阅读说明：本技术 定位方法、装置、无人驾驶车辆、电子设备和存储介质 (Positioning method, positioning device, unmanned vehicle, electronic equipment and storage medium ) 是由 李平江 于 2020-03-17 设计创作，主要内容包括：本发明实施例涉及一种定位方法、装置、无人驾驶车辆、电子设备和存储介质。该定位方法适用于无人车(或称为自动驾驶车辆或无人驾驶车辆)。该方法包括：获取待定位设备周围环境的天然本底辐射数据；基于所述天然本底辐射数据、以及天然本底辐射数据与位置的对应关系,确定所述待定位设备当前所处位置。本发明实施例提供的定位方案解决了现有的定位技术由于可靠性低、成本高、覆盖场景有限、通讯时间长等问题,不能满足用户需要的问题。(The embodiment of the invention relates to a positioning method, a positioning device, an unmanned vehicle, electronic equipment and a storage medium. The positioning method is suitable for unmanned vehicles (or automatic driving vehicles or unmanned vehicles). The method comprises the following steps: acquiring natural background radiation data of the surrounding environment of equipment to be positioned; and determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position. The positioning scheme provided by the embodiment of the invention solves the problems that the existing positioning technology can not meet the requirements of users due to low reliability, high cost, limited coverage scene, long communication time and the like.)

1. A method of positioning, comprising:

acquiring natural background radiation data of the surrounding environment of equipment to be positioned;

and determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position.

2. The positioning method according to claim 1,

the natural background radiation data includes a distribution characteristic of electromagnetic wave wavelengths and/or electromagnetic wave intensities.

3. The positioning method according to claim 1 or 2,

the acquiring of natural background radiation data of the surrounding environment of the device to be positioned comprises:

natural background radiation data of the environment surrounding the device to be positioned is acquired using at least one of a camera, a full-band video camera, and a photometer.

4. The positioning method according to any one of claims 1 to 3,

the acquiring of natural background radiation data of the surrounding environment of the device to be positioned comprises: acquiring natural background radiation data of the sky where the equipment to be positioned is located.

5. The positioning method according to claim 4,

and in the step of determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position data, the natural background radiation data is filtered natural background radiation data.

6. The positioning method according to claim 5,

the acquiring of natural background radiation data of the surrounding environment of the device to be positioned comprises:

continuously and repeatedly acquiring radiation data of the surrounding environment of the equipment to be positioned;

and obtaining background radiation data of the surrounding environment of the equipment to be positioned based on all the radiation data.

7. The positioning method according to claim 1, further comprising:

acquiring natural background radiation data acquisition time information of the surrounding environment of the equipment to be positioned;

and determining the current position of the equipment to be positioned based on the natural background radiation data, the natural background radiation data acquisition time information and the corresponding relation among the natural background radiation data, the acquisition time and the position.

8. A positioning device, comprising:

the background radiation data acquisition module is used for acquiring natural background radiation data of the surrounding environment of the equipment to be positioned;

and the positioning module is used for determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position.

9. An unmanned vehicle, characterized in that the unmanned vehicle can use the positioning method of any one of claims 1-7.

10. An electronic device, comprising: a processor and a memory;

the processor is adapted to perform the steps of the method of any one of claims 1 to 7 by calling a program or instructions stored in the memory.

11. A computer-readable storage medium, characterized in that it stores a program or instructions for causing a computer to carry out the steps of the method according to any one of claims 1 to 7.

Technical Field

The embodiment of the invention relates to the technical field of positioning, in particular to a positioning method and device, an unmanned vehicle, electronic equipment and a storage medium.

Background

At present, the positioning technology used by a terminal mainly comprises GPS positioning, base station positioning, radio frequency positioning, WIFI positioning and the like, the main principle is that an additional artificial electronic mechanical device sends a signal to a terminal to be positioned, and the terminal to be positioned calculates the position information of the terminal according to the position information of the artificial electronic mechanical device in the signal and the information such as the distance between the terminal and the artificial electronic mechanical device.

The existing positioning technology is excessively dependent on additional artificial electronic mechanical equipment, which causes the existing positioning technology to have the following defects: first, the reliability of positioning is low. For example, WIFI positioning depends on a router, and if the position information of the WIFI router itself is incorrect, a positioning structure performed through WIFI inherits the error. If the WIFI router is powered off, WIFI positioning cannot be carried out. Secondly, the cost is high. Because positioning needs to rely on additional artificial electronic mechanical equipment, corresponding equipment needs to be built, such as launching a positioning satellite, building a base station in a remote area, and the like. The construction cost of the manual electronic mechanical equipment is high, and the maintenance cost is also high. Third, coverage scenarios are limited. Radio frequency equipment required by radio frequency positioning is only arranged in an area with specific conditions, and the coverage rate of a mobile phone base station in the field is low. Fourthly, the communication time is long. If WIFI positioning requires searching for a router and trying to connect, GPS requires searching for satellites. Therefore, the above positioning technology still cannot meet the needs of users.

Disclosure of Invention

At least one embodiment of the invention provides a positioning method and device, an unmanned vehicle, electronic equipment and a storage medium, and solves the problem that the existing positioning technology cannot meet the requirements of users due to low reliability, high cost, limited coverage scene, long communication time and the like.

In a first aspect, an embodiment of the present invention provides a positioning method, including:

acquiring natural background radiation data of the surrounding environment of equipment to be positioned;

and determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position.

In a second aspect, an embodiment of the present invention further provides a positioning apparatus, including:

the background radiation data acquisition module is used for acquiring natural background radiation data of the surrounding environment of the equipment to be positioned;

and the positioning module is used for determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position.

In a third aspect, an embodiment of the present invention further provides an unmanned vehicle, where the unmanned vehicle may use any one of the positioning methods described above.

In a fourth aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory;

the processor is configured to perform the steps of any of the methods described above by calling a program or instructions stored in the memory.

In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to execute the steps of any one of the above methods.

According to the positioning method provided by the embodiment of the invention, natural background radiation data of the surrounding environment of the equipment to be positioned is obtained; and determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position. The natural background radiation refers to radiation which is originally present in the human living environment and mainly comes from natural radionuclides, cosmic rays and the like in soil, rocks, water and the atmosphere. The natural background radiation received by people in different locations in different regions varies greatly. The technical scheme provided by the embodiment of the invention is based on the principle that the natural background radiation received by people at different positions in different regions is greatly different, the natural background radiation is utilized for positioning, and the method does not need to rely on additional artificial electronic mechanical equipment, so that the problems that the existing positioning technology cannot meet the requirements of users due to low reliability, high cost, limited coverage scenes, long communication time and the like are solved, the purpose of providing the positioning method with high reliability, low cost, wide coverage scenes and short communication time is achieved, and the requirements of the users are met.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention;

fig. 2 is a flowchart of another positioning method according to an embodiment of the present invention;

fig. 3 is a photograph of the sky taken at time t1 with a camera integrated in the device to be positioned, based on S210;

FIG. 4 is a pre-stored photograph of the sky at location A at time t1 in the database;

FIG. 5 is a pre-stored photograph of the sky at location B at time t1 in the database;

fig. 6 is a photograph of the sky taken at time t2 with a camera integrated in the device to be positioned, based on S210;

FIG. 7 is a pre-stored photograph of the sky at location C at time t2 in the database;

FIG. 8 is a pre-stored photograph of the sky at location D at time t2 in the database;

fig. 9 is a photograph of a sky taken at time t3 based on S210 with a camera integrated in the device to be positioned;

FIG. 10 is a photograph of the sky at location E at time t3 pre-stored in the database;

FIG. 11 is a pre-stored photograph of the sky at location F at time t3 in the database;

fig. 12 is a block diagram of a positioning apparatus according to an embodiment of the present invention;

fig. 13 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The positioning method comprises the steps of receiving a positioning signal, and transmitting the positioning signal to a positioning device through a wireless communication network, wherein the positioning device comprises a first wireless communication unit, a second wireless communication unit, a first wireless communication unit and a second wireless communication unit.

The positioning scheme provided by the embodiment of the disclosure can be applied to intelligent terminals, such as mobile phones, computers, tablet computers, intelligent wearable devices, vehicles (such as unmanned vehicles) and the like.

Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention. The execution main body of the method can be an operating system of the intelligent terminal, such as an android system of a mobile phone, an iOS system of the mobile phone, a caors system in an unmanned vehicle and the like, and the method comprises the following steps:

s110, acquiring natural background radiation data of the surrounding environment of the equipment to be positioned.

The natural background radiation refers to radiation which is originally present in the human living environment and mainly comes from natural radionuclides, cosmic rays and the like in soil, rocks, water and the atmosphere. The natural background radiation received by people in different locations in different regions varies greatly.

There are various ways to implement this step, and illustratively, the natural background radiation data of the environment surrounding the device to be positioned may be acquired using at least one of a camera, a full-band video camera, and a photometer.

It should be noted that the natural background radiation is essentially electromagnetic waves, and includes various wave bands such as visible light, infrared rays, microwaves, ultraviolet rays, and the like. In the present application, the natural background radiation data includes the wavelength and/or intensity distribution characteristics of the electromagnetic wave.

And S120, determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position.

Wherein the correspondence of the natural background radiation data to position is known prior to performing the present positioning method. There are various methods for acquiring the corresponding relationship between the natural background radiation data and the position, for example, other people or other devices acquire the natural background radiation data of different positions through which the other people pass, or acquire the natural background radiation data of the monitored area, and upload the acquired natural background radiation data and the position where the acquired natural background radiation data is located to a server.

Optionally, the data of the natural background radiation at different positions can be obtained by analyzing according to the change rule, the generation reason and the like of the natural background radiation.

Studies have shown that there is a large difference in the natural background radiation received by people at different locations. Illustratively, at position 1, electromagnetic waves of wavelength m can be detected, while at position 2, electromagnetic waves of wavelength m cannot be detected. Alternatively, at both position 3 and position 4, although the electromagnetic wave with the wavelength m can be detected, the intensity of the electromagnetic wave with the wavelength m at position 3 is greater than the intensity of the electromagnetic wave with the wavelength m at position 4. Accordingly, the natural background radiation data of the surrounding environment of the device to be positioned obtained in S110 can be compared with the known natural background radiation data of different positions in the universe, and the position of the device to be positioned in the universe is reversely calculated.

The positioning scheme provided by the invention does not depend on additional artificial electronic mechanical equipment, and the actual position of the positioning scheme is matched by detecting the natural background radiation data of the surrounding environment of the equipment to be positioned and combining a database which is pre-stored with natural background radiation data of different positions in the universe. This solution frees the positioning from the constraints of additional artificial electromechanical devices (such as satellites, base stations, routers, etc.). The positioning can be realized only by collecting the electromagnetic wave information in the natural environment without infrastructure. The construction cost of extra manual electronic mechanical equipment is reduced, the application range of the positioning technology is expanded, and the positioning reliability is improved. In addition, the equipment to be positioned does not need to communicate with additional artificial electronic mechanical equipment, and the communication time is shortened.

On the basis of the above technical solutions, optionally, in S120, the background radiation data is the background radiation data after being subjected to filtering processing. As will be understood by those skilled in the art, in real life, a moving object (e.g., a vehicle, a pedestrian) may emit or reflect electromagnetic waves. Thus, the presence or absence of a moving object, or a change in the position of a moving object, may cause the natural background radiation data collected by the detection device (e.g., camera, full-band camera, photometer, etc.) to vary at different times. Such as different strength of electromagnetic wave signals in a certain wavelength band. By setting in S120, the background radiation data is the filtered background radiation data, which can filter out the interference to the background radiation data caused by the change of the position of the moving object, and improve the positioning accuracy.

Optionally, there are various methods for filtering the background radiation data, which are not limited in this application. Compared with the ground, the probability of the occurrence of the moving object in the sky is low, and optionally, the natural background radiation data of the sky where the equipment to be positioned is located is obtained, so that the interference of the change of the position of the moving object on the background radiation data can be further reduced, and the positioning accuracy is improved.

Optionally, the radiation data of the surrounding environment of the device to be positioned may also be obtained continuously for a plurality of times; and obtaining background radiation data of the surrounding environment of the equipment to be positioned based on all the radiation data. For the moving object, the position of the moving object is different at different time, and the influence of the moving object on the background radiation can be considered to belong to a random variable. By continuously and repeatedly acquiring the radiation data of the surrounding environment of the equipment to be positioned and comparing all the radiation numbers, which are random variables can be determined and eliminated, so that the background radiation data of the surrounding environment of the equipment to be positioned, which does not contain the random variables, is obtained, and the purposes of reducing the interference of the change of the position of the moving object on the background radiation data and improving the positioning accuracy are achieved.

Fig. 2 is a flowchart of another positioning method according to an embodiment of the present invention. Optionally, referring to fig. 2, the positioning method includes:

s210, acquiring natural background radiation data of the sky where the equipment to be positioned is located and acquiring natural background radiation data acquisition time information of the surrounding environment of the equipment to be positioned.

S220, determining the current position of the equipment to be positioned based on the natural background radiation data, the natural background radiation data acquisition time information and the corresponding relation among the natural background radiation data, the acquisition time and the position.

In practice, the natural background radiation data can be greatly changed because the sunlight intensity in the same area can be greatly different (for example, the sunlight intensity in the daytime is stronger than that in the evening) along with the time. The essence of the technical scheme is that when positioning is carried out, the natural background radiation data and the acquisition time information are taken as variables to be considered, so that the positioning accuracy is improved.

Fig. 3 shows an exemplary photograph of the sky taken at time t1 using a camera integrated in the device to be positioned, based on S210. Fig. 4 is a photograph of the sky at position a at time t1 pre-stored in the database. Fig. 5 is a photograph of the sky at location B at time t1 pre-stored in the database. By comparing fig. 3 with fig. 4 and 5, it can be obtained that fig. 3 is identical to fig. 5, and further the position B corresponding to fig. 5 is taken as the current position of the device to be positioned.

Fig. 6 shows a photograph of the sky taken at time t2 using a camera integrated in the device to be positioned, based on S210. Fig. 7 is a photograph of the sky at position C at time t2 pre-stored in the database. Fig. 8 is a photograph of the sky at position D at time t2 pre-stored in the database. By comparing fig. 6 with fig. 7 and 8, it can be obtained that fig. 6 is identical to fig. 7, and further the position C corresponding to fig. 7 is taken as the current position of the device to be positioned.

Fig. 9 shows a photograph of the sky taken at time t3 using a camera integrated in the device to be positioned, based on S210. Fig. 10 is a photograph of the sky at position E at time t3 pre-stored in the database. Fig. 11 is a photograph of the sky at position F at time t3 pre-stored in the database. By comparing fig. 9 with fig. 10 and 11, it can be obtained that fig. 9 is identical to fig. 10, and further the position E corresponding to fig. 10 is taken as the current position of the device to be positioned.

As can be seen from the above specific examples, the positioning method provided by the present application is not only suitable for positioning a certain position of the earth, but also suitable for positioning a certain position in the universe.

Fig. 12 is a block diagram of a positioning apparatus according to an embodiment of the present invention. Referring to fig. 12, the positioning device includes: background radiation data acquisition module 310 and positioning module 320.

A background radiation data acquisition module 310, configured to acquire natural background radiation data of an environment around a device to be positioned;

and the positioning module 320 is configured to determine a current position of the device to be positioned based on the natural background radiation data and a corresponding relationship between the natural background radiation data and the position.

Optionally, the natural background radiation data includes a distribution characteristic of electromagnetic wave wavelengths and/or electromagnetic wave intensities.

Optionally, the background radiation data acquisition module 310 is configured to acquire natural background radiation data of the environment surrounding the device to be positioned using at least one of a camera, a full-band video camera, and a photometer.

Optionally, the background radiation data acquisition module 310 is configured to acquire natural background radiation data of the sky where the device to be positioned is located.

Optionally, the positioning module 320 performs the step of determining the current position of the device to be positioned based on the natural background radiation data and the corresponding relationship between the natural background radiation data and the position data, where the natural background radiation data is the natural background radiation data after being filtered.

Optionally, the background radiation data acquiring module 310 is configured to acquire radiation data of an environment around the device to be positioned for multiple times in succession;

and obtaining background radiation data of the surrounding environment of the equipment to be positioned based on all the radiation data.

Optionally, the positioning method further includes an acquisition time obtaining module. The acquisition time acquisition module is used for acquiring natural background radiation data acquisition time information of the surrounding environment of the equipment to be positioned;

the positioning module 320 is configured to determine a current location of the device to be positioned based on the natural background radiation data, the information of the acquisition time of the natural background radiation data, and a corresponding relationship between the natural background radiation data, the acquisition time, and the location.

The positioning device provided in the embodiments of the present application can execute the positioning method provided in any embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method, which are not described herein again.

The embodiment of the invention also provides an unmanned vehicle, which can use any one of the positioning methods. The method has the corresponding functional modules and beneficial effects of the execution method, and is not described in detail herein.

Fig. 13 is a block diagram of an electronic device according to an embodiment of the present application. Referring to fig. 13, the electronic device includes: at least one processor 601, at least one memory 602, and at least one communication interface 603. The various components in the electronic device are coupled together by a bus system 604. A communication interface 603 for information transmission with an external device. It is understood that the bus system 604 is used to enable communications among the components. The bus system 604 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 604 in fig. 13.

It will be appreciated that the memory 602 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.

In some embodiments, memory 602 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.

The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs include various application programs such as a media player (MediaPlayer), a Browser (Browser), etc. for implementing various application services. The program for implementing the positioning method provided by the embodiment of the present application may be included in an application program.

In this embodiment of the application, the processor 601 is configured to execute the steps of the embodiments of the positioning method provided by the embodiments of the application by calling a program or an instruction stored in the memory 602, which may be specifically a program or an instruction stored in an application program.

The positioning method provided by the embodiment of the application can be applied to the processor 601, or implemented by the processor 601. The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The processor 601 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of the positioning method provided by the embodiment of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 602, and the processor 601 reads the information in the memory 602 and performs the steps of the method in combination with its hardware.

The electronic device may further include a physical component or a plurality of physical components to implement control of the unmanned vehicle according to instructions generated by the processor 601 when executing the positioning method provided by the embodiment of the application. Different physical components may be provided in or out of the unmanned vehicle, such as a cloud server or the like. The various physical components cooperate with the processor 601 and the memory 602 to implement the functions of the electronic device in this embodiment.

Embodiments of the present application also provide a computer-readable storage medium, which stores a program or instructions, where the program or instructions are executed by a computer to perform a positioning method, where the method includes:

acquiring natural background radiation data of the surrounding environment of equipment to be positioned;

and determining the current position of the equipment to be positioned based on the natural background radiation data and the corresponding relation between the natural background radiation data and the position.

Optionally, the computer-executable instructions, when executed by a computer processor, may also be used to implement the solution of the positioning method provided in any embodiment of the present application.

Based on the understanding that the technical solutions of the present application can be embodied in the form of software products, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a flash Memory (F L ASH), a hard disk or an optical disk of a computer, and the like, and include instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments.

Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations fall within the scope defined by the appended claims.