78 results about "X-Coordinate" patented technology

The invention discloses a three-dimensional modeling method for extracting a road design center line based on Dynamo, and the method comprises the steps: extracting horizontal curve and vertical curve data from a design drawing, and writing the data into a single Excel worksheet according to a sequence from small stake marks to large stake marks; according to the pile-by-pile coordinates, the coordinates of the road center lines of all the pile numbers are exported into an Excel worksheet according to the sequence from the small pile numbers to the large pile numbers; performing forward calculation and reverse calculation to check the accuracy of the corrected coordinates in a bidirectional manner; exporting a stake-by-stake coordinate table, and storing the stake-by-stake coordinate table as an Excel file according to stake numbers, X coordinates, Y coordinates and elevations; the Dynamo program reads the coordinate data in the Excel file, and the Dynamo program reads the coordinate data in the Excel file; converting the construction coordinate system into a Revit global coordinate system; the Dynamo program reads the x, y and z coordinates of the points to generate a three-dimensional curve of the road center line, and reads the x and y coordinates of the points to generate a horizontal curve of the road center line; the Dynamo program generates road center lines of segments according to mileage stake numbers; according to the method, various defects and problems existing in existing complex geometric line type road modeling are solved.

The invention relates to the technical field of computer vision, and discloses a personnel positioning method and device based on monocular vision, equipment and a storage medium, which are used for reducing the hardware deployment cost of personnel positioning and improving the personnel positioning accuracy. The monocular vision-based personnel positioning method comprises the following steps of: estimating depth information by utilizing a depth detection model, and determining an actual vertical distance from a ground contact point to a monocular camera and an actual horizontal distance of a horizontal point pair; fitting the depth information and the actual vertical distance through a polynomial regression equation so as to determine a vertical coordinate mapping relation of the pixel coordinates in a camera reference coordinate system; determining a horizontal coordinate mapping relation according to the actual horizontal distance of the horizontal point pair and the pixel pitch of the horizontal point pair; and determining target positioning information through a coordinate system conversion matrix between the working position and the correction position in combination with the vertical coordinate mapping relation, the horizontal coordinate mapping relation and the relative position information.

The invention belongs to the technical field of optical image processing, and particularly relates to an optical interference three-dimensional shape measurement method and system based on multi-frame interference image registration. Moving the linear displacement table, and acquiring interference images of samples on the linear displacement table according to a preset sampling interval to obtain an original interference image sequence; calculating an actual sampling interval between the original adjacent frames to obtain a sampling interval error accumulation amount of each frame; performing space coordinate compensation on the horizontal coordinate of each frame to obtain a corrected discrete horizontal coordinate; based on the discrete horizontal coordinates, rearranging the original interference image sequence by adopting a linear interpolation method to obtain a registered interference image sequence; extracting pixel points for recombination to obtain interference signals; and carrying out phase calculation on the interference signal to obtain the three-dimensional surface topography of the sample. According to the method, the interference image sequence is reconstructed by adopting a sampling error cumulant quantization and linear interpolation method, so that sub-pixel-level pattern registration and high-precision and large-view-field three-dimensional shape measurement are realized.

Distortion correction from a distorted source image to a distortion-corrected target image includes dividing a target image into at least two vertical stripes and dividing each vertical stripe of the at least two vertical stripes into a plurality of target tiles. Each target tile has a target tile position having an x coordinate and a y coordinate within the target image. The distorted source image is divided into a plurality of source tiles, and the source tiles are processed to produce a source tile index. The method further includes reading target tiles of a distorted image of at least one vertical stripe, buffering a subsection of the read target tiles of the distorted image in a dedicated buffer, and performing distortion correction of source tiles of the distorted source image by mapping the subsection of source tiles to corresponding buffered subsection of target tiles of at least one vertical stripe.

A kind of compound inertial system attitude simulation test method, compound inertial system obtains launch system initial attitude angle by initial alignment mode;In dynamic loading process, the inertial data of compound inertial system is collected, and the angle signal of attitude simulation platform excitation is synchronously acquired;The attitude of compound inertial system is converted from launch system to local horizontal coordinate system by navigation solution method, while the angle signal of attitude simulation test platform is converted to the attitude angle of local horizontal coordinate system, and relevant operation is carried out, to obtain the dynamic performance parameter of compound inertial system.

The invention discloses an operation route editing method, device and equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme, the method comprises the steps that a three-dimensional view and a corresponding top view are displayed in an editing interface, the three-dimensional view and the top view comprise a to-be-edited operation route, and the operation route comprises a plurality of waypoints; adjusting horizontal coordinates of corresponding waypoints in the three-dimensional view and the top view in response to a first movement operation on the waypoints in the top view, and / or adjusting vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation on the waypoints in the three-dimensional view; and correspondingly adjusting the operation route according to the horizontal coordinates and the vertical coordinates of the adjusted waypoints. By means of the technical means, the problem that in the prior art, when a three-dimensional operation route is edited through a two-dimensional screen, movement is prone to being inaccurate is solved, and the editing accuracy and editing efficiency of the operation route are improved.

The application relates to a lens size measurement method, a lens size measurement system, a storage medium and an intelligent terminal, relates to the field of glasses processing measurement technology, and comprises the following steps: acquiring shooting image information; determining lens contour information according to the shooting image information, and determining contour pixel coordinate information of each contour point; defining a square on an array square disc, in which the contour point is located, as a similar square, determining a fixed edge in the similar square, and defining two end points of the fixed edge as a first end point and a second end point respectively; acquiring first pixel coordinate information, second pixel coordinate information and angle information between the fixed edge and a horizontal coordinate axis, and calculating physical coordinates and pixel coordinates to determine contour physical coordinate information of the contour point; and determining lens size information according to the contour physical coordinate information of each contour point. The application has the effect of improving the accuracy of lens size measurement data.

The invention provides a method and a device for determining the area of a side slope slippage region, and electronic equipment, relates to the technical field of side slope slippage detection, and is used for automatically detecting the side slope slippage region and accurately outputting the area of the side slope slippage region. The method comprises the following steps: determining Beidou coordinates of a target corresponding to a Beidou detection station; determining a point cloud coordinate of each target from the detection point cloud; mapping the detection point cloud into a Beidou coordinate system to obtain an absolute point cloud; mapping the reference point cloud and the absolute point cloud into a slope horizontal coordinate system to obtain a reference horizontal point cloud and an absolute horizontal point cloud; a plane formed by a horizontal axis and a longitudinal axis of the slope surface horizontal coordinate system is parallel to the main plane of the slope; constructing slope surface horizontal grids, determining the elevation difference of each slope surface horizontal grid based on the reference horizontal point cloud and the absolute horizontal point cloud, and identifying at least one continuous slip area based on the elevation difference of the slope surface horizontal grids; and obtaining the area of the slope slippage region based on the grid area corresponding to the continuous slippage region.

The invention relates to the field of underwater acoustic detection, and particularly discloses a global real-time mapping query-based sonar intrinsic coordinate system terrain modeling method, which comprises the following steps of: S1, establishing a position-variable sonar intrinsic coordinate system according to an initial attitude and a position vector of a sonar in a global reference coordinate system, constructing a transfer relation between the intrinsic coordinates and the global reference coordinates; s2, establishing a global terrain model for acquiring terrain elevation by horizontal coordinates; s3, creating a real-time mapping query interface, inputting three-dimensional coordinates of the intrinsic coordinate system, transmitting the three-dimensional coordinates to the global coordinate system, performing matching judgment on the three-dimensional coordinates and the global terrain elevation, and determining an intrinsic terrain elevation; and S4, traversing field point coordinates on all detection sound rays in the intrinsic coordinate system, and circularly calling a real-time mapping query interface until complete terrain modeling of the detection area is completed. The problems that traditional interpolation modeling is large in error, high in model numerical calculation complexity and the like are solved, and terrain modeling precision, flexibility and calculation efficiency are effectively improved.

A coordinate conversion method for multiple dies on a wafer is provided. The coordinate conversion method includes the following steps. First, provide a mechanical absolute coordinate of the dies on the wafer, where the mechanical absolute coordinate includes a horizontal coordinate and a vertical coordinate, and the horizontal coordinate and the vertical coordinate is not an integer. Secondly, a magnification factor is calculated, where the magnification factor is a ratio of a minimum horizontal spacing to a minimum vertical spacing between two adjacent dies, and the magnification factor is greater than 1. Finally, a relative coordinate is calculated, wherein the relative coordinate system is to replace one of the horizontal coordinate and the vertical coordinate in the mechanical absolute coordinate which is not an integer by multiply it with the magnification factor.

The invention provides an unconventional dial pointer reading robust identification method and system based on geometric constraint and target detection, and is applied to the field of data processing application. The dial range is determined through character recognition of the dimensional letters; comparing the position coordinates of different label elements, and judging the subordinate and corresponding relationship between each dial plate and the key element in each dial plate; based on the center coordinates of all the small scale detection frames, abnormal detection points are removed by using a maximum likelihood estimation probability method, and initial circle parameters are generated; performing arc circle center fitting processing on the screened normal detection points through a weighted least square method to generate fitted circle center coordinates; and sequencing the obtained scales according to x coordinates, constructing a range line, a zero line and a pointer line, calculating a range included angle and a reading included angle by respectively utilizing the large scales arranged at the last and the first positions, the center coordinates of the detection frame of the pointer and the coordinates of the fitting circle center, calculating the reading of the pointer in combination with the dial range, and generating a dial reading identification result.

[Problem] To improve efficiency in managing construction progress. [Solution] An in-BIM-model horizontal construction diagram arrangement system for arranging a two-dimensional construction diagram in a three-dimensional BIM model: acquires, in regard to a building of interest, three-dimensional BIM data, attribute information, and a horizontal two-dimensional construction diagram that is a two-dimensional construction diagram in the horizontal direction of the building; aligns the horizontal coordinates, orientations, and scales of the three-dimensional BIM data and the horizontal two-dimensional construction diagram on the basis of the attribute information; and, on the basis of the result of alignment, horizontally arranges the horizontal two-dimensional construction diagram at a position aligned within a three-dimensional BIM model generated on the basis of the three-dimensional BIM data.

The present application relates to the technical field of altazimuth telescope, in particular to a pointing model calibration method of altazimuth telescope, the error function of the telescope is obtained by two-dimensional surface fitting, the star image is shot every 10 degrees or so in the azimuth and elevation directions, the right ascension and declination of the image center are obtained by comparing with the standard star map, the right ascension and declination are converted into the real azimuth and real elevation in the geodetic horizontal coordinate according to the shooting time, the geographical longitude and latitude of the telescope, the altitude, the air temperature and air pressure; the real azimuth and real elevation are subtracted by the azimuth and elevation read by the angle sensor of the telescope respectively, the azimuth error matrix and the elevation error matrix are obtained respectively; the error matrix is fitted to obtain the azimuth error function, the real azimuth and real elevation of any target are subtracted by the azimuth pointing error and the elevation pointing error respectively, and the accurate pointing of the telescope can be obtained.

The invention provides a shell tube expanded connection method and a tube expanding device. The shell tube expanded connection method comprises the steps that an actual coordinate system of a to-be-inserted face of a to-be-expanded connection shell tube and an actual X coordinate axis in the actual coordinate system are preliminarily obtained; correcting the rotation angle of the actual X coordinate axis and the rotation angle of the actual Y coordinate axis in the actual coordinate system; finely adjusting the position of the actual X coordinate axis and the position of the actual Y coordinate axis in the actual coordinate system; and the pipe expander is controlled to expand the to-be-expanded shell pipe, so that the problem that in the prior art, a robot expanded connection system for pipe expansion cannot achieve accurate positioning is solved.

The invention discloses a method and a device for identifying and positioning an aerial visual angle blind area target, and belongs to the field of computer vision and remote sensing. The method comprises the following steps: acquiring multi-sensor data of a laser radar, a camera, an IMU and a GNSS; converting the laser radar point cloud to a local horizontal coordinate system, and identifying an area with an elevation mutation feature as a blind area detection candidate area; identifying a specific type and a pixel range of an aerial visual angle blind area target; and point cloud data corresponding to the target mask is extracted, the three-dimensional coordinates of the target in a geocentric geodetic coordinate system are solved in combination with the pose and coordinate information of the unmanned aerial vehicle, and the center position of the target is calculated to realize accurate positioning. According to the method, through the technical route of laser radar point cloud detection candidate area coarse positioning, image semantic segmentation accurate recognition and coordinate mapping resolving, the problems that efficient recognition and positioning are difficult and the accuracy is low in the prior art are solved, and type recognition and high-precision positioning of the aerial visual angle blind area target are achieved.

The invention belongs to the technical field of workpiece measurement, and particularly discloses a shape and size precision detection method and device for a circular shaft workpiece, and the method comprises the following steps: horizontally placing the circular shaft workpiece on two pairs of rollers of a detection platform; establishing a space coordinate system by taking the axis of the circular shaft workpiece as an X coordinate axis or a line parallel to the X coordinate axis; a sensor is arranged above the detection platform, and the detection center of the sensor is vertically opposite to the axis of the circular shaft workpiece; the sensor operates along an X coordinate axis or a parallel line of the X coordinate axis, continuous or discontinuous measurement is achieved, length and diameter detection of different diameter sections of the circular shaft workpiece is achieved, and the shape and size precision of the circular shaft workpiece is detected. The roller drives the workpiece to rotate, the sensor is used for collecting corresponding information of the workpiece, and automatic detection of the shape and size precision of the circular shaft workpiece is achieved.

The application provides a foundation pit maintenance structure deformation prediction method, system and device based on fractal theory and a storage medium, and relates to the technical field of tunnel and underground engineering monitoring and prediction. The method comprises the following steps: measuring the horizontal coordinates of a fixed measuring point on a certain day, and calculating the deformation displacement value compared with the previous day; obtaining the foundation pit cumulative displacement value based on the deformation displacement value; regarding the foundation pit cumulative displacement value as a section of evenly spaced time series, calculating the time series index; judging the foundation pit displacement change trend of the next period according to the time series index; constructing a fractal distribution model, fitting the time series by the least square method, obtaining the displacement cumulative prediction value of the next period, calculating the proportion of the displacement cumulative prediction value reaching the early warning threshold in the predetermined period, and issuing the foundation pit reinforcement notice if the proportion threshold is reached. The method introduces the fractal theory into the foundation pit deformation prediction, is easy to implement, and can also be used for the prediction of the vertical displacement of the foundation pit.

The invention discloses an IMU installation angle estimation method, device and equipment and a storage medium, and the method comprises the steps: detecting a motion state of a target vehicle, and obtaining navigation data and IMU data when the target vehicle is in a uniform linear motion state; performing coordinate system conversion according to the navigation data and the IMU data; based on the uniform linear motion state features, a constraint equation is established, and the constraint equation represents that the vehicle displacement direction under the local horizontal coordinate system is consistent with the vehicle advancing direction under the vehicle body coordinate system; the influence of the roll angle is eliminated through decoupling processing in the constraint equation, and estimated values of the pitching installation angle and the yaw installation angle are obtained; performing optimal value solving on the installation angle estimation values corresponding to the uniform linear motion segments by adopting a least square method in an offline mode; and updating the estimated value of the installation angle in real time by adopting a sequential least square adjustment method in an online mode. According to the method, the estimation stability and precision are improved by utilizing the constant-speed linear motion state parameters and the offline and online modes.

This invention discloses a blind zone detection method for handheld point cloud scanning based on the interaction between the acquisition area and the boundary, relating to the fields of 3D scanning and point cloud data processing technology. The method first acquires the device pose and local point cloud, preprocesses it, and then transfers it to a global horizontal coordinate system. A boundary feature extraction engine is used to identify room boundary lines and project them to form a 2D boundary contour map. Simultaneously, an effective acquisition loop is dynamically constructed and projected based on the effective measurement range parameters of the laser scanner and the current ambient lighting conditions. Boolean operations are performed on the effective acquisition loop and the boundary contour map to identify uncovered boundary segments as potential blind zones. The occlusion state is determined using the temporal information of continuous frame point clouds and a ray casting algorithm to identify the effective blind zone. This invention reduces the 3D integrity determination to 2D planar geometric intersection, eliminating the need for prior models and enabling real-time identification of dynamic occlusion and acquisition blind zones. This results in high computational efficiency and significantly improves the success rate and coverage integrity of handheld scanning operations.

The embodiment of the present application provides a kind of method based on intelligent projector trapezoidal vision horizontal angle detection, it is related to the field of projection correction, this method includes: in projector, four patterns are set in advance, then the four patterns are projected to target plane.The image target identification of projection on target plane is carried out, to identify the four patterns corresponding four post-projected patterns of four patterns.Comparison is carried out between the difference between the coordinates of the four preset patterns and the coordinates of the four post-projected patterns, and horizontal coordinate difference information and vertical coordinate difference information are obtained.According to horizontal coordinate difference information and preset horizontal coordinate difference and angle relationship table, the horizontal deflection angle between projector and target plane is determined.According to vertical coordinate difference information, horizontal deflection angle is corrected.According to the horizontal deflection angle after correction, the trapezoidal correction of projector in horizontal direction is carried out.The method can make the trapezoidal correction of projector more accurate, simplify the trapezoidal correction process of projector, and improve correction efficiency.

A kind of double-axis frame inertial navigation system error self-calibration and compensation method, under static base condition, in 8 frame angle position locking platform, acquisition accelerometer measurement value, calculate the specific force measurement value of inertial navigation system in each locking position platform coordinate system, and calculate the attitude matrix of inertial navigation system in each locking position platform coordinate system to local horizontal coordinate system, obtain the acceleration of inertial navigation system in each locking position local horizontal coordinate system, as error observation quantity.Using total least squares algorithm to obtain the residual of error coefficient, correct the estimated value of measured parameter, carry out iterative calculation until meeting iteration convergence criterion, obtain the self-calibration result of each error coefficient;Through the self-calibration and compensation of error coefficient, the influence of shaft system non-orthogonal error on the attitude measurement precision of double-axis frame inertial navigation system carrier or base can be improved.

System and method for planar navigation for a moving platform utilizing computer vision techniques is disclosed herein. The method includes capturing with a monocular camera an image containing at least two distinct substantially vertical edges positioned around a waypoint, calculating the horizontal coordinate of the waypoint relative to the horizontal coordinates of the edges, and adjusting the moving platform's heading angle to maintain the said position of the navigation goal. The method includes tracking the pixel separation of the edges and terminating navigation of a segment responsive to the pixel separation exceeding a predetermined threshold.

The invention discloses a rock stratum thickness and joint density level heterogeneous modeling method based on drilling data, and relates to the technical field of geological modeling, the method comprises the following steps: integrating drilling data and dividing horizontal intervals; constructing a continuous change model of the thickness and the joint density of each stratum; calculating the comprehensive weight and selection probability of the geological parameters of each interval; selecting an interval according to the probability, and determining a horizontal coordinate of a seed point through spatial sampling; generating a vertical coordinate in the vertical range of the stratum; iteratively generating seed points of each stratum; (optionally) optimizing the spacing of the seed points based on a neighbor detection algorithm; and generating the Voronoi joint network by using the seed point cloud. According to the method, geological parameter spatial variation characteristics and a probability control mechanism are fused, rock stratum thickness fluctuation and joint density regional differences are represented, and the rock stratum modeling refinement degree is improved.

The present application belongs to the technical field of ocean engineering, and provides a deep-sea riser space configuration inversion method. An inclination sensor is used as a node, and the deep-sea riser is divided into a plurality of pipe segment units; each pipe segment unit is discretized into a plurality of micro-segment units, and each micro-segment unit is projected in a horizontal coordinate system and a vertical coordinate system to obtain a space curve length equation of each pipe segment unit; in combination with inclination information, a projection expression of the space curve of each pipe segment unit in the horizontal coordinate system and the vertical coordinate system is constructed; the relative coordinates of the upper end point and the lower end point of each pipe segment unit in the local coordinate system of the pipe segment unit are iteratively solved; the relative coordinates of each pipe segment unit in the local coordinate system of each pipe segment unit are converted into absolute coordinates in a global coordinate system, and the absolute coordinates of each pipe segment unit in the global coordinate system are integrated to obtain the space configuration of the deep-sea riser. The method realizes the reconstruction of the space configuration of the riser in a complex marine environment, and has higher robustness.

The invention provides a testing machine non-horizontal state high-speed camera exterior orientation element calibration method. The method comprises the following steps: 1, obtaining a space three-dimensional coordinate of a to-be-measured point; 2, constructing a reference plane by using the fuselage left side front-back pitching control points and the fuselage right side front-back pitching control points; 3, solving an intersection line P1P2 of the reference plane and the plane XOY of the measurement coordinate system; 4, converting the space three-dimensional coordinate of the point to be measured into a first temporary coordinate system; 5, converting the space three-dimensional coordinate of the point to be measured from the first temporary coordinate system to a second temporary coordinate system; 6, converting the space three-dimensional coordinate of the point to be measured under the second temporary coordinate system to be under the initial coordinate system of the testing machine; 7, converting the space three-dimensional coordinate of the point to be measured under the initial coordinate system of the testing machine to a third temporary coordinate system; and 8, performing coordinate conversion on the spatial three-dimensional coordinates of the to-be-measured point in the third temporary coordinate system to obtain the spatial three-dimensional coordinates of the to-be-measured point in the final airframe horizontal coordinate system.

A photographing method is disclosed. By implementing the method, an electronic device 100, for example, a mobile phone, may determine bone points of a hand of a user in an image by using a bone point recognition algorithm, and determine two gesture feature points from the bone points. Then the electronic device 100 may construct, by using positions of the two gesture feature points on a horizontal coordinate axis, a gesture vector representing a state of the hand (a palm or the back of the hand). Further, the electronic device 100 may determine a gesture vector of a subsequent image frame by using the same method. When recognizing that a direction of the gesture vector in the subsequent image frame is opposite to a direction of a gesture vector in an initial image frame, the electronic device 100 may determine that the user has made a hand flip gesture.

Methods, apparatus, and computer readable storage medium for implementation of signaling EOC / EOR. The method includes determining whether a one-dimensional transform skip is applied to a transform block, the transform block having two dimensions; encoding a first syntax element indicating whether the one-dimensional transform skip is applied to the transform block; in response to the one-dimensional transform skip being applied to the transform block, encoding a second syntax element indicating an end position value associated with the transform block, the end position value indicating only one of a horizontal coordinate end position in the transform block and a vertical coordinate end position in the transform block; entropy encoding the transform block; and transmitting a video bitstream comprising the transform block, the first syntax element, and the second syntax element.

The invention relates to the technical field of manipulators, and provides a manipulator film taking method and electronic equipment. The method comprises the steps that a hand fork of a manipulator is controlled to move to the position below a wafer in a wafer carrier box and ascend till the hand fork makes contact with the wafer; when horizontal coordinate deviation exists between the hand fork and the wafer, the hand fork is controlled to descend until the hand fork is out of contact with the wafer; and compensating the horizontal coordinate of the hand fork based on the horizontal coordinate deviation until the horizontal coordinate deviation is zero, controlling the hand fork to rise and lift the wafer, and moving the wafer out of the wafer carrier box. On one hand, the influence of horizontal coordinate deviation accumulation on the accuracy and efficiency of subsequent pre-alignment can be avoided, and on the other hand, the collision between the wafer and the inner wall of the wafer carrier box when the wafer is taken out can be avoided, so that the damage to the wafer is avoided.

The invention discloses a sun tracking method based on an underwater Snell window external polarized light field, which belongs to the technical field of underwater polarized light navigation, and comprises the following steps: calculating an underwater observation vector elevation angle under a horizontal attitude according to attitude angle information; the method comprises the following steps: acquiring an underwater Snell window external polarized light image under a horizontal coordinate system, performing Stokes vector calculation on the underwater Snell window external polarized light image, and constructing an incident light coordinate system after solving a polarization angle image outside a Snell window; deducing a polarization E-vector corresponding to each pixel position under a horizontal coordinate system by using a relation between the polarization E-vector and an incident light coordinate system; according to the polarization E-vector, combining geometric constraints of the polarization E-vector and the underwater refracted sunlight vector to derive the underwater refracted sunlight vector; and according to the underwater refracted sunlight vector, calculating an atmospheric incident sunlight vector, and calculating a zenith angle and an azimuth angle of the atmospheric incident sunlight vector. According to the method, the accuracy of resolving the solar azimuth of the polarized light field outside the Fresnel window in the complex underwater environment is improved.

This invention belongs to the field of positioning technology and discloses a method, system, computer equipment, and storage medium for locating agricultural machinery vehicles in greenhouses. The method includes: acquiring several consecutive photos of working scenes and IMU data of each photo; obtaining camera relative pose data and IMU relative pose data for each photo; constructing a 3D camera position map and extracting the camera relative coordinates of each photo from the 3D camera position map; obtaining the gravity, camera velocity, and camera scale of each photo based on the camera relative pose data and IMU relative pose data; transforming the camera relative coordinates of each photo in the 3D camera position map to a horizontal coordinate system; and finally fusing GNSS satellite data and the camera relative coordinates of each photo in the horizontal coordinate system to obtain the positioning coordinates of the agricultural machinery vehicles. This method can accurately determine the positioning coordinates of agricultural machinery vehicles, ensuring accurate positioning, and is cost-effective.