed, the first interface including a view of the first travelable space and a position of the first position in the view of the first travelable space.

2. The method according to claim 1, characterized in that The three-dimensional map of the first movable space is obtained by fusing visual information collected by vehicles that have traveled in the first movable space.

3. The method according to claim 1 or 2, characterized in that: The first drivable space is located underground, or the first drivable space is located inside a building.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Indication information of a first movable space is received from a first vehicle, the first vehicle is associated with the electronic device, and the first movable space is a movable space entered by the first vehicle.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Indication information of a first movable space is obtained from a cloud, where the first movable space is a movable space where a first vehicle is located, and the first vehicle is associated with the electronic device.

6. The method according to claim 5, characterized in that The method further comprises: Before acquiring the three-dimensional map of the first traversable space, detecting the network environment of the electronic device; When the network environment where the electronic device is located is normal, the step of "obtaining indication information of the first movable space from the cloud" is executed.

7. The method according to any one of claims 1 to 6, characterized in that: The obtaining, according to the first picture and the three-dimensional self-constructed map of the first movable space, a first position of the electronic device in the first movable space includes: Extracting spatial elements in the first picture; Matching the spatial elements in the first picture with the spatial elements in the three-dimensional map in the first movable space to determine the hit spatial elements; According to the position of the hit spatial element in the three-dimensional map of the first movable space, the first position of the electronic device in the movable space is determined.

8. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: According to the first picture and the three-dimensional map of the first movable space, the direction of the electronic device in the three-dimensional map of the first movable space is obtained.

9. The method according to claim 8, characterized in that The three-dimensional map of the first traversable space includes a plurality of images taken from a plurality of perspectives, and the method further comprises: Determining a target image matching the first picture based on the first picture and the three-dimensional map of the first movable space; The orientation of the electronic device in the three-dimensional map of the first movable space is determined according to a first viewing angle corresponding to the target image.

10. The method according to claim 8, characterized in that The first interface also includes the orientation of the electronic device in the movable space.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Determine a destination point, wherein the destination point is located in the first traversable space; A second interface is displayed, wherein the second interface includes a view of the first traversable space and a navigation route from the first location to the target point.

12. The method according to claim 11, characterized in that The method further comprises: An operation instruction input by a user is received, where the operation instruction indicates the destination point.

13. The method according to claim 11 or 12, characterized in that: The destination point is the parking position of the first vehicle.

14. A positioning method, characterized in that: The method is applied to a first vehicle, and the method comprises: Get the second picture; When the second screen matches the entrance screen of the first movable space, sending indication information of the first movable space to the electronic device; The electronic device is associated with the first vehicle, and the indication information of the first movable space is used to locate the electronic device in a three-dimensional map of the first movable space, and the three-dimensional map of the first movable space is used to indicate a three-dimensional picture of the first movable space.

15. The method according to claim 14, characterized in that The method further comprises: Obtaining the vertical height of the entrance of the first traversable space; detecting a change in altitude of the first vehicle; The sending, when the second screen matches the entrance screen of the first movable space, indication information of the first movable space to the electronic device includes: When the second picture matches the entrance picture of the first movable space and the absolute value of the difference between the altitude change of the vehicle and the vertical height of the entrance of the first movable space is less than a preset threshold, indication information of the first movable space is sent to the electronic device.

16. A positioning system, characterized in that: The positioning system comprises an electronic device and a vehicle, The positioning system is used to locate the position of the electronic device in the first movable space; The electronic device is used to implement the method according to any one of claims 1 to 13; The vehicle is used to implement the method according to claim 14 or 15.

17. A positioning device, characterized in that: The positioning device is applied to an electronic device having an image sensor and a display module, the positioning device comprises an acquisition unit, a processing unit and a display unit, and the positioning device is used to implement the method described in any one of claims 1-13.

18. A positioning device, characterized in that: The positioning device is applied to a vehicle having an image sensor, and the positioning device comprises an acquisition unit, a processing unit and a communication unit. The positioning device is used to implement the method described in claim 14 or 15.

19. An electronic device, characterized in that: The electronic device includes an image sensor, a display module, a memory and a processor, wherein the memory is used to store program instructions; When the processor executes the program instructions in the memory, the electronic device performs the method according to any one of claims 1 to 13.

20. A vehicle, characterized in that: The vehicle comprises an image sensor, a communication module, a processor and a memory, wherein the memory is used to store program instructions; When the processor executes the program instructions in the memory, the vehicle performs the method of claim 14 or 15.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions are used to implement the method according to any one of claims 1 to 13, or to implement the method according to claim 14 or 15.

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