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. 2018 Jul 11;18(7):2229. doi: 10.3390/s18072229

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Principal of Position Estimation. $o (x_{0}, y_{0})$ is the principal point of camera image, and the length of $O o$ is the focal length $f$ . By calculating collinear equation models of control point pairs, A, B, C and a, b, c, the positioning of smartphone $O (X_{O}, Y_{O}, Z_{O})$ can be obtained.