Positioning method and apparatus, electronic device, and storage medium

Abstract

A positioning method and apparatus, an electronic device, and a storage medium, relating to the technical field of positioning. The method comprises: identifying blocking object categories of satellites at positions in a target image, and on the basis of the blocking object categories, determining a target satellite for positioning. In this way, finer-grained classification can be carried out on satellites on the basis of the blocking object categories, so that more satellites beneficial to positioning can be screened for, thereby improving the positioning effect of devices.

Description

Positioning method, device, electronic device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 2024100106404, filed with the China Patent Office on January 3, 2024, entitled “Positioning method, device, electronic device and storage medium,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of positioning technology, and in particular to a positioning method, device, electronic device and storage medium. Background Art

[0004] Today, high-precision location services have become an important part of our daily lives. Mobile phone navigation, autonomous driving, intelligent transportation, robot navigation, unmanned vehicles, smart agriculture, and other aspects are inseparable from high-precision location services. GNSS (Global Navigation Satellite System), as a widely adopted absolute positioning method, plays a vital role in high-precision location services. In recent years, the development of multi-frequency and multi-system GNSS has provided positioning equipment with a sufficient number of visible satellites and available signals. The availability, integrity, and accuracy of the GNSS system have also been greatly improved. At the same time, the maturity of high-precision GNSS positioning technologies such as RTK (Real-Time Kinematic) and PPP (Precise Point Positioning) has made it possible to achieve high-precision positioning with low-cost equipment.

[0005] However, GNSS also has vulnerabilities. Its positioning performance is heavily dependent on signal quality, which is significantly affected by the environment and receiver hardware. In areas where GNSS is blocked, such as mountainous areas and cities, especially in urban areas with dense high-rise buildings, GNSS performance can be significantly degraded due to environmental obstruction and reflection. Using traditional positioning technology in such environments will significantly impact positioning results. Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a positioning method, device, electronic device and storage medium to improve the problem of poor positioning effect caused by existing positioning methods.

[0007] In a first aspect, an embodiment of the present application provides a positioning method, the method comprising:

[0008] Acquire a target image collected from the zenith direction of the device to be positioned;

[0009] Obtaining image positions of multiple satellites mapped to the target image, wherein the multiple satellites refer to satellites corresponding to multiple satellite signals received by the device to be positioned;

[0010] identifying an occluder category of an occluder at the image position in the target image;

[0011] determining a target satellite for positioning from the plurality of satellites according to the category of the obstruction;

[0012] The device to be positioned is positioned using the target satellite.

[0013] In the above implementation process, by identifying the category of the obstruction at the position of the satellite in the target image, the target satellite for positioning is determined according to the category of the obstruction. In this way, the satellites can be classified more finely according to the category of the obstruction, so that more satellites that are conducive to positioning can be screened out, thereby improving the positioning effect of the device.

[0014] Optionally, determining a target satellite for positioning from the plurality of satellites according to the category of the obstruction includes:

[0015] Determining an obstruction level of the satellite at the corresponding image position according to the obstruction category, wherein different obstruction categories correspond to different obstruction levels;

[0016] A target satellite for positioning is determined from the plurality of satellites according to the obstruction level.

[0017] In the above implementation process, by setting different occlusion levels for different occlusion categories, the different occlusion capabilities of different obstructions to satellite signals can be intuitively reflected, which is conducive to quickly determining the satellites that can be used for positioning based on the occlusion levels.

[0018] Optionally, determining a target satellite for positioning from the multiple satellites according to the obstruction level includes:

[0019] Count the number of satellites corresponding to each obstruction level;

[0020] Based on the number of satellites, a target satellite for positioning is determined from the plurality of satellites.

[0021] In the above implementation process, the target satellite is determined according to the number of satellites corresponding to each occlusion level, which can avoid the situation where positioning cannot be achieved due to insufficient number of satellites.

[0022] Optionally, determining a target satellite for positioning from the plurality of satellites based on the number of satellites includes:

[0023] Based on the number of satellites and the DOP values ​​of satellites corresponding to the obscuration levels, a target satellite for positioning is determined from the plurality of satellites.

[0024] In the above implementation process, the satellites used for positioning are determined based on the number of satellites and the DOP value. This can avoid the situation where positioning cannot be achieved due to insufficient number of satellites, and can also ensure the positioning accuracy when using the target satellite for positioning based on the DOP value.

[0025] Optionally, the determining a target satellite for positioning from the plurality of satellites based on the number of satellites and a DOP value of a satellite corresponding to an obstruction level includes:

[0026] Select satellites in sequence according to the obstruction level from level 0 to level N until the number of selected satellites reaches a set threshold, wherein the levels 0 to N are divided from no obstruction level to complete obstruction level, the 0th level is the no obstruction level, and the Nth level is the complete obstruction level;

[0027] Calculate the DOP value of the selected satellite;

[0028] If the DOP value is less than a set threshold, the selected satellite is determined as a target satellite for positioning.

[0029] In the above implementation process, the number of selected target satellites reaches the set threshold, which can ensure the minimum number of satellites used for positioning, and the DOP value of the target satellite is less than the set threshold, which can ensure positioning accuracy.

[0030] Optionally, the determining a target satellite for positioning from the plurality of satellites based on the number of satellites and a DOP value of a satellite corresponding to an obstruction level includes:

[0031] Select satellites of each obstruction level in order from level 0 to level N, until the number of satellites of the selected i obstruction levels is greater than or equal to the set number threshold, wherein the 0th to the Nth levels are divided from no obstruction level to complete obstruction level, the 0th level is the no obstruction level, the Nth level is the complete obstruction level, and i is an integer greater than or equal to 1 and less than or equal to N;

[0032] Calculate the DOP values ​​of the satellites with the i obscuration levels;

[0033] If the DOP value is less than a set threshold, the satellites with the i obscuration levels are determined as target satellites for positioning.

[0034] In the above implementation process, i satellites with small occlusion levels are selected, so that the selected satellites are satellites with good signal quality, and the DOP values ​​of the satellites participating in positioning are small, thereby greatly improving the positioning accuracy.

[0035] Optionally, determining a target satellite for positioning from the plurality of satellites based on the number of satellites includes:

[0036] Select satellites in sequence according to the obstruction level from level 0 to level N until the number of selected satellites reaches a set threshold, wherein the levels 0 to N are divided from no obstruction level to complete obstruction level, the 0th level is the no obstruction level, and the Nth level is the complete obstruction level;

[0037] The selected satellite is determined as a target satellite for positioning.

[0038] In the above implementation process, a set number of satellites with a small occlusion level are selected, thereby ensuring that the probability of the selected satellites being blocked is small and there are stronger satellite signals, which helps to improve the positioning effect, and the number of selected satellites reaches the set number threshold, which can ensure that the selected number of satellites can achieve positioning.

[0039] Optionally, determining a target satellite for positioning from the multiple satellites according to the obstruction level includes:

[0040] Select satellites of i obstruction levels in order from level 0 to level N, wherein the levels 0 to N are divided from no obstruction to complete obstruction, the 0th level is the no obstruction level, the Nth level is the complete obstruction level, and i is an integer greater than or equal to 1 and less than or equal to N;

[0041] The satellites with the i obstruction levels are determined as target satellites for positioning.

[0042] In the above implementation process, some satellites with small occlusion levels are selected, thereby ensuring that the selected satellites have a low probability of being blocked and have strong satellite signals, which helps to improve the positioning effect.

[0043] Optionally, obtaining image positions of multiple satellites mapped to the target image includes:

[0044] Obtaining coordinate positions of the multiple satellites in the earth coordinate system;

[0045] Converting the coordinate positions of the multiple satellites in the earth coordinate system to coordinate positions in the local horizontal coordinate system according to the estimated current position of the device to be positioned;

[0046] Using the posture information of the image capture device of the device to be positioned and the internal and external parameter information of the image capture device, the coordinate positions of the multiple satellites in the local horizontal coordinate system are mapped to the target image to obtain the corresponding image positions of the multiple satellites in the target image.

[0047] In the above implementation process, by correcting the posture information of the image capture device in the image to be positioned and then converting the coordinates of the satellite, the target image captured in this scheme can be adapted to positioning in an inclined scene, so that it can also be configured to identify obstructed satellites in an inclined posture.

[0048] Optionally, the target image is a two-dimensional image, or the target image is a three-dimensional laser point cloud. In this way, the positioning method can be applied to two-dimensional image acquisition scenarios, and can also be applied to three-dimensional image acquisition scenarios.

[0049] Optionally, acquiring a target image collected from the zenith direction of the device to be positioned includes:

[0050] Acquire multiple images collected by multiple cameras from the zenith direction of the device to be positioned;

[0051] The multiple images are stitched together to obtain a panoramic image.

[0052] In the above implementation process, by performing panoramic stitching on the multiple collected images, an image with a wider field of view can be obtained, which helps to subsequently map the coordinates of all satellites into the image to reduce the situation where the satellite coordinates fall outside the image.

[0053] In a second aspect, an embodiment of the present application provides a positioning device, the device comprising:

[0054] an image acquisition module configured to acquire a target image collected from a zenith direction of the device to be positioned;

[0055] a position acquisition module configured to acquire image positions of a plurality of satellites mapped to the target image, wherein the plurality of satellites refer to satellites corresponding to a plurality of satellite signals received by the device to be positioned;

[0056] a category recognition module configured to identify an occluder category of the occluder at the image position in the target image;

[0057] a satellite screening module configured to determine a target satellite for positioning from the plurality of satellites according to the category of the obstruction;

[0058] The positioning module is configured to use the target satellite to position the device to be positioned.

[0059] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect above are executed.

[0060] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the method provided in the first aspect are executed.

[0061] Other features and advantages of the present application will be described in the following description and, in part, will become apparent from the description or be understood by practicing the embodiments of the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0063] FIG1 is a flow chart of a positioning method provided in an embodiment of the present application;

[0064] FIG2 is a structural block diagram of a positioning device provided in an embodiment of the present application;

[0065] FIG3 is a schematic structural diagram of an electronic device configured to execute a positioning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0067] It should be noted that the terms "system" and "network" in the embodiments of the present application can be used interchangeably. "Multiple" refers to two or more. In view of this, in the embodiments of the present application, "multiple" can also be understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0068] An embodiment of the present application provides a positioning method, which identifies the category of obstructions at the location of the satellite in the target image and determines the target satellite for positioning based on the category of the obstructions. In this way, the satellites can be classified more finely according to the category of the obstructions, so that more satellites that are conducive to positioning can be screened out, thereby improving the positioning effect of the device.

[0069] Please refer to FIG1 , which is a flowchart of a positioning method provided in an embodiment of the present application. The method includes the following steps:

[0070] Step S110: Acquire a target image collected from the zenith direction of the device to be positioned.

[0071] Among them, the device to be positioned refers to the device that needs to be positioned. The device to be positioned itself may have a positioning function. The device to be positioned is installed with a GNSS receiver, which is used to receive satellite signals. The satellite signals can be used for subsequent positioning of the device.

[0072] In order to identify obstructions to the satellite, an image capturing device (such as a camera) can be used to capture images in the zenith direction of the device to be positioned (i.e., images in the sky). The camera can be integrated with the device to be positioned. For example, in a vehicle navigation scenario, the device to be positioned can be understood as a vehicle. In this case, in order to capture images in the zenith direction, the camera can be installed on the roof of the vehicle. Alternatively, the device to be positioned can be understood as a vehicle-mounted terminal. In this case, the camera and the vehicle-mounted terminal are not integrated. Of course, data exchange can be achieved between the camera and the vehicle-mounted terminal. For example, when positioning is required, the vehicle-mounted terminal can send an image acquisition instruction to the camera. After receiving the image acquisition instruction, the camera can perform image acquisition and then transmit the acquired image to the vehicle-mounted terminal. The vehicle-mounted terminal receives the image and performs subsequent positioning processing.

[0073] It can be understood that in the positioning scenarios of different devices, the positional relationship between the camera and the device to be positioned can be flexibly deployed. In order to ensure that a celestial image with a wider field of view can be captured, a wide-angle camera can be used. Its installation position can make the Z axis of the IMU sensor (Inertial Measurement Unit) in the device to be positioned and the normal of the antenna of the device to be positioned and the optical center position of the camera roughly parallel. Of course, it doesn’t matter if they are not parallel, and the installation angle can be obtained through calibration. However, in order to ensure the subsequent recognition effect of obstructions, when installing the camera, try to ensure that they are roughly parallel.

[0074] The target image referred to in the embodiments of this application can be understood as an image of the sky captured by a camera installed in the zenith direction. This target image can be used directly to identify obstructions. The zenith direction here does not refer to the absolute zenith direction. The direction in which the camera is facing the sky can be understood as the zenith direction. For example, a certain tilt angle of the camera can be allowed. The mapping of satellite coordinates in tilted scenes will be explained in detail later, so I will not elaborate on it here.

[0075] Step S120: Obtain image positions of multiple satellites mapped into the target image.

[0076] The multiple satellites here refer to the satellites corresponding to the multiple satellite signals received by the device to be positioned. The device to be positioned is deployed with a GNSS receiver, which can be used to receive satellite signals. At the current position of the device to be positioned, it can receive multiple satellite signals. The device to be positioned can obtain the spatial coordinates of the satellite based on the multiple satellite signals received, and then map the spatial coordinates to the target image to obtain the pixel coordinates of the satellite in the target image, that is, the image position of the satellite in the target image.

[0077] Step S130: Identify the occluder category of the occluder at the image position in the target image.

[0078] The inventors of this application discovered in their research that different obstructions have varying degrees of blocking ability against GNSS signals. Therefore, to improve positioning performance, satellites can be selected based on the obstruction type during positioning. Therefore, the obstruction type in the image can be identified first.

[0079] In some embodiments, the categories of obstructions can be divided into no obstructions, buildings, glass roofs, tree branches, leaves, etc. It can be understood that in actual applications, the categories of obstructions can be flexibly classified according to actual conditions and are not listed here one by one.

[0080] The obstruction category can be identified using an appropriate image recognition algorithm or neural network model, such as a convolutional neural network, to identify the obstruction category at each image location in the target image. Alternatively, the obstruction category of each obstruction in the target image can be first identified, and then the obstruction category at each image location can be obtained. This way, the obstruction category at each satellite location can be obtained.

[0081] Alternatively, edge segmentation, machine learning algorithms, etc. may be used to segment the objects in the target image, and then the occluder categories of the segmented objects may be identified, and then the occluder categories at each image position may be obtained.

[0082] It can be understood that the method for identifying the category of the obstruction in the image can refer to the identification method in the related art, which will not be described in detail here.

[0083] Step S140: determining a target satellite for positioning from a plurality of satellites according to the category of the obstruction.

[0084] After obtaining the categories of obstructions at each image position in the target image corresponding to each satellite, satellites can be screened according to the categories of obstructions. Here, screening can be performed based on the blocking capabilities of different obstruction categories on GNSS signals. For example, there are 10 satellites in total, which correspond to 10 image positions in the target image. The categories of obstructions at these 10 image positions include open space, buildings, leaves, and glass roofs. At this time, satellites in open areas are selected first. If the number is insufficient to complete positioning or the geometric configuration of the satellite is poor, satellites corresponding to other obstruction categories are selected. For example, leaves have a weaker blocking capability on GNSS signals, while buildings have a stronger blocking capability on GNSS signals. Therefore, satellites corresponding to obstruction categories with weaker blocking capabilities can be directly selected as satellites for positioning. The satellites selected for positioning may be referred to as target satellites in this embodiment of the application.

[0085] Step S150: Positioning the device to be positioned using the target satellite.

[0086] After the target satellite is screened out, the target satellite can be used to locate the device to be positioned. For example, the device to be positioned can filter out the satellite signal corresponding to the target satellite from the received satellite signal, and then calculate the distance between the device to be positioned and each satellite through the received satellite signal of the target satellite. The coordinate position of the satellite can also be obtained according to the received satellite signal, so the position of the device to be positioned can be calculated by combining the coordinate position and distance of the satellite.

[0087] It is understandable that in different application scenarios, the implementation method of using satellites to locate the positioning device is also different. The above process is just an example and is not listed here one by one. For example, in actual positioning, auxiliary means such as IMU sensors, wheel speed sensors and other equipment can be combined to improve the accuracy and reliability of positioning.

[0088] It should be noted that the positioning method provided in the embodiments of the present application can be applied to a variety of positioning scenarios, such as GNSS positioning (including SPP (Single Point Positioning, single point positioning), PPP, RTK, PPP-RTK), GNSS / INS (Inertial Navigation System, inertial navigation system), GNSS / SINS (Strapdown Inertial Navigation System, strapdown inertial navigation system) (including loose combination, tight combination and deep combination), GNSS / SINS / other combination positioning, or any other scenario in which GNSS is used alone or GNSS is combined with other sensors for positioning. When positioning is achieved in these positioning scenarios, the method provided in the embodiments of the present application can also be used to screen out the target satellites for positioning, and then the target satellites are used to position the device to be positioned. The implementation method of using the target satellite to position the device to be positioned may be different in different positioning scenarios. For details, please refer to the implementation method in the relevant technology, which will not be explained in detail here.

[0089] In the above implementation process, by identifying the category of the obstruction at the position of the satellite in the target image, the target satellite for positioning is determined according to the category of the obstruction. In this way, the satellites can be classified more finely according to the category of the obstruction, so that more satellites that are conducive to positioning can be screened out, thereby improving the positioning effect of the device.

[0090] The following is a brief introduction to the method of obtaining the position of each satellite in the target image.

[0091] In some embodiments, in a GNSS / SINS positioning scenario, regardless of whether the above-mentioned image capture device is tilted or parallel to the antenna normal of the device to be positioned, the image position of the satellite in the target image can be obtained through the following process: obtain the coordinate positions of multiple satellites in the earth coordinate system (ECEF system), and then convert the coordinate positions of the multiple satellites in the earth coordinate system into the coordinate positions in the local horizontal coordinate system (L system) based on the estimated current position of the device to be positioned, and then use the attitude information of the image capture device of the device to be positioned and the internal and external parameter information of the image capture device calibrated in advance to map the coordinate positions of the multiple satellites in the local horizontal coordinate system to the target image, so as to obtain the corresponding image positions of the multiple satellites in the target image.

[0092] Specifically, the coordinate positions of all satellites received by the positioning device in the ECEF system can be calculated using the ephemeris of the GNSS satellite Then, the current position of the device to be located ({X loc,ecef ,Y loc,ecef ,Z loc,ecef}), then the coordinates of the i-th satellite in the local horizontal coordinate system (L system) {X i Y i Z i}, the calculation formula is as follows:

[0093] in is the transformation matrix from ECEF system to L system, which can be directly calculated from the current position according to the fixed method.

[0094] Then, the attitude information of the image capture device (such as a camera) that captures the above image can be obtained. The attitude information may include the pitch angle, roll angle, heading angle, etc. of the camera. The attitude information can be calculated by GNSS / SINS or collected by a magnetometer or other sensors. The full attitude information can be obtained or partial attitude information can be obtained. There is no special limitation here. The attitude information can then be transformed accordingly to obtain the rotation matrix of the camera equivalent to the local horizontal coordinate system (L system) Then the rotation matrix can be The coordinates of each satellite can be projected into the camera coordinate system (v system). The calculation formula is as follows:

[0095] in, This represents the extrinsic parameter between the camera and the IMU sensor, which can be obtained through prior calibration. Multiplying the satellite's coordinate position in the local horizontal coordinate system by the camera's rotation matrix is ​​equivalent to compensating the camera's attitude information, making it adaptable to the identification of obstructed satellites in any attitude. For example, in scenarios where the camera is tilted, this processing allows the satellite coordinates to be more accurately projected into the camera coordinate system.

[0096] Using the above camera coordinates, each satellite can be projected onto the pixel plane using the following formula:

[0097] Among them, K represents the internal parameter matrix, which can be calibrated in advance; at the same time, the altitude angle of each satellite (θ i ) and azimuth

[0098] It should be noted that the altitude and azimuth of each satellite can be calculated by the coordinates of the satellite in the local horizontal coordinate system. The coordinates of the satellite in the camera coordinate system are used here because the camera attitude information is multiplied when obtaining the satellite's camera coordinates, and the camera attitude information is corrected. What is actually needed is the altitude and azimuth in the camera system.

[0099] In the above manner, each satellite can be projected into the target image, thereby obtaining the pixel coordinates of each satellite in the target image.

[0100] Based on the above embodiment, in the implementation method of screening target satellites, in addition to the above method of directly screening according to the obstruction category, the obstruction level of the satellite at the corresponding image position can also be determined according to the obstruction category, wherein different obstruction categories correspond to different obstruction levels, and then the target satellite for positioning can be determined from multiple satellites according to the obstruction level.

[0101] For example, in the above example, the obstruction categories are divided into no obstruction, buildings, glass roofs, tree branches, and leaves. Then the obstruction levels can be divided from no obstruction (level 0) to complete obstruction (level N, such as level 4). For example, the obstruction level corresponding to no obstruction is level 0, the obstruction level corresponding to leaves is level 1, the obstruction level corresponding to branches is level 2, the obstruction level corresponding to glass roofs is level 3, and the obstruction level corresponding to buildings is level 4. In this way, the obstruction level corresponding to each satellite in the target image can be obtained.

[0102] In addition, it should be noted that since the installation position of the camera may not necessarily be strictly installed in accordance with the requirements, for the satellites corresponding to the satellite signals received by the device to be positioned, after they are mapped to the target image, some satellites may not be in the target image, but outside the image. For example, the device to be positioned receives satellite signals from 8 satellites. After the coordinate mapping in the above embodiment, there are only pixel coordinates of 6 satellites in the target image, then there are still 2 satellites that are not in the field of view of the camera. For the occlusion level of these 2 satellites, its occlusion level can be directly determined as the Nth level, that is, the complete occlusion level.

[0103] In the above implementation process, by obtaining the occlusion level corresponding to each satellite and then screening the target satellites according to the occlusion level, the satellites can be finely classified according to the occlusion situation to screen out satellites that are more conducive to positioning.

[0104] In the above implementation process, the above methods of screening target satellites according to the obstruction level include the following:

[0105] (1) Count the number of satellites corresponding to each occlusion level, and then determine the target satellite for positioning from multiple satellites based on the number of satellites.

[0106] Under this implementation method, a set number of satellites can be selected as target satellites for positioning. Here, when selecting a set number of target satellites, they can be selected in the order of occlusion levels. The specific implementation method includes: selecting satellites in order of occlusion levels from level 0 to level N until the number of selected satellites reaches the set number threshold, where level 0 to level N are divided from no occlusion level to complete occlusion level, level 0 is no occlusion level, and level N is complete occlusion level. The value of N can be flexibly set according to actual conditions. For example, in the above embodiment, the highest occlusion level is 4, so the value of N is 4; then the selected satellites can be determined as target satellites for positioning.

[0107] For example, if there are eight satellites in the target image, after obtaining the occlusion level corresponding to each satellite, the number of satellites corresponding to each occlusion level can be counted. For example, the number of satellites in level 0 is 2, the number of satellites in level 1 is 3, the number of satellites in level 2 is 1, and the number of satellites in level 3 is 2. If the number threshold is set to 4 (the setting of the number threshold can be flexibly set according to actual conditions), then the selection is carried out in the order of level 0 to level N. First, two satellites in level 0 can be selected, and then two satellites in level 1 can be selected (there are three satellites in level 1, and any two satellites can be selected, or two satellites closer to the image center can be selected (this can help improve positioning accuracy)). In this way, the four selected satellites can be used for positioning. Since the occlusion level of the selected satellites is not high, it has little impact on the strength of the satellite signal, which is more conducive to positioning the positioning device.

[0108] In the above implementation process, a set number of satellites with a small occlusion level are selected, thereby ensuring that the probability of the selected satellites being blocked is small and there are stronger satellite signals, which helps to improve the positioning effect, and the number of selected satellites reaches the set number threshold, which can ensure that the selected number of satellites can achieve positioning.

[0109] (2) According to the order of obstruction levels from level 0 to level N, i satellites of obstruction levels are selected in sequence, where level 0 to level N are divided from no obstruction level to complete obstruction level, level 0 is no obstruction level, level N is complete obstruction level, and i is an integer greater than or equal to 1 and less than or equal to N; then the satellites of i obstruction levels are determined as target satellites for positioning.

[0110] In the above method (1), the selection is made directly based on the set number threshold, and in the method (2), the selection can be made based on the number of occlusion levels. Taking the above example as an example, if i-level satellites are selected in sequence, there are 4 levels of satellites in the above example. The value of i can be flexibly set according to actual needs. For example, if the value of i is 2, then 2 levels of satellites can be selected, that is, 0-level satellites (2) and 1-level satellites (3), that is, a total of 5 satellites, and then these 5 satellites can be used as target satellites for positioning.

[0111] In the above implementation process, some satellites with small occlusion levels are selected, thereby ensuring that the selected satellites have a low probability of being blocked and have strong satellite signals, which helps to improve the positioning effect.

[0112] On the basis of the above embodiment, in the implementation of the above method (1), in order to ensure that the selected satellite can meet a certain positioning accuracy, the DOP (Dilution Of Precision) value can also be considered when determining the target satellite. Therefore, the target satellite for positioning can also be determined from multiple satellites based on the number of satellites and the DOP value of the satellite with the corresponding occlusion level.

[0113] The DOP value can be configured to represent the error magnification factor. In the navigation field, the DOP value can be configured to measure the accuracy of the receiver's positioning results. A smaller DOP value means smaller error and higher positioning accuracy. Therefore, the DOP value can be used to select target satellites that are more conducive to positioning accuracy.

[0114] In the above implementation process, the satellites used for positioning are determined based on the number of satellites and the DOP value. This not only avoids situations where positioning cannot be achieved due to insufficient satellites, but also ensures the positioning accuracy of the target satellite based on the DOP value. In other words, this solution uses a combination of the number of satellites and the DOP value to classify the degree of satellite obstruction. This allows, when the number of satellites is insufficient, to ensure the accuracy of distinguishing between obstruction and non-obstruction while maximizing the utilization of currently received satellite information. This avoids situations where the accuracy of positioning results may be affected or even prevented due to insufficient available satellites when determining occlusion using binary occlusion (i.e., only judging both obstruction and non-obstruction).

[0115] The following methods are used to select target satellites based on the DOP value:

[0116] 1) Satellites are selected in sequence according to the obstruction level from level 0 to level N until the number of selected satellites reaches a set threshold, where level 0 to level N are divided from no obstruction level to complete obstruction level, level 0 is no obstruction level, and level N is complete obstruction level. The DOP value of the selected satellite can then be calculated. If the DOP value is less than the set threshold, the selected satellite is determined as the target satellite for positioning.

[0117] Continuing with the above example, in this implementation, for example, two satellites at level 0 may be selected first, and then two satellites at level 1 may be selected. The number threshold is set to 4, and the DOP values ​​of the four selected satellites may be calculated.

[0118] The calculation formula for DOP value is as follows: H=(G T G) -1 ;

[0119] In the above formula, θ in the G matrix (i) and They represent the altitude and azimuth of the i-th satellite respectively (these values ​​can be obtained by the above process of obtaining the pixel coordinates of the satellite in the image), N represents the number of satellites, which is 4 here, h jj Represents the element in the j-th row and j-th column of the H matrix.

[0120] In this way, the DOP value of the selected four satellites can be calculated. If the DOP value is less than the set threshold, then it can be considered that the positioning accuracy of the four satellites meets the requirements, and these four satellites can be used as target satellites for positioning. It can be understood that the specific value of the set threshold here can be flexibly set according to actual conditions.

[0121] It should be noted that if the selected DOP value is greater than or equal to the set threshold, then satellites can continue to be selected in the order of occlusion levels until the DOP value of the selected satellite is less than the set threshold. For example, another satellite in level 1 is selected, and 5 satellites are selected at this time. Then, the DOP values ​​of these 5 satellites are calculated. If the DOP value is less than the set threshold, these 5 satellites are used as satellites for positioning. Otherwise, satellites in level 2 can be selected. In this way, there is no need to meet the satellite number threshold, and the number of selected satellites can be greater than the set number threshold. In this implementation method, it can be ensured that the number of selected satellites meets the minimum number requirement, so that the positioning device can be positioned, which can effectively avoid the situation where positioning cannot be achieved due to insufficient number of satellites, and at the same time meet the positioning accuracy requirements.

[0122] In the above implementation process, the number of selected target satellites reaches the set threshold, which can ensure the minimum number of satellites used for positioning, and the DOP value of the target satellite is less than the set threshold, which can ensure positioning accuracy.

[0123] 2) In order of obstruction levels from level 0 to level N, satellites of each obstruction level are selected in sequence until the number of satellites of the selected i obstruction levels is greater than or equal to a set number threshold, where i is an integer greater than or equal to 1 and less than or equal to N. Then, the DOP values ​​of the satellites of the i obstruction levels are calculated. If the DOP values ​​are less than the set threshold, the satellites of the i obstruction levels are determined as target satellites for positioning.

[0124] The classification of the shading levels here is the same as that in the above embodiment, that is, the 0th level is the no-shading level, and the Nth level is the complete shading level.

[0125] First, the number of satellites at level 0, N0, can be counted. If N0 is greater than or equal to the set number threshold, the DOP value D0 of all satellites at level 0 can be calculated. If the DOP value is less than the set threshold, the value of i is 1, and the satellites at level 0 are used for positioning, while other satellites are unavailable. In this case, the occlusion levels of other satellites can be set to N during internal positioning, indicating that other satellites are not used for positioning.

[0126] If N0 is less than the set number threshold or D0 is greater than or equal to the set threshold, then the number of satellites at level 1, N1, is continued to be counted. If N0+N1 is greater than or equal to the set number threshold, the DOP value D1 of the satellite set consisting of all satellites at level 0 and level 1 is calculated. If D1 is less than the set threshold, the value of i is 2, then the satellites at level 0 and level 1 are used as satellites for positioning, and other satellites are unavailable. In this case, the occlusion levels of other satellites can be set to level N during internal positioning, indicating that other satellites are not used for positioning.

[0127] If N0+N1 is less than the set number threshold or D1 is greater than or equal to the set threshold, then continue to count the number of satellites at level 2, N2. If N0+N1+N2 is greater than or equal to the set number threshold, then calculate the DOP value D2 of the satellite set consisting of all satellites at level 0, level 1, and level 2. If D2 is less than the set threshold, i takes the value of 3 at this time, then the satellites at level 0, level 1, and level 2 are used as satellites for positioning, and the levels of other satellites are set to level N.

[0128] If N0+N1+N2 or D2 still does not meet the above conditions, statistics and calculations can be continued according to the above process until the N-1th level is counted. If the above conditions are still not met after the N-1th level is counted, then the Nth level can be stopped at this time, because the Nth level is completely blocked and may not have much effect on actual positioning. Therefore, the original satellite blockage level can be maintained at this time, and then a set number of satellites or i-level satellites can be selected as satellites for positioning according to the above methods (1) and (2).

[0129] In the above implementation process, i satellites with small occlusion levels are selected. In this way, the selected satellites are satellites with good satellite signal quality, and the DOP values ​​of the satellites participating in positioning are small, which can greatly improve the positioning accuracy.

[0130] On the basis of the above embodiment, if the number of target satellites screened according to the above conditions is not enough for positioning, satellites with larger occlusion levels can continue to be selected. When positioning, different weights can be set for satellites with different occlusion levels, such as setting more weights for satellites with smaller occlusion levels and setting larger weights for satellites with larger occlusion levels. Specifically, weights can be set in data preprocessing, quality control, SPP, floating-point solution calculation, fixed solution calculation, fixed solution verification and other links during the positioning process, thereby reducing the impact of satellites with larger occlusion levels on positioning. In this way, it can be ensured that on the basis of being able to position, the positioning effect can be improved to a certain extent.

[0131] Based on the above embodiment, the target image acquired can be a two-dimensional image, i.e., an image captured by a camera. In other embodiments, the target image can also be a three-dimensional laser point cloud. In this way, the positioning method can be applied to both two-dimensional and three-dimensional image acquisition scenarios.

[0132] It can be understood that when the target image is a three-dimensional laser point cloud, the above-mentioned image capturing device can be a radar device, so that the image can be collected by the radar device. For example, in a vehicle navigation scenario, a radar device can be installed on the roof of the vehicle, and then when positioning is required, the radar device can be used to scan and obtain a laser point cloud. At this time, the laser point cloud is a three-dimensional image, and there is no need to map the three-dimensional coordinates of the satellite to the image. The above-mentioned coordinates of the satellite in the local horizontal coordinate system (L system) {X i Y i Z i} can be used as the pixel coordinates of the satellite in the laser point cloud.

[0133] Based on the above embodiment, when collecting target images, in order to obtain images with a wider field of view, multiple cameras can be used to collect images. For example, multiple cameras can be used to collect multiple images from the zenith direction of the device to be positioned, and then the multiple images can be stitched together as panoramic images to obtain the target image.

[0134] In this implementation, multiple cameras are installed at different positions, but these cameras are all configured to capture images in the zenith direction of the device to be located, but with slightly different shooting angles. This allows images with a wider field of view to be obtained through multiple cameras, avoiding the situation where some satellites may exceed the field of view of the image when mapping the satellites to the coordinates of the image.

[0135] The above-mentioned method of stitching multiple images into a panoramic image can refer to the implementation method in the relevant technology, and will not be described in detail here.

[0136] In other embodiments, multiple images can be acquired through multiple cameras, and then each image is screened to obtain the target satellite according to the above embodiment. For example, if there are 3 images, the target satellite needs to be screened three times. The three screening processes are the same, and 3 screening results can be obtained at this time. The 3 screening results can then be integrated, that is, the 3 screening results are deduplicated to obtain the final screened target satellite, which can be used for subsequent positioning processing.

[0137] In the above implementation process, by performing panoramic stitching on the multiple collected images, an image with a wider field of view can be obtained, which helps to subsequently map the coordinates of all satellites into the image to reduce the situation where the satellite coordinates fall outside the image.

[0138] Please refer to Figure 2, which is a block diagram of a positioning device 200 provided in an embodiment of the present application. The device 200 may be a module, program segment, or code on an electronic device. It should be understood that the device 200 corresponds to the method embodiment of Figure 1 and is capable of executing each step involved in the method embodiment of Figure 1. The specific functions of the device 200 can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0139] Optionally, the apparatus 200 includes:

[0140] An image acquisition module 210 is configured to acquire a target image collected from the zenith direction of the device to be positioned;

[0141] A position acquisition module 220 is configured to acquire image positions of a plurality of satellites mapped to the target image, wherein the plurality of satellites refer to satellites corresponding to a plurality of satellite signals received by the device to be positioned;

[0142] A category identification module 230 configured to identify an occluder category of an occluder at the image position in the target image;

[0143] a satellite screening module 240 configured to determine a target satellite for positioning from the plurality of satellites according to the category of the obstruction;

[0144] The positioning module 250 is configured to use the target satellite to position the device to be positioned.

[0145] Optionally, the satellite screening module 240 is specifically configured to determine the occlusion level of the satellite at the corresponding image position according to the occlusion category, wherein different occlusion categories correspond to different occlusion levels; and determine the target satellite for positioning from the multiple satellites according to the occlusion level.

[0146] Optionally, the satellite screening module 240 is specifically configured to count the number of satellites corresponding to each obstruction level; and determine a target satellite for positioning from the multiple satellites based on the number of satellites.

[0147] Optionally, the satellite screening module 240 is specifically configured to determine a target satellite for positioning from the plurality of satellites based on the number of satellites and a DOP value of a satellite corresponding to an obstruction level.

[0148] Optionally, the satellite screening module 240 is specifically configured to select satellites in sequence according to the occlusion level from level 0 to level N until the number of selected satellites reaches a set number threshold, wherein the level 0 to level N are divided from no occlusion level to complete occlusion level, the level 0 is the no occlusion level, and the level N is the complete occlusion level; calculate the DOP value of the selected satellite; if the DOP value is less than the set threshold, determine the selected satellite as the target satellite for positioning.

[0149] Optionally, the satellite screening module 240 is specifically configured to select satellites of each occlusion level in order from the 0th level to the Nth level, until the number of satellites of the selected i occlusion levels is greater than or equal to a set number threshold, wherein the 0th level to the Nth level are divided from no occlusion level to complete occlusion level, the 0th level is the no occlusion level, the Nth level is the complete occlusion level, and i is an integer greater than or equal to 1 and less than or equal to N; calculate the DOP values ​​of the satellites of the i occlusion levels; if the DOP value is less than the set threshold, determine the satellites of the i occlusion levels as target satellites for positioning.

[0150] Optionally, the satellite screening module 240 is specifically configured to select satellites in sequence according to the occlusion level from level 0 to level N until the number of selected satellites reaches a set threshold number, wherein the level 0 to level N are divided from no occlusion level to complete occlusion level, the level 0 is the no occlusion level, and the level N is the complete occlusion level; the selected satellite is determined as the target satellite for positioning.

[0151] Optionally, the satellite screening module 240 is specifically configured to select satellites with i obstruction levels in order from the 0th level to the Nth level, wherein the 0th level to the Nth level are divided from the no obstruction level to the complete obstruction level, the 0th level is the no obstruction level, the Nth level is the complete obstruction level, and i is an integer greater than or equal to 1 and less than or equal to N; the satellites with the i obstruction levels are determined as target satellites for positioning.

[0152] Optionally, the position acquisition module 220 is configured to obtain the coordinate positions of the multiple satellites in the earth coordinate system; convert the coordinate positions of the multiple satellites in the earth coordinate system into coordinate positions in the local horizontal coordinate system based on the estimated current position of the device to be positioned; and map the coordinate positions of the multiple satellites in the local horizontal coordinate system to the target image using the posture information of the image capture device of the device to be positioned and the internal and external parameter information of the image capture device to obtain the corresponding image positions of the multiple satellites in the target image.

[0153] Optionally, the target image is a two-dimensional image, or the target image is a three-dimensional laser point cloud.

[0154] Optionally, the image acquisition module 210 is specifically configured to acquire multiple images collected by multiple cameras from the zenith direction of the device to be positioned; and perform panoramic image stitching on the multiple images to obtain a target image.

[0155] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0156] Please refer to Figure 3, which is a schematic diagram of the structure of an electronic device configured to perform a positioning method provided in an embodiment of the present application. The electronic device may include: at least one processor 310, such as a CPU, at least one communication interface 320, at least one memory 330 and at least one communication bus 340. Among them, the communication bus 340 is configured to realize direct connection and communication between these components. Among them, the communication interface 320 of the device in the embodiment of the present application is configured to communicate signaling or data with other node devices. The memory 330 can be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 330 can optionally also be at least one storage device located away from the aforementioned processor. Computer-readable instructions are stored in the memory 330. When the computer-readable instructions are executed by the processor 310, the electronic device executes the method process shown in Figure 1 above.

[0157] It is understood that the structure shown in Figure 3 is merely illustrative, and the electronic device may include more or fewer components than shown in Figure 3, or have a configuration different from that shown in Figure 3. Each component shown in Figure 3 may be implemented using hardware, software, or a combination thereof.

[0158] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method process executed by the electronic device in the method embodiment shown in FIG1 is executed.

[0159] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the methods provided in the above method embodiments, for example, including:

[0160] Acquire a target image collected from the zenith direction of the device to be positioned;

[0161] Obtaining image positions of multiple satellites mapped to the target image, wherein the multiple satellites refer to satellites corresponding to multiple satellite signals received by the device to be positioned;

[0162] identifying an occluder category of an occluder at the image position in the target image;

[0163] determining a target satellite for positioning from the plurality of satellites according to the category of the obstruction;

[0164] The device to be positioned is positioned using the target satellite.

[0165] In summary, the embodiments of the present application provide a positioning method, device, electronic device and storage medium. The method identifies the category of obstructions at the position of the satellite in the target image, and determines the target satellite for positioning according to the category of obstructions. In this way, the satellites can be classified more finely according to the category of obstructions, so that more satellites that are conducive to positioning can be screened out, thereby improving the positioning effect of the device.

[0166] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0169] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0170] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Those skilled in the art will appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. Industrial Applicability

[0171] By adopting the above scheme, by identifying the category of obstructions at the position of the satellite in the target image, the target satellite for positioning is determined according to the category of obstructions. In this way, the satellites can be classified more finely according to the category of obstructions, so that more satellites that are conducive to positioning can be screened out, thereby improving the positioning effect of the equipment.

Claims

1. A positioning method, characterized in that, The method includes: Obtaining a target image collected from the zenith direction of the device to be located; Obtaining the image positions of multiple satellites mapped in the target image, where the multiple satellites refer to the satellites corresponding to multiple satellite signals received by the device to be located; Identifying the occluder category of the occluder at the image position in the target image; Determining target satellites for positioning from the multiple satellites according to the occluder category; Positioning the device to be located using the target satellites.

2. The method according to claim 1, characterized in that The determining of target satellites for positioning from the multiple satellites according to the occluder category includes: Determining the occlusion level of the satellite at the corresponding image position according to the occluder category, where different occluder categories correspond to different occlusion levels; Determining target satellites for positioning from the multiple satellites according to the occlusion level.

3. The method according to claim 2, wherein The determining of target satellites for positioning from the multiple satellites according to the occlusion level includes: Counting the number of satellites corresponding to each occlusion level; Determining target satellites for positioning from the multiple satellites based on the number of satellites.

4. The method according to claim 3, wherein The determining of target satellites for positioning from the multiple satellites based on the number of satellites includes: Determining target satellites for positioning from the multiple satellites based on the number of satellites and the Dilution of Precision (DOP) value of the satellites corresponding to the occlusion level.

5. The method according to claim 4, wherein The determining of target satellites for positioning from the multiple satellites based on the number of satellites and the Dilution of Precision (DOP) value of the satellites corresponding to the occlusion level includes: Selecting satellites in sequence according to the occlusion level from level 0 to level N until the number of selected satellites reaches a set number threshold, where the levels from 0 to N are divided from the non-occlusion level to the complete occlusion level, level 0 is the non-occlusion level, and level N is the complete occlusion level; Calculating the DOP value of the selected satellites; If the DOP value is less than the set threshold, determining the selected satellites as the target satellites for positioning.

6. The method according to claim 4, characterized in that The determining of target satellites for positioning from the multiple satellites based on the number of satellites and the Dilution of Precision (DOP) value of the satellites corresponding to the occlusion level includes: Selecting satellites of each occlusion level in sequence according to the occlusion level from level 0 to level N until the number of satellites of the i occlusion levels selected is greater than or equal to the set number threshold, where the levels from 0 to N are divided from the non-occlusion level to the complete occlusion level, level 0 is the non-occlusion level, level N is the complete occlusion level, and i is an integer greater than or equal to 1 and less than or equal to N; Calculating the DOP value of the satellites of the i occlusion levels; If the DOP value is less than the set threshold, determining the satellites of the i occlusion levels as the target satellites for positioning.

7. The method according to claim 3, wherein The determining of target satellites for positioning from the multiple satellites based on the number of satellites includes: Select satellites in sequence according to the occlusion level from level 0 to level N until the number of selected satellites reaches the set number threshold, where the levels from 0 to N are divided from the non-occlusion level to the complete occlusion level, the 0th level is the non-occlusion level, and the Nth level is the complete occlusion level; Determine the selected satellites as target satellites for positioning.

8. The method according to claim 2, wherein The determining the target satellites for positioning from the multiple satellites according to the occlusion level includes: Select satellites at i occlusion levels in sequence according to the occlusion level from level 0 to level N, where the levels from 0 to N are divided from the non-occlusion level to the complete occlusion level, the 0th level is the non-occlusion level, the Nth level is the complete occlusion level, and i is an integer greater than or equal to 1 and less than or equal to N; Determine the satellites at the i occlusion levels as target satellites for positioning.

9. The method according to any one of claims 1-8, characterized in that, The obtaining the image positions of the multiple satellites mapped to the target image includes: Obtain the coordinate positions of the multiple satellites in the Earth coordinate system; Convert the coordinate positions of the multiple satellites in the Earth coordinate system to the coordinate positions in the local horizontal coordinate system according to the estimated current position of the device to be located; Use the attitude information of the image capturing device of the device to be located and the internal and external parameter information of the image capturing device to map the coordinate positions of the multiple satellites in the local horizontal coordinate system to the target image, and obtain the corresponding image positions of the multiple satellites in the target image.

10. The method according to any one of claims 1-8, characterized in that, The target image is a two-dimensional image, or the target image is a three-dimensional laser point cloud.

11. According to the method described in any one of claims 1-8, characterized in that, The obtaining the target image collected from the zenith direction of the device to be located includes: Obtain multiple images collected from the zenith direction of the device to be located by multiple cameras; Perform panoramic image stitching on the multiple images to obtain the target image.

12. A positioning device, characterized in that, The device includes: An image acquisition module configured to acquire a target image collected from the zenith direction of the device to be located; A position acquisition module configured to acquire the image positions of the multiple satellites mapped to the target image, where the multiple satellites refer to the satellites corresponding to the multiple satellite signals received by the device to be located; A category recognition module configured to recognize the occlusion object category of the occlusion object at the image position in the target image; A satellite screening module configured to determine the target satellites for positioning from the multiple satellites according to the occlusion object category; A positioning module configured to perform positioning on the device to be located by using the target satellites.

13. An electronic device, characterized in that, It includes a processor and a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the method according to any one of claims 1-11 is run.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1-11 is run.

Images