CN101097150A - Navigation method used for navigation in small region - Google Patents
Navigation method used for navigation in small region Download PDFInfo
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- CN101097150A CN101097150A CNA200610089457XA CN200610089457A CN101097150A CN 101097150 A CN101097150 A CN 101097150A CN A200610089457X A CNA200610089457X A CN A200610089457XA CN 200610089457 A CN200610089457 A CN 200610089457A CN 101097150 A CN101097150 A CN 101097150A
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Abstract
The invention relates to a navigation method in area which includes: navigation device detects signal for pilotage indicating device, and receives data package sent by pilotage indicating device nearest to the navigation device; the navigation device checks and analyzes the data package to obtain property information of pilotage indicating device stored in the data package; based on property information of pilotage indicating device nearest to the navigation device, destination and electronic map, the process module obtains position of user and navigation path from position of user to destination; obtains current orientation of user, and the process module generates heading direction of current position along navigation path, and compares the heading direction of navigation path with the current orientation of user to generate heading direction of user when user is in current orientation, so effect of navigation in area can be realized.
Description
[affiliated technical field]
The present invention relates to a kind of air navigation aid that is used in the zonule navigation, particularly a kind of signal that utilizes the terrestrial reference indicating device that guider and fixed position be provided with transmits the method for location navigation.
[background technology]
Present location and navigation technology generally is to adopt GPS (GFS, GlobalPositioning System), its global location, navigation and time dissemination system of being made up of 24 satellites of U.S. Department of Defense emission, these 24 satellite distribution highly are being to orbit the earth on six tracks of 20,000 kilometers.Have four satellites on every track, any point, any moment can receive the signal from four satellites simultaneously on earth, and the space orbit information that satellite is launched is covered with whole earth surface.When GPS utilizes Navsat to survey and range finding, make on earth user Anywhere, can both calculate their residing orientation.Advantages such as bearing accuracy height, usable range be wide, can round-the-clockly use, subscriber equipment is simple make that the GPS technology has obtained using widely in recent ten years.
Such Position Fixing Navigation System overlay area is wide, bearing accuracy is high.The overlay area of GPS is whole earth surface, and GPS unit bearing accuracy is within 10 meters, but there is following problem in it:
When 1, using in zone among a small circle, location navigation requires relative higher bearing accuracy.
2, environmental restraint, GPS is the signal merchandiser machine communication of launching via satellite, barrier, buildings, trees all can have satellite-signal and stop that therefore for indoor location navigation, GPS is just lack scope for their abilities.
3, costly.
At the existing in prior technology problem, the present patent application people has proposed a kind of new air navigation aid, it does not need based on gps system, and the networking expense is low, simple in structure, be applicable to museum, park, supermarket, even be useful in the city street of certain limit and navigate, it not only is fit to the needs of ordinary people to navigation, and the navigation needs of special population such as suitable blind person.
[summary of the invention]
The object of the present invention is to provide a kind of new air navigation aid that is used for navigation in the zonule, technical matters to be solved is to make the signal transmission consumer positioning position of guider by the terrestrial reference indicating device that is provided with the fixed position, the processing module of guider is according to this user position, electronic chart, destination information obtains guidance path, again by direction acquisition module module obtain be made as the user towards guider reference direction towards, thereby generate the indication user current towards the time answer the navigation information of working direction, realize the user is carried out navigation in the zone.
The object of the invention to solve the technical problems realizes by the following technical solutions.A kind of air navigation aid of in the zonule, navigating according to the invention proposition, comprise guider and terrestrial reference indicating device, it may further comprise the steps: A0, the zone in the scope of heading is divided, and the terrestrial reference indicating device that tool outwards sends wireless signal is set in divided regions; The user control unit reception user of A1, guider imports, indication will arrive the operational order of destination, and this operational order be exported to the processing module of guider; The wireless signal transceiver module of A2, guider carries out signal detection to the terrestrial reference indicating device, sends the packet of the nearest terrestrial reference indicating device transmission of the signal strength values judgement of packet and reception and guider according to the terrestrial reference indicating device; A3, guider carry out verification and analysis to this packet, find wrongly as this packet verification, then carry out steps A 2 or steps A 3 again, as this packet through the verification inerrancy, then analyze packet, obtain the attribute information of the terrestrial reference indicating device of storing in the packet; A4, according to attribute information, the destination that will arrive and the electronic chart of the nearest terrestrial reference indicating device of guider, the processing module acquisition residing position of user of above-mentioned guider and the user goes to the destination from residing position guidance path; The direction acquisition module of A5, guider obtain guider reference direction towards, should towards as the user current towards, and with this reference direction towards electric signal send to processing module, processing module generates user's working direction along guidance path when the current location according to guidance path, and will be somebody's turn to do along the working direction and the user of guidance path current towards comparing, generate the user current towards the time answer working direction, export this working direction to image output module and/or audio frequency output module as navigation information.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid air navigation aid of in the zonule, navigating, further comprising the steps of in the steps A 3: with the preceding attribute information that once obtains as a variable storage in the storage unit of guider, after analyzing packet and obtaining attribute information with the nearest terrestrial reference indicating device of guider, whether contrast this current attribute information that obtains identical with the preceding attribute information that once obtains, the identical steps A 2 of then carrying out again is as the steps A 4 of then carrying out inequality.
Aforesaid air navigation aid of in the zonule, navigating, further comprising the steps of in the steps A 5: with the preceding attribute information that once obtains as a variable storage in the storage unit of guider, processing module receives the packet that terrestrial reference indicating device current and that guider is nearest sends, and after obtaining its attribute information, again according to the attribute information of the terrestrial reference indicating device of the attribute information of the preceding terrestrial reference indicating device of storing in the variable that once receives and current reception, obtain user's current path, processing module is according to current path, the destination that arrives, electronic chart and user position generate the guidance path that is fit to from user present position to destination.
Aforesaid air navigation aid of navigating in the zonule, it is further comprising the steps of in steps A 5 back: navigation information or the end of displaying the play of whether resetting of processing module control image output module and/or audio frequency output module.
Aforesaid air navigation aid of in the zonule, navigating, further comprising the steps of in the steps A 2: as not detect the data transfer direction that shifts the wireless signal transceiver module after the terrestrial reference indicating device sends packet.
Via as can be known above-mentioned, the air navigation aid that is used for navigation in the zonule of the present invention has the following advantages at least:
The present invention is used for the air navigation aid of navigation in the zonule by obtaining the information of user position with the radio communication of terrestrial reference indicating device, obtain preferable guidance path according to this positional information, destination information, electronic chart, and guider can also by the compass module obtain as the user current towards guider reference direction towards, processing module by compare this reference direction towards with guidance path generate the indication user current towards the time answer the navigation information of working direction, thereby be implemented in the effect of navigating the zonule in.
The present invention is because networking is simple, expense is lower, so can be applicable to places such as museum, zoo, exhibition, supermarket, the clear and definite quickly and easily orientation of assisting users also finds the destination.In addition, can point out the user navigation information with sound or picture mode, thereby can also bring great convenience for special population shopping guides such as blind person, navigation because the present invention is used for the air navigation aid of navigation in the zonule.
[description of drawings]
Fig. 1 is the structural representation of terrestrial reference indicating device of the present invention.
Fig. 2 is the structural representation of guider of the present invention.
Fig. 3 is the workflow diagram of guider of the present invention.
Fig. 4 is that terrestrial reference indicating device of the present invention is provided with position view.
[embodiment]
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, to the air navigation aid that foundation the present invention proposes, its embodiment, feature and effect thereof, describe in detail as after.
Air navigation aid of the present invention is by the signal transmission consumer positioning position of guider with the terrestrial reference indicating device that is located at the fixed position, and electronic chart and user position that the processing module of guider is stored in can the storage unit according to the destination information of user input, guider obtain guidance path, and output shows as navigation information with this guidance path.In addition, guider of the present invention can also be provided with the compass module, by the compass module obtain the expression user towards guider reference direction towards, and generate user's working direction along guidance path when the current location according to guidance path, processing module will be somebody's turn to do along the working direction of guidance path and user current towards comparing, generate the user current towards the time answer working direction, and with this direction indication as navigation information broadcast/demonstration, thereby but realize the small area navigation system of location navigation within the specific limits.Above-mentioned navigational system comprises: a plurality of terrestrial reference indicating devices and guider.
See also shown in Figure 1, it is the structural representation of terrestrial reference indicating device of the present invention, above-mentioned terrestrial reference indicating device is fixedly set in the assigned address in each zone or has on the position of prompting meaning, and it comprises: the microcontroller module, control the duty of this terrestrial reference indicating device; Storer is connected with the microcontroller module, is used to store data, and stores the required data of transmission packet; The wireless signal transceiver module is connected with the microcontroller module, is used for carrying out wireless data transmission with guider; Power supply is to each parts power supply of terrestrial reference indicating device.
Seeing also shown in Figure 2ly, is the structural representation of guider of the present invention, and it comprises: processing module, the duty of the control guider line data of going forward side by side is handled; The wireless signal transceiver module is connected with processing module, carries out data transmission with external unit; Storage unit is connected with processing module, stores the attribute information that comprises the terrestrial reference indicating device and the electronic chart in the path between each terrestrial reference indicating device; User control unit is connected with control module, receives the control information that the user sends; The navigation information efferent is connected with processing module, is used for exporting navigation information to the user; Power supply is used for each parts power supply of navigation device.
Wherein, above-mentioned user control unit receives user's input, indication will arrive the operational order of destination, and export this operational order to processing module, the packet that above-mentioned wireless signal transceiver module sends according to the terrestrial reference indicating device that signal strength values receives and guider is nearest, by the attribute information in the processing module resolution data bag, thereby judge guider residing position in electronic chart, above-mentioned processing module can be according to user's present located position, arrive destination and electronic chart and obtain guidance path, and export this guidance path to navigation information efferent output broadcast as navigation information.
The above-mentioned guider that is used for small area navigation also comprises the compass module that is connected with processing module, be used to measure guider reference direction towards, and should export processing module to towards being converted to electric signal; Described processing module according to guidance path and expression guider reference direction towards electric signal generate the indication user current towards the time answer the navigation information of working direction, processing module exports this navigation information the output of to navigation information efferent.
Particularly, above-mentioned compass module comprises digital compass.In addition, the attribute information of the terrestrial reference indicating device that above-mentioned processing module can be obtained the last time as a variable storage in storage unit, and processing module is obtained user's current path according to this last time attribute information that obtains and attribute information that newly obtains, processing module generates the navigation information that is fit to from current path to the destination according to current path, and promptly above-mentioned guidance path can obtain best guidance path according to this current path.
Above-mentioned navigation information efferent is to be image output module and/or audio frequency output module, and the image output module is used to show various image informations, and the audio frequency output module is used to play various audio-frequency informations.The image output module is used for navigation information is shown with image format that the audio frequency output module is used for the navigation information of audio form is play.
Particularly, above-mentioned guider with its reference direction be defined as the user towards, by the compass module measure guider reference direction towards, promptly measure the direction that the user faces.Above-mentioned guider also is provided with the direction instruction unit, be used for as the indication reference direction towards.This direction instruction unit is arranged on the shell of guider, and this direction instruction unit can be a projection or groove.
Signal strength values (the RSSI of the packet that the processing module of above-mentioned guider receives according to radio receiving transmitting module, Received Signal Strength Indicator) packet that sends of the nearest terrestrial reference indicating device of selection and reception and guider, and parse the attribute information of the terrestrial reference indicating device that comprises in this packet, thereby can be according to this attribute information, the destination that arrives, electronic chart obtains guidance path, processing module according to this guidance path and expression guider reference direction towards electric signal generate the navigation information of indication user working direction, and export navigation information the output of to navigation information efferent and play.
In addition, the signal strength values of the packet that the processing module of guider of the present invention also can send according to a plurality of terrestrial reference indicating devices is known the distance of guider and those terrestrial reference indicating devices, and knows the particular location of guider according to the attribute information in this distance, the packet, electronic chart.Above-mentioned guider can generate guidance path and navigation information according to this particular location.
For further guaranteeing the validity of signal, data transmission between terrestrial reference indicating device and guider, guider also comprises Error Control module.As shown in Figure 2, this Error Control module cooperates the wireless signal transceiver module that its data of receiving are tested, and whether check data is correct.Error Control module adopts the CRC16 verification, the packet of receiving all is CHECKSUM handles.Result after processing module is checked according to Error Control module controls the wireless signal transceiver module and whether receives data, if the assay of Error Control module is correct, then processing module just sends command request wireless signal transceiver module and receives this data; If the assay of Error Control module is incorrect, processing module is made corresponding processing, and control wireless signal transceiver module does not receive these data.
Seeing also shown in Figure 3ly, is the workflow diagram of guider of the present invention, and the air navigation aid of guider of the present invention in navigational system is as follows:
A0, the zone in the scope of heading is divided, and the terrestrial reference indicating device is set in divided regions;
A1, user control unit reception user import, indication will arrive the operational order of destination, and exports this operational order to processing module;
A2, guider carry out signal detection by the wireless signal transceiver module to the terrestrial reference indicating device, send the packet of the nearest terrestrial reference indicating device transmission of the signal strength values judgement of packet and reception and guider according to the terrestrial reference indicating device;
A3, guider carry out verification and analysis to this packet, find wrongly as this packet verification, then carry out steps A 2 or steps A 3 again, as this packet through the verification inerrancy, then analyze packet, obtain the attribute information of the terrestrial reference indicating device of storing in the packet;
A4, according to attribute information, the destination that will arrive and the electronic chart of the nearest terrestrial reference indicating device of guider, the processing module acquisition residing position of user of above-mentioned guider and the user goes to the destination from residing position guidance path;
A5, direction acquisition module obtain guider reference direction towards, should towards as the user current towards, and with this reference direction towards electric signal send to processing module, processing module generates user's working direction along guidance path when the current location according to guidance path, and will be somebody's turn to do along the working direction and the user of guidance path current towards comparing, generate the user current towards the time answer working direction, export this working direction to image output module and/or audio frequency output module as navigation information.
Particularly, above-mentioned air navigation aid can also may further comprise the steps:
With the preceding attribute information that once obtains as a variable storage in the storage unit of guider, behind the attribute information that obtains with the nearest terrestrial reference indicating device of guider, whether contrast this current attribute information that obtains identical with the preceding attribute information that once obtains, the identical steps A 2 of then carrying out again is as the steps A 4 of then carrying out inequality;
With the preceding attribute information that once obtains as a variable storage in the storage unit of guider, processing module receives the packet that terrestrial reference indicating device current and that guider is nearest sends, and after obtaining its attribute information, again according to the attribute information of the terrestrial reference indicating device of the attribute information of the preceding terrestrial reference indicating device of storing in the variable that once receives and current reception, obtain user's current path, processing module is according to current path, the destination that arrives, electronic chart and user position generate the guidance path that is fit to from user present position to destination.
After image output module and/or audio frequency output module display the play navigation information, the prompting of processing module control guider whether reset navigation information or end.
Wireless signal transceiver module of the present invention is to be 1394 interface modules, bluetooth module, infrared transceiver module or Wireless USB interface module etc.Use (for example infrared transceiver module) when data transfer direction had the wireless signal transceiver of qualification at wireless signal transceiver module of the present invention, above-mentioned air navigation aid also comprises: guider is not received the packet of terrestrial reference indicating device transmission in setting-up time after, shift the step of the data transfer direction of wireless signal transceiver module.
Seeing also shown in Figure 4ly, is that terrestrial reference indicating device of the present invention is provided with position view, and wherein, the terrestrial reference indicating device is arranged at each zone to have on the position of prompting meaning.As shown in Figure 4, when the user is in the H point, the packet that signal strength values is selected and the nearest terrestrial reference indicating device of receiving range guider sends of the packet that the processing module of guider is sent according to the terrestrial reference indicating device that is arranged at A2, A6, A7 zone, can generate nearest guidance path according to destination information, the electronic chart of the attribute information in the packet, user input then, then according to guider reference direction towards and guidance path generate the navigation information of indication user working direction.In addition, above-mentioned guider is to guarantee still can generate navigation information exactly under the situation of the irregular distribution of locating area, the variable that it stores the attribute information that is used to write down last terrestrial reference indicating device carries out data analysis thereby be beneficial to guider more, and obtains best path.
Particularly, above-mentioned user control unit receives the instruction of the destination information that the user sends by speech identifying function, also can receive the instruction of the destination information that the user will arrive by button or touch-screen.
Claims (5)
1, a kind of air navigation aid of navigating in the zonule comprises guider and terrestrial reference indicating device, it is characterized in that it may further comprise the steps:
A0, the zone in the scope of heading is divided, and the terrestrial reference indicating device that tool outwards sends wireless signal is set in divided regions;
The user control unit reception user of A1, guider imports, indication will arrive the operational order of destination, and this operational order be exported to the processing module of guider;
The wireless signal transceiver module of A2, guider carries out signal detection to the terrestrial reference indicating device, sends the packet of the nearest terrestrial reference indicating device transmission of the signal strength values judgement of packet and reception and guider according to the terrestrial reference indicating device;
A3, guider carry out verification and analysis to this packet, find wrongly as this packet verification, then carry out steps A 2 or steps A 3 again, as this packet through the verification inerrancy, then analyze packet, obtain the attribute information of the terrestrial reference indicating device of storing in the packet;
A4, according to attribute information, the destination that will arrive and the electronic chart of the nearest terrestrial reference indicating device of guider, the processing module acquisition residing position of user of above-mentioned guider and the user goes to the destination from residing position guidance path;
The direction acquisition module of A5, guider obtain guider reference direction towards, should towards as the user current towards, and with this reference direction towards electric signal send to processing module, processing module generates user's working direction along guidance path when the current location according to guidance path, and will be somebody's turn to do along the working direction and the user of guidance path current towards comparing, generate the user current towards the time answer working direction, export this working direction to image output module and/or audio frequency output module as navigation information.
2, air navigation aid of navigating in the zonule according to claim 1 is characterized in that in the steps A 3 further comprising the steps of:
With the preceding attribute information that once obtains as a variable storage in the storage unit of guider, after analyzing packet and obtaining attribute information with the nearest terrestrial reference indicating device of guider, whether contrast this current attribute information that obtains identical with the preceding attribute information that once obtains, the identical steps A 2 of then carrying out again is as the steps A 4 of then carrying out inequality.
3, air navigation aid of navigating in the zonule according to claim 1 is characterized in that in the steps A 5 further comprising the steps of:
With the preceding attribute information that once obtains as a variable storage in the storage unit of guider, processing module receives the packet that terrestrial reference indicating device current and that guider is nearest sends, and after obtaining its attribute information, again according to the attribute information of the terrestrial reference indicating device of the attribute information of the preceding terrestrial reference indicating device of storing in the variable that once receives and current reception, obtain user's current path, processing module is according to current path, the destination that arrives, electronic chart and user position generate the guidance path that is fit to from user present position to destination.
4, air navigation aid of in the zonule, navigating according to claim 1, it is further comprising the steps of to it is characterized in that steps A 5 backs:
Navigation information or the end of displaying the play of whether resetting of processing module control image output module and/or audio frequency output module.
5, air navigation aid of navigating in the zonule according to claim 1 is characterized in that in the steps A 2 further comprising the steps of: do not detecting the data transfer direction that shifts the wireless signal transceiver module after the terrestrial reference indicating device sends packet.
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| CNA200610089457XA CN101097150A (en) | 2006-06-28 | 2006-06-28 | Navigation method used for navigation in small region |
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| CN102829788A (en) * | 2012-08-27 | 2012-12-19 | 北京百度网讯科技有限公司 | Live action navigation method and live action navigation device |
| CN102937452A (en) * | 2012-10-26 | 2013-02-20 | 北京百度网讯科技有限公司 | Navigation method, apparatus and system based on image information code |
| CN103379620A (en) * | 2012-04-19 | 2013-10-30 | 国民技术股份有限公司 | Positioning method and positioning system |
| CN103900582A (en) * | 2012-12-25 | 2014-07-02 | 上海博泰悦臻电子设备制造有限公司 | Residential quarter map recording method and system |
| WO2014101426A1 (en) * | 2012-12-26 | 2014-07-03 | 华为技术有限公司 | Transportation navigation method and device |
| CN104359474A (en) * | 2014-10-27 | 2015-02-18 | 同辉佳视（北京）信息技术股份有限公司 | Rapid way finding positioning method and shopping guide machine |
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| CN106840158A (en) * | 2016-12-12 | 2017-06-13 | 杭州视氪科技有限公司 | A kind of visually impaired people's indoor navigation system and method based on Wi Fi and attitude angle transducer |
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| CN105208526A (en) * | 2015-08-27 | 2015-12-30 | 苏州触达信息技术有限公司 | Positioning method and system in predetermined space |
| WO2017128071A1 (en) * | 2016-01-26 | 2017-08-03 | 段春燕 | Method for displaying technical information when prompting route, and prompting system |
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| CN106205161A (en) * | 2016-07-09 | 2016-12-07 | 腾讯科技（深圳）有限公司 | traffic information transmission method and device |
| CN106840158A (en) * | 2016-12-12 | 2017-06-13 | 杭州视氪科技有限公司 | A kind of visually impaired people's indoor navigation system and method based on Wi Fi and attitude angle transducer |
| CN106840158B (en) * | 2016-12-12 | 2019-11-22 | 杭州视氪科技有限公司 | A kind of visually impaired people's indoor navigation system based on Wi-Fi and attitude angle transducer |
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Effective date of registration: 20100517 Address after: 100080, International Building, No. 58 West Fourth Ring Road, Haidian District, Beijing, 10 floor Applicant after: Beijing Huaqi Information & Digital Technology Co., Ltd. Address before: 100080 Beijing, North Fourth Ring Road West, No. 58, International Building, ideal level 11, Applicant before: Beijing Huaqi Information & Digital Technology Co., Ltd. Co-applicant before: Shanghai Aigo Digital Technology Co., Ltd. |
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Open date: 20080102 |