Positioning method, apparatus and system, and electronic device and storage medium

Abstract

Disclosed in the present application are a positioning method, apparatus and system, and an electronic device and a storage medium. The apparatus comprises: a real-time dynamic positioning receiver, a scanning sensor, a first positioning module, a second positioning module and a third positioning module, wherein the real-time dynamic positioning receiver and the scanning sensor are arranged at relatively fixed poses; the first positioning module is configured to use the real-time dynamic positioning receiver to determine position information of an open environment position in the vicinity of a positioning target; the second positioning module is configured to use the scanning sensor to determine position information of a feature ground object around the open environment position on the basis of the position information of the open environment position; and the third positioning module is configured to use the scanning sensor to determine position information of the positioning target on the basis of the position information of the feature ground object. The present application can conveniently and efficiently perform accurate positioning on a positioning target in an environment in which a satellite signal is shielded.

Description

Positioning method, device, system, electronic device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 2024101703807, filed with the China Patent Office on February 6, 2024, entitled “A positioning method, device, system, electronic device and storage medium,” the entire contents of which are incorporated herein by reference. Technical Field

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

[0004] Global positioning systems (GPS) are increasingly being used in various technical fields, including surveying and mapping. Using GPS for positioning typically requires a real-time kinematic (RTK) receiver. However, RTK receivers can encounter several challenges: First, they are not suitable for environments where satellite signals are obstructed. Second, RTK receivers must be placed at the measured point for positioning measurements.

[0005] To address the above issues, relevant technologies use total stations, RTK+laser ranging technology, or RTK+photogrammetry technology to perform precise positioning and measurement in environments where satellite signals are blocked. However, these technologies have problems such as high operational complexity, high usage barriers, large size and inconvenient operation, and / or high requirements for lighting conditions. Summary of the Invention

[0006] The embodiments of the present application provide a positioning method, apparatus, system, electronic device, and storage medium, which can conveniently and efficiently accurately locate a positioning target in an environment where satellite signals are blocked.

[0007] In a first aspect, an embodiment of the present application provides a positioning device, comprising: a real-time dynamic positioning receiver, a scanning sensor, a first positioning module, a second positioning module, and a third positioning module, wherein the real-time dynamic positioning receiver and the scanning sensor are relatively fixed in position;

[0008] The first positioning module is configured to determine position information of an open environment position near a positioning target using the real-time dynamic positioning receiver;

[0009] The second positioning module is configured to determine the position information of the characteristic objects around the open environment using the scanning sensor according to the position information of the open environment; and

[0010] The third positioning module is configured to determine the position information of the positioning target using the scanning sensor according to the position information of the feature object.

[0011] In a second aspect, an embodiment of the present application provides a positioning system, comprising: a positioning device as described in any one of the embodiments of the present application.

[0012] In a third aspect, an embodiment of the present application provides a positioning method, comprising: determining position information of an open environment position near a positioning target using a real-time dynamic positioning receiver;

[0013] Determining, based on the location information of the open environment, location information of characteristic land objects around the location of the open environment using a scanning sensor; and

[0014] Determining the position information of the positioning target using the scanning sensor according to the position information of the feature object;

[0015] The real-time dynamic positioning receiver and the scanning sensor are relatively fixed in position.

[0016] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a positioning method as described in any one of the embodiments of the present application is implemented.

[0017] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, it implements the positioning method as described in any one of the embodiments of the present application.

[0018] The present application provides a positioning method, device, system, electronic device and storage medium. First, a real-time dynamic positioning receiver is used to accurately locate the position of an open environment near a positioning target. Then, based on the accurate positioning of the open environment position, a scanning sensor with a relatively fixed position relative to the real-time dynamic positioning receiver is used to obtain the precise position of the surrounding characteristic landforms. Finally, based on the precise position of the characteristic landforms, the scanning sensor is used to accurately locate the positioning target. This method can conveniently and efficiently locate the positioning target in a satellite-blocked environment under the premise of low operation complexity, low usage threshold and low light requirements, thereby saving positioning measurement resources and improving the efficiency of positioning measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 paying any creative work.

[0020] FIG1 is a schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0021] FIG2 is another structural diagram of a positioning device provided in an embodiment of the present application;

[0022] FIG3 is another structural diagram of a positioning device provided in an embodiment of the present application;

[0023] FIG4 is another structural diagram of a positioning device provided in an embodiment of the present application;

[0024] FIG5 is a schematic structural diagram of a positioning system provided in an embodiment of the present application;

[0025] FIG6 is a flow chart of a positioning method provided in an embodiment of the present application;

[0026] FIG7 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] Global positioning systems (GPS) are increasingly being used in various fields, including surveying and mapping. Using GPS for positioning often requires a real-time kinematic (RTK) receiver. However, RTK receivers can encounter several challenges: First, RTK receivers are not suitable for environments where satellite signals are obstructed. Second, RTK receivers must be placed at the measured point for positioning measurements.

[0028] To address the above issues, relevant technologies have proposed a variety of non-contact measurement solutions, including: positioning measurement using a total station, positioning measurement using RTK+laser ranging technology, and positioning measurement using RTK+photogrammetry technology.

[0029] Positioning measurements using a total station require control points, backsights, and station setup, making the operation complex and entry-level difficult. It requires two people, resulting in low efficiency. RTK combined with laser ranging technology requires high-precision azimuth and requires the receiver to remain stationary during operation. RTK receivers are handheld, dynamic measurement devices, making it challenging to maintain complete stillness. If they don't, the laser beam will vibrate as it approaches the target point. This fluctuation increases with distance, leading to poor accuracy. Furthermore, RTK receivers alone cannot provide high-precision azimuth. Currently, RTK azimuth is primarily achieved using inertial navigation units (INUs). High-precision INUs, such as fiber optic gyros and laser gyros, are expensive and bulky. Conventional INUs cannot meet the high-precision measurement requirements. RTK+photogrammetry technology, when RTK encounters an environment where satellite signals are obstructed, requires the RTK to be fixed in an open area, then photograph the target point from a distance, and finally select the target point from the photograph to obtain high-precision coordinates. However, this requires that the target texture be rich, the target point cannot have strong light reflections, there must be no dynamic objects between the RTK and the target point, and the ambient light must not be too bright or too dark. These limitations result in low accuracy and reliability of the photography.

[0030] The premise for using RTK+laser ranging technology and RTK+photogrammetry technology for positioning measurement is that RTK must be fixed, and the effective operating distance of existing laser ranging technology is 5 to 10 meters, and the effective operating distance of RTK+imaging is 2 to 15 meters. Points under overpasses, bridges, and other places with a distance of more than 15 meters and points with insufficient light intensity are still impossible to measure.

[0031] The present application provides a positioning method, device, system, electronic device and storage medium, which first uses a real-time dynamic positioning receiver to accurately locate the open environment position near the positioning target, and then uses a scanning sensor with a relatively fixed position relative to the real-time dynamic positioning receiver based on the accurate positioning of the open environment position to obtain the precise position of the surrounding characteristic land features. Finally, based on the precise position of the characteristic land features, the scanning sensor is used to accurately locate the positioning target. Under the premise of low operation complexity, low usage threshold and low light requirements, it can conveniently and efficiently accurately locate the positioning target in a satellite-blocked environment, save positioning measurement resources and improve the efficiency of positioning measurement.

[0032] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present application and are not intended to limit the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the present application, not all of the structures.

[0033] FIG1 is a structural diagram of a positioning device provided in an embodiment of the present application, which is suitable for executing the positioning method provided in an embodiment of the present application. The three positioning modules in the device can be implemented in software and / or hardware. In a specific embodiment, the three positioning modules of the device can be integrated into a real-time dynamic positioning receiver. As shown in FIG1 , the device can specifically include:

[0034] The real-time dynamic positioning receiver 101 may include a multi-function antenna, a global navigation satellite system measurement unit (GNSS measurement unit), a power supply unit, and a central processing unit.

[0035] Specifically, the multifunctional antenna is configured to perform wireless data communication and may include a global navigation satellite system antenna, i.e., a GNSS antenna, a wireless fidelity antenna, i.e., a WIFI antenna, a Bluetooth antenna, i.e., a cellular mobile communication antenna, such as a 4G antenna.

[0036] Specifically, the above-mentioned global navigation satellite system measurement unit can be configured to perform real-time positioning using a real-time dynamic positioning receiver.

[0037] Specifically, the central processing unit may be configured to process and transmit satellite positioning data and scanning data.

[0038] Specifically, the GNSS antenna can be configured to receive available satellite signals.

[0039] Specifically, the cellular mobile communication antenna can be configured to receive base station differential data required for the real-time dynamic positioning receiver, and can also be configured to upload the location information of the positioning target finally obtained to the cloud for management.

[0040] The scanning sensor 102 may include a laser scanning radar or other scanning sensors.

[0041] The first positioning module 103 is configured to determine the position information of an open environment position near the positioning target using the real-time dynamic positioning receiver 101. This can facilitate determining the position information of characteristic objects around the open environment based on the position information of the open environment position.

[0042] Specifically, the above-mentioned location information is preferably represented by location coordinates, and may also be represented by information such as longitude and latitude.

[0043] Specifically, the open environment location near the positioning target may be a location that is no more than a preset distance away from the positioning target and has a good satellite signal.

[0044] Optionally, the first positioning module 103 can be specifically configured to use a navigation satellite antenna to receive available satellite signals, use a cellular mobile communication antenna to receive base station differential data, determine the phase center coordinates of the navigation satellite antenna based on the available satellite signals and the base station differential data, and calculate the position information of the open environment based on the phase center coordinates.

[0045] Optionally, the first positioning module 103 can be specifically configured to calculate the position information of the open environment based on the phase center coordinates and the attitude of the real-time dynamic positioning receiver determined by the inertial navigation sensor.

[0046] The second positioning module 104 is configured to determine the position information of characteristic objects around the position of the open environment using the scanning sensor 102 according to the position information of the open environment.

[0047] Specifically, the above-mentioned characteristic feature may be the characteristic feature that is closest to the positioning target.

[0048] Specifically, the above-mentioned characteristic land features may be land features whose volumes meet preset requirements.

[0049] In an optional specific embodiment of the present application, as shown in FIG2 , the second positioning module 104 includes: a first scanning data acquisition module, a first relative posture calculation module, and a feature object position calculation module.

[0050] Optionally, the first scanning data acquisition module is configured to use a scanning sensor to scan the characteristic ground object in an open environment to obtain first scanning data of the characteristic ground object.

[0051] Specifically, the first scanning data acquisition module may be configured to continuously scan the surrounding environment of an open environment using a laser radar sensor in an open environment, and obtain a surrounding environment scanning point cloud, namely the first scanning data.

[0052] Optionally, the above-mentioned first relative posture calculation module is configured to calculate the relative posture of the characteristic object and the real-time dynamic positioning receiver based on the first scanning data and the relative posture of the scanning sensor and the real-time dynamic positioning receiver.

[0053] Specifically, the relative position between the above-mentioned feature object and the real-time dynamic positioning receiver may include: the azimuth angle and pitch angle between the feature object and the real-time dynamic positioning receiver, and the distance between the feature object and the real-time dynamic positioning receiver.

[0054] Specifically, the first relative pose calculation module can be configured to perform feature object point cloud clustering and feature object point cloud representative point selection on the surrounding environment scanning point cloud.

[0055] Optionally, the feature object position calculation module is configured to calculate the position information of the feature object based on the position information of the open environment and the relative position between the feature object and the real-time dynamic positioning receiver.

[0056] Specifically, the feature object position calculation module can be configured to calculate the position information of the feature object based on the position information of the open environment, the posture of the real-time dynamic positioning receiver, and the relative posture between the feature object and the real-time dynamic positioning receiver.

[0057] Specifically, the posture of the real-time dynamic positioning receiver can be determined after centering the real-time dynamic positioning receiver using the centering rod 108 .

[0058] Specifically, the posture of the above-mentioned real-time dynamic positioning receiver can also be calculated using a scanning sensor based on the simultaneous positioning and map construction solution technology, namely, the SLAM solution technology.

[0059] Specifically, since the position information of the open environment, that is, the position information of the real-time dynamic positioning receiver, is the accurate position determined based on the unobstructed satellite signal, the posture of the characteristic object and the scanning sensor is relatively fixed, and the posture of the scanning sensor and the real-time dynamic positioning receiver is relatively fixed, the accurate position information of the characteristic object can be calculated using the characteristic object position calculation module.

[0060] The third positioning module 105 is configured to determine the position information of the positioning target using the scanning sensor 102 according to the position information of the feature object.

[0061] In an optional specific embodiment of the present application, as shown in FIG3 , the third positioning module 105 includes: a second scanning data acquisition module, a second relative posture calculation module, and a positioning target position calculation module.

[0062] Optionally, the second scanning data acquisition module is configured to use a scanning sensor to scan the characteristic ground feature at the position of the positioning target to obtain second scanning data of the characteristic ground feature.

[0063] Specifically, the second scanning data acquisition module may be specifically configured to scan the characteristic ground object using a laser radar sensor at the location of the positioning target, and obtain a scanning point cloud of the characteristic ground object, namely the second scanning data.

[0064] Optionally, the second relative posture calculation module is configured to calculate the relative posture of the positioning target and the feature object based on the second scanning data.

[0065] Specifically, the relative position between the positioning target and the characteristic feature may include: the azimuth angle and the elevation angle between the characteristic feature and the positioning target, and the distance between the characteristic feature and the positioning target.

[0066] Specifically, the above-mentioned second relative posture calculation module can be specifically configured to perform feature object point cloud clustering and match the representative points of the feature object point cloud on the above-mentioned feature object scanning point cloud, that is, to match the representative points of the feature object point cloud in the second scanning data with the representative points of the feature object point cloud in the first scanning data.

[0067] Optionally, the positioning target position calculation module is configured to calculate the position information of the positioning target based on the position information of the feature object and the relative posture between the positioning target and the feature object.

[0068] Specifically, since the scanning sensor is not affected by the strength of the satellite signal, even if the location of the positioning target is an environment where the satellite signal is blocked or semi-blocked, the second scanning data of the accurate characteristic objects can be obtained at the positioning target location. Combined with the first scanning data of the characteristic objects obtained by scanning in an open environment and the accurate location information of the characteristic objects, the accurate location information of the positioning target can be calculated.

[0069] The following further introduces the positioning device in another embodiment, as shown in Figure 4, including: a real-time dynamic positioning receiver 101, a scanning sensor 102, a first positioning module 103, a second positioning module 104, a third positioning module 105, an inertial sensor 106, and a receiver attitude determination module 107.

[0070] Optionally, the above-mentioned inertial navigation sensor and the real-time dynamic positioning receiver are relatively fixed in position.

[0071] Optionally, the receiver attitude determination module is configured to determine the attitude of the real-time dynamic positioning receiver using an inertial navigation sensor.

[0072] Specifically, the above-mentioned inertial navigation sensor and receiver attitude determination module can also be integrated into a real-time dynamic positioning receiver.

[0073] Optionally, the aforementioned second positioning module 104 can be specifically configured to determine the position information of characteristic objects around the open environment position using a scanning sensor based on the position information of the open environment and the posture of the real-time dynamic positioning receiver.

[0074] Optionally, the aforementioned feature object position calculation module can be specifically configured to calculate the position information of the feature object based on the position information of the open environment, the posture of the real-time dynamic positioning receiver, and the relative posture between the feature object and the real-time dynamic positioning receiver.

[0075] The embodiment of the present application provides an inertial navigation sensor with a relatively fixed attitude relative to the real-time dynamic positioning receiver, eliminating the need for centering using a centering pole, thereby further improving the measurement efficiency of positioning measurement and enhancing measurement convenience and accuracy.

[0076] An embodiment of the present application also provides a positioning system, including the positioning device provided by any embodiment of the present application.

[0077] Optionally, as shown in FIG5 , the positioning system of the present application further includes: a centering rod 108 and a handheld display device 109 , which are configured to perform centering adjustment on the real-time dynamic positioning receiver 101 .

[0078] Specifically, the centering rod 108 may be configured to fix the positioning device.

[0079] Optionally, the positioning system of the present application further includes: a handheld display device 109 configured to perform human-computer interaction.

[0080] Specifically, the handheld display device 109 can be a tablet or a handheld book, etc. Specifically, the handheld display device can be fixedly mounted on the aforementioned centering rod. The installation of the handheld display device can make the positioning system operation more convenient and significantly improve the positioning efficiency.

[0081] Specifically, the positioning system may further include: a vehicle on which the positioning device is fixedly installed, and a human-computer interaction device installed on the vehicle.

[0082] The positioning system provided by the present application can first use a real-time dynamic positioning receiver to accurately locate the open environment position near the positioning target, and then, based on the accurate positioning of the open environment position, use a scanning sensor with a relatively fixed position relative to the real-time dynamic positioning receiver to obtain the precise position of the surrounding characteristic landforms, and finally, based on the precise position of the characteristic landforms, use the scanning sensor to accurately locate the positioning target. Under the premise of low operation complexity, low usage threshold and low light requirements, it can conveniently and efficiently accurately locate the positioning target in a satellite-blocked environment, save positioning measurement resources and improve the efficiency of positioning measurement.

[0083] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0084] FIG6 is a flow chart of a positioning method provided in an embodiment of the present application. The method can be performed by a positioning device provided in an embodiment of the present application, and the device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a real-time dynamic positioning receiver of a mobile station. The following embodiments will be described using the device integrated into an electronic device as an example. Referring to FIG6, the method may specifically include the following steps:

[0085] Step 601: Determine the location information of an open environment near a positioning target using a real-time dynamic positioning receiver.

[0086] Optionally, the real-time dynamic positioning receiver is fixedly connected to a centering pole.

[0087] Optionally, the process of determining the position information of an open environment position near the positioning target by using a real-time dynamic positioning receiver includes:

[0088] The centering rod is used to perform centering adjustment on the real-time dynamic positioning receiver, and the real-time dynamic positioning receiver after centering adjustment is used to determine the position information of the open environment position.

[0089] Step 602: Based on the location information of the open environment, use a scanning sensor to determine the location information of characteristic objects around the location of the open environment.

[0090] Specifically, the above-mentioned real-time dynamic positioning receiver and the scanning sensor are relatively fixed in position.

[0091] Optionally, the process of determining the position information of characteristic objects around the location of the open environment using a scanning sensor based on the location information of the open environment includes:

[0092] Scanning a characteristic ground object in an open environment using a scanning sensor to obtain first scanning data of the characteristic ground object;

[0093] Calculating the relative position of the feature object and the real-time dynamic positioning receiver based on the first scanning data and the relative position of the scanning sensor and the real-time dynamic positioning receiver; and

[0094] The position information of the feature object is calculated based on the position information of the open environment and the relative position between the feature object and the real-time dynamic positioning receiver.

[0095] Optionally, the process of determining the position information of characteristic objects around the open environment using a scanning sensor based on the position information of the open environment includes:

[0096] Based on the location information of the open environment, the location information of the characteristic objects is determined using scanning sensors and camera equipment, and the camera equipment and the real-time dynamic positioning receiver are relatively fixed.

[0097] Optionally, the process of calculating the relative position and posture of the feature object and the real-time dynamic positioning receiver based on the first scanning data and the relative position and posture of the scanning sensor and the real-time dynamic positioning receiver includes:

[0098] A camera is used to photograph a characteristic feature in an open environment to obtain first shooting data of the characteristic feature; and the relative position of the characteristic feature and the real-time dynamic positioning receiver is calculated based on the first scanning data, the first shooting data, the relative position of the scanning sensor and the real-time dynamic positioning receiver, and the relative position of the camera and the real-time dynamic positioning receiver.

[0099] Step 603: Determine the position information of the positioning target using a scanning sensor based on the position information of the feature object.

[0100] Optionally, the process of determining the position information of the positioning target using a scanning sensor based on the position information of the characteristic object includes:

[0101] A scanning sensor is used to scan a characteristic feature at the position of a positioning target to obtain second scanning data of the characteristic feature and the relative position and posture of the scanning sensor and a real-time dynamic positioning receiver; the relative position and posture of the positioning target and the characteristic feature are calculated based on the second scanning data; and the position information of the positioning target is calculated based on the position information of the characteristic feature and the relative position and posture of the positioning target and the characteristic feature.

[0102] Optionally, the process of determining the position information of the positioning target using a scanning sensor based on the position information of the characteristic object includes:

[0103] According to the location information of the characteristic objects, the location information of the positioning target is determined by using scanning sensors and camera equipment, and the positions of the camera equipment and the real-time dynamic positioning receiver are relatively fixed.

[0104] Optionally, the process of calculating the relative pose of the positioning target and the feature object based on the second scanning data and the relative pose of the scanning sensor and the real-time dynamic positioning receiver includes:

[0105] A camera is used to photograph a characteristic feature in an open environment to obtain second shooting data of the characteristic feature; and based on the second scanning data, the second shooting data, the relative posture of the scanning sensor and the real-time dynamic positioning receiver, and the relative posture of the camera and the real-time dynamic positioning receiver, the position information of the characteristic feature and the relative posture of the positioning target and the characteristic feature are calculated.

[0106] In an optional specific embodiment of the present application, the positioning method of the present application further includes: before determining the position information of characteristic features around the open environment location using a scanning sensor based on the open environment location information, determining the attitude of the real-time dynamic positioning receiver using an inertial navigation sensor. The inertial navigation sensor and the real-time dynamic positioning receiver are relatively fixed in position.

[0107] Optionally, the process of determining the position information of characteristic objects around the location of the open environment using a scanning sensor based on the location information of the open environment includes:

[0108] According to the location information of the open environment and the attitude of the real-time dynamic positioning receiver, the scanning sensor is used to determine the location information of the characteristic objects around the open environment.

[0109] Optionally, the above-mentioned process of determining the position information of characteristic objects around the open environment using a scanning sensor based on the position information of the open environment and the posture of the real-time dynamic positioning receiver includes: calculating the position information of the characteristic objects based on the position information of the open environment, the posture of the real-time dynamic positioning receiver, and the relative posture between the characteristic objects and the real-time dynamic positioning receiver.

[0110] The embodiment of the present application first uses a real-time dynamic positioning receiver to accurately locate the open environment position near the positioning target, and then uses a scanning sensor with a relatively fixed position relative to the real-time dynamic positioning receiver based on the accurate positioning of the open environment position to obtain the precise position of the surrounding characteristic landforms. Finally, based on the precise position of the characteristic landforms, the scanning sensor is used to accurately locate the positioning target. Under the premise of low operation complexity, low usage threshold and low light requirements, it can conveniently and efficiently accurately locate the positioning target in a satellite-blocked environment, save positioning measurement resources, and improve the efficiency of positioning measurement.

[0111] An embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the positioning method provided in any of the above embodiments when executing the program.

[0112] An embodiment of the present application further provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the positioning method provided in any of the above embodiments.

[0113] 7, which shows a schematic diagram of a computer system 700 suitable for implementing an electronic device according to an embodiment of the present invention. The electronic device shown in FIG7 is merely an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0114] As shown in FIG7 , a computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the system 700 are also stored in the RAM 703. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0115] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output section 707 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 708 including a hard disk; and a communication section 709 including a network interface card such as a LAN card or a modem. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 710 as needed, so that computer programs read therefrom can be installed into the storage section 708 as needed.

[0116] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising a program code configured to execute the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from a removable medium 711. When the computer program is executed by the central processing unit (CPU) 701, the above-mentioned functions defined in the system of the present application are executed.

[0117] It should be noted that the computer-readable medium described in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program configured for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0118] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions configured to implement the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0119] The modules and / or units described in the embodiments of this application may be implemented in software or hardware. The modules and / or units described may also be provided in a processor. For example, a processor may be described as including a first positioning module, a second positioning module, and a third positioning module. The names of these modules do not, in some cases, limit the modules themselves.

[0120] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The computer-readable medium carries one or more programs. When the one or more programs are executed by a device, the device includes: a real-time dynamic positioning receiver, a scanning sensor, a first positioning module, a second positioning module, and a third positioning module. The real-time dynamic positioning receiver and the scanning sensor are relatively fixed in position; the first positioning module is configured to use the real-time dynamic positioning receiver to determine the position information of an open environment position near the positioning target; the second positioning module is configured to use the scanning sensor to determine the position information of characteristic objects around the open environment position based on the position information of the open environment; and the third positioning module is configured to use the scanning sensor to determine the position information of the positioning target based on the position information of the characteristic objects.

[0121] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application. Industrial Applicability

[0122] By adopting the above scheme, a real-time dynamic positioning receiver is used to accurately locate the open environment position near the positioning target. Then, based on the accurate positioning of the open environment position, a scanning sensor with a relatively fixed position relative to the real-time dynamic positioning receiver is used to obtain the accurate position of the surrounding characteristic landforms. Finally, based on the accurate position of the characteristic landforms, the scanning sensor is used to accurately locate the positioning target. Under the premise of low operation complexity, low usage threshold and low light requirements, it is possible to accurately locate the positioning target in a satellite-blocked environment conveniently and efficiently, save positioning measurement resources and improve the efficiency of positioning measurement.

Claims

1. A positioning device, characterized in that: include: A real-time dynamic positioning receiver, a scanning sensor, a first positioning module, a second positioning module, and a third positioning module, wherein the real-time dynamic positioning receiver and the scanning sensor are relatively fixed in position; The first positioning module is configured to determine position information of an open environment position near a positioning target using the real-time dynamic positioning receiver; The second positioning module is configured to determine the position information of characteristic objects around the open environment using the scanning sensor according to the position information of the open environment; The third positioning module is configured to determine the position information of the positioning target using the scanning sensor according to the position information of the feature object.

2. The positioning device according to claim 1, characterized in that The second positioning module includes: a first scanning data acquisition module, a first relative posture calculation module, and a feature object position calculation module; The first scanning data acquisition module is configured to use the scanning sensor to scan the characteristic ground object at the open environment position to obtain first scanning data of the characteristic ground object; The first relative position calculation module is configured to calculate the relative position between the feature object and the real-time dynamic positioning receiver based on the first scanning data and the relative position between the scanning sensor and the real-time dynamic positioning receiver; and The feature object position calculation module is configured to calculate the position information of the feature object based on the position information of the open environment and the relative position between the feature object and the real-time dynamic positioning receiver.

3. The positioning device according to claim 1 or 2, characterized in that: The third positioning module includes: a second scanning data acquisition module, a second relative posture calculation module, and a positioning target position calculation module; The second scanning data acquisition module is configured to use the scanning sensor to scan the feature object at the position of the positioning target to obtain second scanning data of the feature object; The second relative posture calculation module is configured to calculate the relative posture of the positioning target and the feature object based on the second scanning data and the relative posture of the scanning sensor and the real-time dynamic positioning receiver; and The positioning target position calculation module is configured to calculate the position information of the positioning target based on the position information of the feature object and the relative position between the positioning target and the feature object.

4. The positioning device according to claim 2, characterized in that Also included: an inertial navigation sensor and a receiver attitude determination module; The inertial navigation sensor and the real-time dynamic positioning receiver are relatively fixed in position; The receiver attitude determination module is configured to determine the attitude of the real-time kinematic positioning receiver using the inertial navigation sensor.

5. The positioning device according to claim 4, characterized in that The feature object position calculation module is configured to calculate the position information of the feature object based on the position information of the open environment, the posture of the real-time dynamic positioning receiver, and the relative position between the feature object and the real-time dynamic positioning receiver.

6. A positioning system, characterized in that: The invention comprises the positioning device described in any one of claims 1 to 5.

7. A positioning method, characterized in that: include: Using a real-time dynamic positioning receiver to determine the location information of an open environment near the positioning target; Determining, based on the location information of the open environment, location information of characteristic land objects around the location of the open environment using a scanning sensor; as well as Determining the position information of the positioning target using the scanning sensor according to the position information of the feature object; The real-time dynamic positioning receiver and the scanning sensor are relatively fixed in position.

8. The positioning method according to claim 7, characterized in that: The real-time dynamic positioning receiver is fixedly connected to a centering rod.

9. The positioning method according to claim 7 or 8, characterized in that: Before determining the position information of characteristic objects around the open environment using the scanning sensor based on the position information of the open environment, The inertial navigation sensor is used to determine the posture of the real-time dynamic positioning receiver, and the inertial navigation sensor and the real-time dynamic positioning receiver are relatively fixed in position.

10. The positioning method according to any one of claims 7 to 9, characterized in that: The method of determining the position information of characteristic objects around the open environment using a scanning sensor based on the position information of the open environment includes: According to the position information of the open environment, the position information of the characteristic land object is determined by using a scanning sensor and a camera device, and the camera device and the real-time dynamic positioning receiver are relatively fixedly arranged.

11. The positioning method according to any one of claims 7 to 10, characterized in that: The determining the position information of the positioning target by using the scanning sensor according to the position information of the feature object includes: According to the position information of the characteristic land object, the position information of the positioning target is determined by using the scanning sensor and the camera device, and the position of the camera device and the real-time dynamic positioning receiver are relatively fixed.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the positioning method according to any one of claims 7 to 11 is implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the positioning method according to any one of claims 7 to 11 is implemented.

Images