CN103139700A

CN103139700A - Method and system of terminal positioning

Info

Publication number: CN103139700A
Application number: CN2011103854522A
Authority: CN
Inventors: 阳光; 陈柯
Original assignee: Lenovo Beijing Ltd
Current assignee: Lenovo Beijing Ltd
Priority date: 2011-11-28
Filing date: 2011-11-28
Publication date: 2013-06-05
Anticipated expiration: 2031-11-28
Also published as: CN103139700B

Abstract

The invention discloses a method and a system of terminal positioning. The method includes: an image of the position where a mobile terminal is located at the moment is obtained, and an altitude and deflection angle information of the mobile terminal are obtained at the moment; building information contained in the obtained image is identified, position parameter information of a building is obtained, and the position parameter information includes an altitude and coordinate values of a longitude and a latitude; and according to the position parameter information of the building and the altitude and the deflection angle information of the mobile terminal, coordinate values of a longitude and a latitude of the mobile terminal are calculated. By utilization of the method, under the condition that global position system (GPS) is weak in signal or does not exist, the information of the mobile terminal can still be obtained relatively accurately.

Description

A kind of method and system of terminal positioning

Technical field

The present invention relates to the mobile communication technology field, relate in particular a kind of method and system of terminal positioning.

Background technology

Along with the develop rapidly of network and the communication technology, the range of application of mobile terminal positioning service is also increasingly extensive.The positioning service of so-called mobile terminal refers to the cooperation by wireless terminal and wireless network, determines the user's of mobile terminal actual geographic position, thereby provides the information on services relevant to its position relationship for the user.

Mobile terminal positioning service and terminal positioning technology have close relationship, and the accuracy that mobile terminal is located has directly affected quality and the range of application of mobile terminal positioning service.Existing method of locating terminal is a lot, but more accurate terminal positioning is for utilizing the secondary satellite navigation system to obtain terminal positional information, as A-GPS or A-GNSS technology.Under outdoor or more spacious environment, carry out based on the secondary satellite navigation system terminal positional information that terminal positioning gets more accurate.

But be based on the terminal positional information accuracy that the secondary satellite navigation system gets and with external environment, very large relation arranged, can't receive gps signal in the residing environment of mobile terminal, or in the weak situation of gps signal, utilize the error of the terminal positional information that the secondary satellite navigation system gets larger, even can't get the positional information of mobile terminal.As being between high constructure when mobile terminal or when indoor, mobile terminal does not receive gps signal, can't utilize the secondary satellite navigation system to get the positional information of mobile terminal.Therefore, those skilled in the art's technical problem in the urgent need to address is, how in the situation that gps signal is weak or without gps signal, still can get more accurately the positional information of mobile terminal.

Summary of the invention

In view of this, the invention provides a kind of method and system of terminal positioning, to solve in prior art weak when gps signal or not exist in the situation of GPS, can't get the problem of location information of mobile terminal.

For achieving the above object, the invention provides a kind of method of terminal positioning, be applied to mobile terminal, comprising:

Obtain the image of mobile terminal current time present position, and the height above sea level of this mobile terminal current time and drift angle information;

Identify the building information that comprises in described image, obtain the position parameter data of described building, described position parameter data comprises height above sea level and the latitude and longitude coordinates value of described building;

According to height above sea level and the drift angle information of position parameter data and the described mobile terminal of described building, calculate the latitude and longitude coordinates value of this mobile terminal.

Preferably, described drift angle information comprises: current mobile terminal departs from the angle of gravity direction, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

Height above sea level and the drift angle information of described position parameter data and described mobile terminal according to described building are calculated the latitude and longitude coordinates value of this mobile terminal, comprising:

Positional information according to described building in described image and described mobile terminal depart from the angle of gravity direction, determine the elevation angle or the angle of depression number of degrees of this mobile terminal between described current time and described building peak;

Utilize the height above sea level of the described elevation angle or the angle of depression number of degrees, mobile terminal and the height above sea level of building, calculate the horizontal range of described mobile terminal and building;

According to the trigonometric function computing formula, and the horizontal line that utilizes described mobile terminal and building departs from the number of degrees of specifying warp or parallel, the latitude and longitude coordinates value of the horizontal range of mobile terminal and building and this building is calculated the latitude and longitude coordinates value of this mobile terminal.

Preferably, described drift angle information comprises: the elevation angle between current mobile terminal and described building or the angle of depression number of degrees, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

According to the trigonometric function computing formula, and the horizontal line that utilizes described mobile terminal and building departs from the horizontal range of the number of degrees, mobile terminal and the building of specifying warp or parallel and the latitude and longitude coordinates value of this building, calculates the latitude and longitude coordinates value of this mobile terminal.

Preferably, the building information that comprises in the described image of described identification obtains the position parameter data of described building, comprising:

The image of described image and pre-save is carried out Feature Points Matching, identifies the building information that comprises in the image of this mobile terminal present position, with this building as the target building;

From the building position parameter data that presets, inquire about the position parameter data corresponding with described target building.

Preferably, the building information that comprises in the described image of identification before obtaining the position parameter data of described building, also comprises:

Utilize architecture, WIFI focus location or IP location technology to estimate the primary importance zone at the current place of this mobile terminal;

In described primary importance zone, it is poor in the specified scope inner region to determine with the height above sea level of described mobile terminal, with this zone of determining as second place zone;

The building information that comprises in the described image of described identification comprises:

Described image and image corresponding to described second place zone are carried out Feature Points Matching, identify the building that comprises in the image of this mobile terminal present position.

Preferably, the described described elevation angle or the angle of depression number of degrees, the height above sea level of mobile terminal and the height above sea level of building utilized calculated the horizontal range of described mobile terminal and building, comprising:

Calculate the relative height above sea level H of this building and this mobile terminal, the height above sea level of establishing mobile terminal is Hu, and the height above sea level of this building is Hb,

H＝|Hb-Hu|；

with the peak of this mobile terminal and building two summits as right-angled triangle, with the hypotenuse of the line between the peak of described mobile terminal and building as this right-angled triangle, with the vertical range line of this mobile terminal and this a building right-angle side as this right-angled triangle, another right-angle side that this relative height above sea level is this right-angled triangle, the structure right-angled triangle, wherein, this elevation angle or the angle of depression number of degrees are these leg-of-mutton acute angle number of degrees, and then utilize the trigonometric function computing formula, determine the length of the vertical range line of described mobile terminal and this building, the length of this vertical range line is described horizontal range,

The latitude and longitude coordinates value of described this mobile terminal of calculating specifically comprises:

With the vertical range line of described mobile terminal and the building hypotenuse as certain right-angled triangle, specify warp or parallel as a right-angle side of this right-angled triangle with this, and the angle of this hypotenuse and this right-angle side is that the horizontal line of this mobile terminal and this building departs from the drift angle of specifying warp or parallel, construct this right-angled triangle, and then utilize the trigonometric function relation, calculate the length of these right-angled triangle two right-angle sides, with the length of these right-angled triangle two right-angle sides respectively as difference of longitude and the latitudinal difference of this mobile terminal and this building;

Utilize difference of longitude and the latitudinal difference of this mobile terminal and this building, and the latitude and longitude coordinates of this building, calculate the latitude and longitude coordinates of this mobile terminal.

On the other hand, the present invention also provides a kind of system of terminal positioning, comprising:

The end message acquiring unit is used for obtaining the image of mobile terminal current time present position, and the height above sea level of this mobile terminal current time and drift angle information;

The building information acquiring unit is used for identifying the building information that described image comprises, and obtains the position parameter data of described building, and described position parameter data comprises height above sea level and the latitude and longitude coordinates value of described building;

Positioning unit is used for height above sea level and drift angle information according to position parameter data and the described mobile terminal of described building, calculates the latitude and longitude coordinates value of this mobile terminal.

Preferably, described end message acquiring unit comprises: the drift angle information acquisition unit, be used for obtaining the drift angle information of mobile terminal, this drift angle information comprises: the elevation angle between current mobile terminal and described building or the angle of depression number of degrees, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

Described positioning unit comprises:

The horizontal range determining unit is used for utilizing the described elevation angle or the angle of depression number of degrees, the height above sea level of mobile terminal and the height above sea level of building, calculates the horizontal range of described mobile terminal and building;

The position coordinates determining unit, be used for according to the trigonometric function computing formula, and the horizontal line that utilizes described mobile terminal and building departs from the horizontal range of the number of degrees, mobile terminal and the building of specifying warp or parallel and the latitude and longitude coordinates value of this building, calculates the latitude and longitude coordinates value of this mobile terminal.

Preferably, described drift angle information acquisition unit comprises: the first drift angle information acquisition unit, be used for getting the drift angle information of mobile terminal, this drift angle information comprises: current mobile terminal departs from the angle of gravity direction, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

The second drift angle information acquisition unit, be used for according to described building determining the elevation angle or the angle of depression number of degrees of this mobile terminal between described current time and described building peak in the angle that positional information and the described mobile terminal of described image departs from gravity direction.

Preferably, described building information acquiring unit comprises:

The images match unit is used for the image of described image and pre-save is carried out Feature Points Matching, identifies the building information that comprises in the image of this mobile terminal present position, with this building as the target building;

Information query unit is used for the building position parameter data from presetting, and inquires about the position parameter data corresponding with described target building.

Preferably, this system also comprises:

The first pre-determined bit unit is used for utilizing architecture, WIFI focus location or IP location technology to estimate the primary importance zone at the current place of this mobile terminal;

The second pre-determined bit unit is used in described primary importance zone, and it is poor in the specified scope inner region to determine with the height above sea level of described mobile terminal, with this zone of determining as second place zone;

Described building information acquiring unit specifically comprises: be used for described image and image corresponding to described second place zone are carried out Feature Points Matching, identify the building that comprises in the image of this mobile terminal present position.

Via above-mentioned technical scheme as can be known, compared with prior art, the invention discloses a kind of method and system of terminal positioning, at first the method obtains image and height above sea level and the drift angle information of mobile terminal current location, image according to the current present position of this mobile terminal, identify the building information in this image, and then obtain the position parameter data of this building, and utilize height above sea level and the drift angle information of parameter information and the mobile terminal of this building, calculate the latitude and longitude coordinates value of this mobile terminal.The present invention can not exist in the situation of gps signal in mobile terminal environment of living in, utilize the image of this mobile terminal present position, determine the building parameter information in this image, and finally utilize height above sea level and the drift angle information of parameter information and the mobile terminal of this building, calculate this location information of mobile terminal.

Description of drawings

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to the accompanying drawing that provides other accompanying drawing.

Fig. 1 is the schematic flow sheet of an embodiment of the method for a kind of terminal positioning of the present invention;

Fig. 2 is the schematic flow sheet of another embodiment of the method for a kind of terminal positioning of the present invention;

Fig. 3 is the schematic diagram of the horizontal range of calculating mobile terminal and building;

Fig. 4 is the longitude and latitude position relationship vertical view of mobile terminal and building;

Fig. 5 is the schematic flow sheet of another embodiment of the method for a kind of terminal positioning of the present invention;

Fig. 6 is the structural representation of an embodiment of the system of a kind of terminal positioning of the present invention;

Fig. 7 is the structural representation of another embodiment of the system of a kind of terminal positioning of the present invention;

Fig. 8 is the structural representation of another embodiment of the system of a kind of terminal positioning of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.

The invention provides a kind of method of locating terminal, the method is by obtaining the image of mobile terminal current time present position, go out the building information that comprises in this image according to this image recognition, and then get the position parameter data of this building, and further utilize the corresponding relation of this mobile terminal between the position parameter data of the height above sea level of current time and drift angle information and this building to calculate the geographical location information of this mobile terminal current time.The method is obtained the image of present position of mobile terminal and height above sea level and the drift angle information of mobile terminal current time all need not to utilize gps signal, therefore, even in the situation that the gps signal that mobile terminal does not receive gps signal or reception is weak, the method also can be utilized image and the height above sea level of mobile terminal and the positional information that drift angle information calculates mobile terminal more accurately of the mobile terminal position that gets.

Describe in detail below in conjunction with accompanying drawing, participate in Fig. 1, show the schematic flow sheet of the method for a kind of terminal positioning of the present invention, the method can realize the location to various mobile terminals, as, be applied to the location of the terminals such as mobile phone, PDA.The method comprises:

Step 101: obtain the image of mobile terminal current time present position, and the height above sea level of this mobile terminal current time and drift angle information.

Mobile terminal in the present invention need possess the pickup image function, and possesses the function that height above sea level and orientation angles acquisition of information are arranged.As, possess altimeter to obtain the height above sea level information of this mobile terminal in mobile terminal; Arrange in mobile terminal and possess the chip of gyroscope function, and then get the angle information etc. in this mobile terminal each orientation.Certainly, can also get by other means height above sea level and drift angle, the orientation information of mobile terminal, the present invention does not limit this.

When mobile terminal need to obtain the positional information of self, the location that this mobile terminal starts self obtained function, to send the request of obtaining self positional information to location-server.Location-server receives this request, and absorbs the image information of its position by this mobile terminal prompting user, and when pickup image, gets height above sea level and the drift angle information of this mobile terminal current time.Wherein, in order to position this mobile terminal, need comprise certain building information in the image that this mobile terminal absorbs.Mobile terminal sends to location-server with height above sea level and the drift angle information of the image information of himself absorbing and its current time that gets, so that image and the height above sea level of this mobile terminal and the positional information that drift angle information is determined this mobile terminal that location-server provides according to this mobile terminal.

Wherein, acquisition for mobile terminal to drift angle information when referring to the mobile terminal pickup image, the angle information in this mobile terminal each orientation that induces.As, the angle of mobile terminal and horizontal direction, mobile terminal depart from vertical direction angle etc.Certainly, can set as required acquisition for mobile terminal to drift angle information be specially this mobile terminal and which direction, or the angle between which longitude and latitude direction.The drift angle information that gets is different, and location-server calculates the detailed process of the positional information of this mobile terminal may be slightly variant.

Need to prove, need to comprise the image information of this building in the image that mobile terminal absorbs, this building is that location-server can identify.In other words, generally can preserve image and the parameter information of each building on ground in location-server, if the image that location-server provides according to mobile terminal and the image of self preserving, and carry out Feature Points Matching and determine building in the image that this mobile terminal provides.If the image information that the user absorbs by this mobile terminal is invalid, namely, location-server utilizes the image None-identified that this mobile terminal absorbs to go out building, and this location-server can send information to mobile terminal, again obtains image information with the prompting user.

For example, when the user is in when indoor, if the user only absorbs indoor image information, location-server possibly can't identify any building information according to this image information; In this kind situation, the user can absorb outdoor image by mobile terminal, and then comprises certain building information in the image that absorbs, and location-server can be determined the image information of building by Image Feature Matching.

Step 102: identify the building information that comprises in the image that gets, and obtain the position parameter data of this building, wherein, this position parameter data comprises height above sea level and the latitude and longitude coordinates value of this building.

After the image that gets certain mobile terminal transmission, can adopt this image that gets of image matching technology of prior art to identify, to determine the building information that is comprised in this image.As, can carry out Feature Points Matching by the multiple image with this image and location-server self preservation, identifying the concrete building that comprises in the image that this mobile terminal sent, and then inquire the position parameter data of this building from the building position parameter data of pre-save.

The building information that comprises in the image that certainly, can also have other mode to determine that this mobile terminal sends.So long as can determine building in this image according to the image of this mobile terminal present position, and then can get the position parameter data of certain labeled building, determine further that with the positional information of utilizing this building the positional information of this mobile terminal gets final product.

For can be conveniently with acquisition for mobile terminal to placard height and the drift angle information of this mobile terminal compare, to calculate the positional information of this mobile terminal, the position parameter data of this building that gets in this step should comprise height above sea level and the latitude and longitude coordinates value of this building.Can certainly comprise other parameter informations of this building, not enumerate at this.

Step 103: according to height above sea level and the drift angle information of position parameter data and the mobile terminal of this building, calculate the latitude and longitude coordinates value of this mobile terminal.

After the position parameter data of the building that comprises in the image that gets the mobile terminal picked-up, the image information of this building and this mobile terminal height above sea level and drift angle information are compared, and utilize basic mathematical formulae, as trigonometric function computing formula etc., calculate the positional information of this mobile terminal.

In the height above sea level of having determined the mobile terminal current time and drift angle information, and after having determined the height above sea level and latitude and longitude information of building in the image of this mobile terminal picked-up, utilize existing trigonometric function computing formula and basic mathematical formulae, can have various ways to calculate the positional information of this mobile terminal.Concrete, calculate this mobile terminal positional information process can for: at first utilize the height above sea level of this mobile terminal and the height above sea level of building to calculate this building with respect to the relative height above sea level H of this mobile terminal, this relative height above sea level is building and the poor absolute value of mobile terminal height above sea level; According to the image that mobile terminal drift angle information and picked-up are arrived, determine the elevation angle or angle of depression number of degrees a between this mobile terminal and this building peak, and utilize the trigonometric function computing formula, calculate the horizontal range D between this mobile terminal and this building; Drift angle information when finally utilizing horizontal range between mobile terminal and building, mobile terminal photographic images and the latitude and longitude coordinates value of this building can calculate the latitude and longitude coordinates value of this mobile terminal.

In order more clearly to describe method of locating terminal of the present invention, referring to Fig. 2, show the schematic flow sheet of a kind of another embodiment of method of locating terminal of the present invention, the method comprises:

Step 201: the image that obtains mobile terminal current time present position, and the height above sea level of this mobile terminal current time and drift angle information, wherein, the information that comprises certain building in this image, this drift angle information comprises: this mobile terminal of current time departs from the angle of gravity direction, and the horizontal line of this mobile terminal of current time and this building departs from the angle of specifying warp or parallel.

The operating process of the step 101 in this step and a upper embodiment is similar, when mobile terminal need to obtain self positional information, this mobile terminal sends Location Request to location-server, and location-server receives after this request and can this mobile terminal of prompting the image of its position and corresponding height above sea level and drift angle information to be sent to this location-server.Certainly this mobile terminal also can be when sending Location Request to location-server, and initiatively image, the height above sea level of this mobile terminal and the drift angle information of this mobile terminal current time with this mobile terminal position sends to this location-server.

In the present embodiment this drift angle information comprise at least the angle of this mobile terminal skew gravity direction (namely said vertical direction on physics), when mobile terminal absorbs certain building image, the horizontal line of this mobile terminal and this building departs from appointment warp or parallel angle.Wherein, this obtain mobile terminal when taking this image (, current time), the angle of this mobile terminal and gravity direction, and the specific implementation that the horizontal line of this mobile terminal and this building departs from the angle of specifying warp or parallel has multiple, can adopt the existing already present mode of obtaining arbitrarily mobile terminal orientation angles and corner, as, have the chip of gyroscope function by adding in mobile terminal, and then get the angle information that this mobile terminal current time departs from each orientation.

Wherein, mobile terminal is in the image of picked-up building, and the horizontal line that this mobile terminal also can get this mobile terminal and this building departs from the angle of specifying warp or parallel.The warp of appointment and parallel can come to determine as required, and the latitude and longitude coordinates that also can consider the captured building image of this mobile terminal this moment is determined, is not limited at this.

Step 202: the image of this mobile terminal present position and the image of pre-save are carried out Feature Points Matching, identify the building information that comprises in the image of this mobile terminal present position, with this building as the target building.

Step 203: from the building position parameter data that presets, inquire about the position parameter data corresponding with this target building, wherein, this position parameter data comprises height above sea level and the latitude and longitude coordinates value of this building.

The mode that identifies building information from the image of the mobile terminal present position that gets has multiple, can preserve in advance a large amount of images in the present embodiment in location-server, and then determine the building that comprises in the image that gets by image matching technology.

During the building that comprises, this building as the target building, and then is obtained the position parameter data of this target building when determine this image that gets by location-server in.The mode that location-server obtains the position parameter data of target building also can have multiple, the preferred position parameter data of pre-save building in location-server in advance, after determining the target building, location-server can between inquire the position parameter data of this target building from the position parameter data of the building of its preservation.

Certainly, location-server also can after determining this target building, also can remove to obtain the position parameter data of this target building in real time.As, this location-server can utilize satellite navigation system to locate the information of this target building according to the information of this target building, and then obtains the information such as the height above sea level of this target building and latitude and longitude coordinates value.

Step 204: the angle that the positional information according to the target building in this image and mobile terminal depart from gravity direction, determine the elevation angle or the angle of depression number of degrees between this mobile terminal of current time and this target building peak.

Wherein, the elevation angle or the angle of depression of this mobile terminal between current time and this target building peak, can be understood as mobile terminal when shooting comprises the image of this target building, if this mobile terminal is lower than the peak of this target building, refer to the straight line that this mobile terminal and this target building peak consist of, and the angle between the horizontal plane of this mobile terminal place at this moment, can be called the elevation angle with this angle; If this mobile terminal higher than the peak of this target building, refers to the straight line that this mobile terminal and this target building peak consist of, and the angle between the horizontal plane of this target building peak place, this moment, this angle can be called the angle of depression.

When location-server gets the image that this mobile terminal absorbs, and the drift angle information of this mobile terminal when absorbing this image, just can utilize prior art to determine this mobile terminal when taking this image, the elevation angle or the angle of depression number of degrees that this mobile terminal becomes with this target building peak.

Concrete, after mobile terminal absorbs image, position in this target building and this image is determined, location-server can calculate the visual angle of the pickup image of this mobile terminal by the image that gets, certainly, mobile terminal also can send to location-server with its visual angle when sending Location Request.Wherein, the field-of-view angle maximum that the visual angle of this mobile terminal can reach when referring to this mobile terminal photographic images, the visual angle of mobile terminal is the visual angle of camera in this mobile terminal namely.Location-server can be determined the first drift angle number of degrees by the visual angle that this target building peak departs from the photographed images of the distance of this image center and this mobile terminal.After calculating the first drift angle number of degrees according to the distance of this target building range image centerline, these the first drift angle number of degrees and this mobile terminal are departed from the angle summation of gravity direction, namely obtain this elevation angle or the angle of depression number of degrees.

For example, the total length of image is C1, and the distance of this target building distance center point is C2, and the visual angle of determining simultaneously this mobile terminal is the a1 degree, by formula

Can calculate this first drift angle number of degrees.Certainly may need meticulousr calculating when Practical Calculation the first drift angle, be only conveniently to carry out simple explanation in order to understand herein.When if mobile terminal comprises the image of target building in shooting, this mobile terminal departs from the angle of gravity direction, can be called the second drift angle, this second drift angle can directly be obtained by mobile terminal, as utilizes gyroscope built-in in mobile terminal directly to get this second drift angle.With this first drift angle and the summation of the second drift angle, namely can obtain this elevation angle or the angle of depression number of degrees.

Step 205: utilize the height above sea level of this elevation angle or the angle of depression number of degrees and this mobile terminal and the height above sea level of target building, calculate the horizontal range between this mobile terminal of current time and target building.

After location-server gets the height above sea level of this mobile terminal height above sea level and target building, can calculate this target building with respect to the relative height above sea level H of this mobile terminal.And then utilize the elevation angle or the angle of depression number of degrees a of this mobile terminal and this target building peak, and calculate this mobile terminal when shooting comprises this target building image in conjunction with mathematical formulaes such as trigonometric functions, horizontal range D between this mobile terminal and this target building, when the peak of building during higher than this mobile terminal, can determine the elevation scale a of this mobile terminal and this target building peak, at this moment D=H*cot (a); When during lower than this mobile terminal, can determining the angle of depression number of degrees a of the peak of this mobile terminal and this target building when this building peak, this moment D=D=H*tan (a).

can construct a right-angled triangle during the concrete horizontal range of calculating this mobile terminal and this building, as, with the peak of this mobile terminal and building two summits as right-angled triangle, with the hypotenuse of the line between the peak of described mobile terminal and building as this right-angled triangle, with the vertical range line of this mobile terminal and this a building right-angle side as this right-angled triangle, another right-angle side that this relative height above sea level is this right-angled triangle, the structure right-angled triangle, wherein, this elevation angle or the angle of depression number of degrees are these leg-of-mutton acute angle number of degrees.Because the right angle at this relative height above sea level place is known value, and acute angle number of degrees of this right-angled triangle are definite, utilize the trigonometric function computing formula, can calculate the length of the vertical range line of mobile terminal and this building, the length of this right-angled triangle right-angle side namely, the length of this vertical range line is the horizontal range of mobile terminal and building.

In order clearly to describe this step, referring to Fig. 3, when taking certain target building with hand-held this mobile terminal of user, this mobile terminal is that example is introduced lower than the peak of this target building.

As seen from Figure 3, the height above sea level of mobile terminal U (take customer location signal) is the height on this distance of mobile terminal sea level, the height above sea level of this mobile terminal is Hu (can get by the altimeter in mobile terminal), the height above sea level of this target building B is Hb, and this target building with the relative height above sea level H of this mobile terminal is: H=|Hb-Hu|.

The elevation scale of mobile terminal and this building peak is a, and what this elevation scale was concrete can be synthetic by drift angle and the gyroscope drift angle of the peak of this target building in the image of mobile terminal picked-up.

This mobile terminal is when taking this target building, and the horizontal range D of this target building of this distance of mobile terminal is: D=D=H*cot (a).

Step 206: according to the trigonometric function computing formula, and the horizontal line that utilizes this mobile terminal and this target building departs from the angle of specifying warp or parallel, horizontal range between this mobile terminal and target building and the latitude and longitude coordinates value of this target building are calculated the latitude and longitude coordinates value of this mobile terminal.

After the horizontal range between mobile terminal current time and this target building is determined, according to this target building latitude and longitude coordinates value, and the horizontal line of this mobile terminal and this target building departs from the angle of specifying warp or parallel, just can utilize basic mathematical formulae to calculate the latitude and longitude coordinates value of this mobile terminal.Wherein, horizontal line between this mobile terminal and target building departs from specifies the angle of warp or parallel to obtain in the information of drift angle, that is to say, this mobile terminal that comprises in the information of drift angle and the horizontal line of certain building depart from the angle of specifying warp and parallel and refer to that namely the horizontal line between this mobile terminal and target building departs from the angle of specifying warp or parallel, the target building is the building in the image of this mobile terminal picked-up, namely refers to certain building that comprises in this image described in step 201.

After the horizontal line of the latitude and longitude coordinates value of the horizontal range between current time and target building, this target building and this mobile terminal and this target building departed from the angle information of specifying warp or parallel and determines, the mode of calculating the latitude and longitude coordinates of this mobile terminal can have multiple when mobile terminal.According to the difference of the mathematical formulae that adopts, calculate the detailed process of the latitude and longitude coordinates of this mobile terminal may be also difference to some extent.

can utilize the line of horizontal range of this building and mobile terminal and certain warp or parallel first to construct a right-angled triangle when calculating the latitude and longitude coordinates value of this mobile terminal, and then utilize the trigonometric function relation to determine the longitude and latitude deviation of mobile terminal and building, specifically comprise: with the hypotenuse of the vertical range line of mobile terminal and building (the namely straight line at said horizontal range place) as certain right-angled triangle, specify warp or parallel as a right-angle side of this right-angled triangle with this, and the horizontal line that the angle of this hypotenuse and this right-angle side is this mobile terminal and this building departs from the drift angle of specifying warp or parallel, construct this right-angled triangle.And then utilize the trigonometric function relation, calculate the length of these right-angled triangle two right-angle sides, with the length of these right-angled triangle two right-angle sides respectively as difference of longitude and the latitudinal difference of this mobile terminal and this building.

Utilize difference of longitude and the latitudinal difference of this mobile terminal and this building, and the latitude and longitude coordinates of this building, just can calculate the latitude and longitude coordinates of this mobile terminal.

In order clearly describe to calculate the process of this mobile terminal latitude and longitude coordinates value, the below is described with a concrete example, referring to Fig. 4, be the position relationship vertical view of this mobile terminal and this target building.

This mobile terminal and this target building are placed in identical latitude and longitude coordinates system, and the structure triangle.Wherein, the distance of the horizontal line of this mobile terminal U and this target building B is the horizontal range D (horizontal range D computational process is referring to Fig. 3) of this mobile terminal U and this target building.The horizontal line of this mobile terminal U and target building B is b apart from the number of degrees of this appointment warp in slip chart.

At first calculate difference of longitude and the latitudinal difference of this mobile terminal U and this target building B.

Wherein, the difference of longitude Lon1=D*sin (b) of this mobile terminal U and this target building B;

The latitudinal difference Lat1=D*cos (b) of this mobile terminal U and this target building B.

Secondly, utilize the latitude and longitude coordinates of this target building B and longitude and latitude deviation and the latitudinal difference value of this mobile terminal and this target building, calculate the latitude and longitude coordinates value of this mobile terminal.

Suppose that this target building B latitude and longitude coordinates is (Lon0, Lat0), the longitude coordinate value Lon2 of this mobile terminal U is the longitude coordinate value of this target building B and the difference between this difference of longitude Lon1, that is,

Lon2＝Lon0-Lon1；

The latitude coordinate values Lat of this mobile terminal U is the latitude coordinate values of this target building B and the difference between this latitudinal difference Lat1, that is,

Lat2＝Lat0-Lat1。

Hence one can see that, can determine the latitude and longitude coordinates value (Lon2, Lat2) of mobile terminal U through above calculating.

These are only that the present invention calculates a kind of implementation of the latitude and longitude coordinates value of this mobile terminal.Image when the position that gets mobile terminal determine the position parameter data that the target in this image is built, and after getting the drift angle information and height above sea level of this mobile terminal, it is multiple that the information that gets more than utilization determines that the mode of this mobile terminal has.As in this Fig. 4, the drift angle information that gets mobile terminal can comprise the horizontal line of this mobile terminal and this target building and the angle of this specified latitude line, utilize the trigonometric function computing formula, can calculate equally difference of longitude and the latitudinal difference of this mobile terminal and this target building, and utilize the latitude and longitude coordinates value of this target building, seek out the latitude and longitude coordinates value of this mobile terminal.Certainly other modes can also be arranged, not enumerate at this.

Need to prove, being the drift angle information of the mobile terminal that gets take the location-server angle that comprises this mobile terminal and gravity direction in the present embodiment is introduced as example, location-server is determined elevation scale or the angle of depression number of degrees of this mobile terminal and this target building peak according to angle and the particular location of this target building in the image of mobile terminal picked-up of this mobile terminal of current time and gravity direction.When the present invention can also self be departed from the angle of gravity direction and this mobile terminal and takes this target building according to the current moment by mobile terminal, the position calculation of this target building in the image of picked-up goes out the elevation angle or the angle of depression number of degrees of this mobile terminal and this target building peak, and then by this mobile terminal, the elevation angle and the angle of depression number of degrees of self and this target building peak sent to mobile terminal as drift angle information.The elevation angle or the angle of depression number of degrees that in other words, can comprise this mobile terminal and this target building peak in the drift angle information of this mobile terminal current time of getting of location-server.Like this, need not to carry out the operation of step 204 in location-server, just can calculate the positional information of this mobile terminal.Concrete computational process is with the operation of other steps of this embodiment.

In addition, the above embodiment of the present invention is that the process of calculating the positional information of mobile terminal is completed by location-server and is introduced for example, but in actual applications, when location-server according to the image that gets this mobile terminal position, determine the target building in this image, and after getting the position parameter data of this target building, can the position parameter data of this target building be sent to this mobile terminal by this location-server.And then by the position parameter data of this mobile terminal according to this target building, and the height above sea level that self gets and drift angle information calculate this self positional information.Identical with the process that location-server calculates this location information of mobile terminal according to above information with height above sea level calculating self-position information process according to the position parameter data of this destination server and the drift angle information of self by mobile terminal.Therefore, should calculate himself positional information or be calculated the positional information of this mobile terminal by this server for concrete mobile terminal, the present invention limit.

Further, for the positioning accuracy of mobile terminal is provided, referring to Fig. 5, show the schematic flow sheet of a kind of another embodiment of method of locating terminal of the present invention, comprising:

Step 501: obtain the image of this mobile terminal current time position, height above sea level and the drift angle information of this mobile terminal current time.

The operation of the step 101 in this step and first embodiment is similar, is not giving unnecessary details at this.

Step 502: utilize existing location technology to determine the zone at this mobile terminal current time place, with the zone at this mobile terminal place that utilizes that existing location technology determines as the primary importance zone.

In prior art the mode of localisation of mobile terminals positional information can have multiple, but existing locate mode positioning accuracy is lower.If in the situation that the gps signal that mobile terminal receives is weak or gps signal can't be detected, utilize these prior aries can't accurately orient the positional information of mobile terminal, before the building of the present invention in the image that identification gets, can utilize existing locate mode to estimate the regional extent of this mobile terminal position, in order to follow-uply carry out more accurate terminal positioning.

Can adopt existing technology to carry out coarse localization to the position of this mobile terminal before building in the present invention in recognition image, determine the primary importance zone at this mobile terminal current time place, determine that the mode in primary importance zone can be utilized architecture, WIFI focus location or IP location technology etc.Certainly can also adopt existing already present other location technologies to determine that this primary importance is regional.

Step 503: with the zone that is complementary with the height above sea level of this mobile terminal current time in this primary importance zone as second place zone.

After location-server is determined the primary importance zone at this mobile terminal place, the scope of can be further dwindling this mobile terminal region according to the height above sea level of this mobile terminal, and then with the zone that is complementary with the height above sea level of this mobile terminal in the primary importance zone as second place zone, thereby the band of position scope of having dwindled mobile terminal.

Because the scope in the primary importance zone of the mobile terminal of location is larger, if directly be the building in the image of this mobile terminal picked-up at which building of this primary importance zone identification, might cause data processing amount excessive, or the problem such as the building that identifies is accurate not.Therefore, the present invention further inquires about the poor zone in specified scope of height above sea level of height above sea level and this mobile terminal in this primary importance zone, and the zone that will inquire is as second place zone, is specially which building in order to orient more fast and accurately this mobile terminal picked-up building that comprises in picture of publishing picture.

Step 504: the image of mobile terminal present position is carried out Feature Points Matching with image in pre-save and corresponding and second place zone, identify the building information that comprises in the image of this mobile terminal present position.

Location-server utilizes the height above sea level of this mobile terminal to dwindle the regional extent at this mobile terminal place, and the band of position scope of this mobile terminal is navigated in second place zone.In order to identify the building in the image that mobile terminal absorbs, this location-server can be in the image corresponding to this second place zone, the the highest image of matching degree of the image of inquiry and this mobile terminal position, and then the concrete building in definite image, in order to get the position parameter data of this building.

In addition, after location-server is determined the second place zone at this mobile terminal place, location-server also can be in real time searched in this second place zone, the image that obtains in this primary importance zone carries out, and then utilize the Image Feature Point Matching technology, determine the building that comprises in the image of this mobile terminal position.

Step 505: obtain the position parameter data of this building, wherein, this position parameter data comprises height above sea level and the latitude and longitude coordinates value of this building.

Step 506: according to height above sea level and the drift angle information of position parameter data and the mobile terminal of this building, calculate the latitude and longitude coordinates value of this mobile terminal.

Wherein, step 505 is identical with corresponding operating process in above two embodiment with 506, does not repeat them here.

By the localization method of the present embodiment, can be at gps signal weak or can't get under the environment of gps signal, navigate to the positional information of this mobile terminal, and can improve the positioning accuracy of mobile terminal, reduce the data processing amount in position fixing process.

Use method of locating terminal of the present invention and can also further determine the movement locus of mobile terminal.In process as the motion of user's hand-held mobile terminal, the user can take several and comprise the image of identical or different building in the process of its motion, and by mobile terminal with this multiple image, and height above sea level and the drift angle information of the present position during this mobile terminal picked-up different images send to location-server.The image that location-server can not get in the same time according to mobile terminal and mobile terminal not in the same time height above sea level and drift angle information are determined this mobile terminal in the same time position not, thereby draw the movement locus of this mobile terminal.

Corresponding method of the present invention, referring to Fig. 6, show the structural representation of the system of a kind of terminal positioning of the present invention, this navigation system can be location-server, can be also the part of location-server, can also be for being independent of the device of location-server, this system also can be mobile terminal, or mobile terminal and the mutual device of location-server, this system comprises: end message acquiring unit 610, building information acquiring unit 620 and positioning unit 630.

End message acquiring unit 610 is used for obtaining the image of mobile terminal current time present position, and the height above sea level of this mobile terminal current time and drift angle information.

Building information acquiring unit 620 is used for identifying the building information that described image comprises, and obtains the position parameter data of described building, and described position parameter data comprises height above sea level and the latitude and longitude coordinates value of described building.

Positioning unit 630 is used for height above sea level and drift angle information according to position parameter data and the described mobile terminal of described building, calculates the latitude and longitude coordinates value of this mobile terminal.

Wherein, this terminal acquiring unit 610 can get the image of the present position of this mobile terminal, concrete can be after mobile terminal utilizes camera or other camera heads to absorb the image of its current location, and by mobile terminal, this image is sent to this end message acquiring unit.In the mobile terminal pickup image, this mobile terminal also or get height above sea level and the drift angle information of this mobile terminal of current time.The height above sea level of acquisition for mobile terminal self can obtain by mobile terminal built-in altimeter or other measurement mechanisms, the drift angle information of mobile terminal can get by built-in chip with gyroscope function in this mobile terminal the drift angle information in its each orientation, certainly mobile terminal can also have other to get the mode of self height above sea level and drift angle information, does not enumerate at this.

Need to prove, the mobile terminal that the end message acquiring unit gets needs to comprise the image information of this building in the image of current time, and this building is that location-server can identify.In other words, generally can preserve image and the parameter information of each building on ground in location-server, if the image that location-server provides according to mobile terminal and the image of self preserving, and carry out Feature Points Matching and determine building in the image that this mobile terminal provides.If the image information that the user absorbs by this mobile terminal is invalid, namely, location-server utilizes the image None-identified that this mobile terminal absorbs to go out building, and this location-server can send information to mobile terminal, again obtains image information with the prompting user.

The image that building information acquiring unit 620 can utilize the end message acquiring unit to get identifies the building information in this image, and finally obtain the position parameter data of this building, so that positioning unit 630 utilizes the position parameter data of this building to carry out the location Calculation of mobile terminal.

Need to prove, system applies of the present invention is in mobile terminal the time, this building information acquiring unit need to identify building information in this image by location-server, and the position parameter data of corresponding building is returned to the positioning unit of mobile terminal and then the location of realizing terminal.

When system applies of the present invention is in location-server, only need this mobile terminal that the image of its position and current height above sea level and drift angle information are sent to end message acquiring unit in this location-server, and then complete position fixing process by this location-server, and the locating information of this mobile terminal is returned to mobile terminal get final product.

The drift angle information that end message acquiring unit of the present invention gets can have multiple, referring to Fig. 7, show the structural representation of a kind of another embodiment of Terminal Position Location System of the present invention, this system is from the different of a upper embodiment, and this terminal acquiring unit 610 comprises drift angle information acquisition unit 611.

This drift angle information acquisition unit 611, the concrete drift angle information that is used for obtaining mobile terminal, this drift angle information comprises: the elevation angle between current mobile terminal and building or the angle of depression number of degrees, and the horizontal line of current mobile terminal and building departs from the angle of specifying warp or parallel.

Corresponding, positioning unit 630 comprises:

Horizontal range determining unit 631 is used for utilizing this elevation angle or the angle of depression number of degrees, the height above sea level of mobile terminal and the height above sea level of building, calculates the horizontal range of mobile terminal and building.

Position coordinates determining unit 632, be used for according to the trigonometric function computing formula, and the horizontal line that utilizes described mobile terminal and building departs from the horizontal range of the number of degrees, mobile terminal and the building of specifying warp or parallel and the latitude and longitude coordinates value of this building, calculates the latitude and longitude coordinates value of this mobile terminal.

When this drift angle information specifically includes the elevation scale of mobile terminal current time and this building or the angle of depression number of degrees, also can utilize the horizontal range of the height above sea level of this mobile terminal and building to calculate the horizontal range of this mobile terminal and building.Afterwards, the horizontal range that this position coordinates determining unit can utilize this horizontal level determining unit to calculate, and the horizontal line of this mobile terminal of current time of getting of drift angle information acquisition unit and building departs from the angle of specifying warp or parallel, utilizes the trigonometric function computing formula to calculate the latitude and longitude coordinates of this mobile terminal.

The process of calculating the latitude and longitude coordinates of this mobile terminal can specifically referring to the embodiment part of mobile terminal locating method, not repeat them here.

Further, get at the end message acquiring unit elevation angle or the angle of depression information that drift angle information also can not comprise this mobile terminal and this building peak, also only comprise the angle that the current time mobile terminal departs from gravity direction, and then by this end message acquiring unit, the angle of utilizing its image information that gets and this mobile terminal to depart from gravity direction is determined the elevation angle or the angle of depression number of degrees between this mobile terminal and this building peak.Corresponding, drift angle information acquisition unit 611 may further include: the first drift angle information acquisition unit 6111, be used for getting the drift angle information of mobile terminal, this drift angle information comprises: this mobile terminal of current time departs from the angle of gravity direction, and the horizontal line of this mobile terminal of current time and building departs from the angle of specifying warp or parallel.

The second drift angle information acquisition unit 6112 is used for according to this building determining the elevation angle or the angle of depression number of degrees of this mobile terminal between described current time and this building peak in the angle that positional information and the mobile terminal of image departs from gravity direction.

when the drift angle information acquisition unit gets the elevation angle that do not comprise in the information of drift angle between this mobile terminal and this building peak or angle of depression information, can obtain the angle that this mobile terminal current time departs from gravity direction by this first drift angle information acquisition unit, and then can be determined the number of degrees of the first drift angle by the visual angle that the second drift angle information acquisition unit departs from the photographed images of the distance of this image center and this mobile terminal according to this building peak, this first drift angle and this mobile terminal are departed from the elevation angle or the angle of depression number of degrees that angle degree that the angle addition of gravity direction obtains is this mobile terminal and this building peak.

In addition, the mode of building in building information acquiring unit recognition image can adopt the mode of images match to determine, and the mode of obtaining the information of this building has multiple, preferably, can inquire the position parameter data of this building from the building position parameter data that presets.Corresponding, this building information acquiring unit 620 can comprise:

Images match unit 621 is used for the image that will get and the image of pre-save and carries out Feature Points Matching, identifies the building information that comprises in the image of this mobile terminal present position, with this building as the target building;

Information query unit 622 is used for the building position parameter data from presetting, and inquires about the position parameter data corresponding with this target building.

Certainly, after the building information acquiring unit is determined the target building, also can be removed in real time to obtain by location-server the position parameter data of this target building.As, this location-server can utilize satellite navigation system to locate the information of this target building according to the information of this target building, and then obtains the information such as the height above sea level of this target building and latitude and longitude coordinates value.

In order to realize the more high-precision location of mobile terminal, referring to Fig. 8, show the structural representation of a kind of another embodiment of Terminal Position Location System of the present invention, the difference of this system and top two embodiment is, this system also comprises: the first pre-determined bit unit 640 and the second pre-determined bit unit 650.

Wherein, the first pre-determined bit unit 640 is used for utilizing architecture, WIFI focus location or IP location technology to estimate the primary importance zone at the current place of this mobile terminal.

The second pre-determined bit unit 650 is used in described primary importance zone, and it is poor in the specified scope inner region to determine with the height above sea level of described mobile terminal, with this zone of determining as second place zone;

After by the first pre-determined bit unit and the second pre-determined bit unit, the mobile terminal region being narrowed down to second place zone, the building information acquiring unit just can be only searched in this second place zone, and then the building that comprises in the image of determining to get is which the building building in this second place zone, corresponding, this building information acquiring unit specifically comprises: be used for the image that will get and carry out Feature Points Matching with image corresponding to this second place zone, identify the building that comprises in the image of this mobile terminal present position.

In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment that between each embodiment, identical similar part is mutually referring to getting final product.For embodiment disclosed system, because it is corresponding with the disclosed method of embodiment, so describe fairly simple, relevant part partly illustrates referring to method and gets final product.

To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from the spirit or scope of the present invention, realization in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims

1. the method for a terminal positioning, be applied to mobile terminal, it is characterized in that, comprising:

2. method according to claim 1, is characterized in that, described drift angle information comprises: current mobile terminal departs from the angle of gravity direction, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

3. method according to claim 1, it is characterized in that, described drift angle information comprises: the elevation angle between current mobile terminal and described building or the angle of depression number of degrees, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

4. method according to claim 1, is characterized in that, the building information that comprises in the described image of described identification obtains the position parameter data of described building, comprising:

5. the described method of according to claim 1 to 4 any one, is characterized in that, the building information that comprises in the described image of identification before obtaining the position parameter data of described building, also comprises:

6. according to claim 2 or 3 described methods, is characterized in that, the described described elevation angle or the angle of depression number of degrees, the height above sea level of mobile terminal and the height above sea level of building utilized calculated the horizontal range of described mobile terminal and building, comprising:

H＝|Hb-Hu|；

7. the system of a terminal positioning, is characterized in that, comprising:

8. system according to claim 7, it is characterized in that, described end message acquiring unit comprises: the drift angle information acquisition unit, be used for obtaining the drift angle information of mobile terminal, this drift angle information comprises: the elevation angle between current mobile terminal and described building or the angle of depression number of degrees, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

Described positioning unit comprises:

9. system according to claim 8, it is characterized in that, described drift angle information acquisition unit comprises: the first drift angle information acquisition unit, be used for getting the drift angle information of mobile terminal, this drift angle information comprises: current mobile terminal departs from the angle of gravity direction, and the horizontal line of current mobile terminal and described building departs from the angle of specifying warp or parallel;

10. system according to claim 7, is characterized in that, described building information acquiring unit comprises:

11. the described method of according to claim 7 to 10 any one is characterized in that, also comprises: