CN104977003A - Indoor people search method, cloud server, and system based on shared track - Google Patents

Indoor people search method, cloud server, and system based on shared track Download PDF

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Publication number
CN104977003A
CN104977003A CN201510366240.8A CN201510366240A CN104977003A CN 104977003 A CN104977003 A CN 104977003A CN 201510366240 A CN201510366240 A CN 201510366240A CN 104977003 A CN104977003 A CN 104977003A
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target terminal
indoor
terminal
run trace
cloud server
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Inventor
郭得科
滕晓强
周晓磊
刘忠
刘云飞
苑博
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National University of Defense Technology
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National University of Defense Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The invention discloses an indoor people search method based on shared track. The method comprises the following steps: obtaining the motion data of a target terminal in real time; determining the indoor traveling track of the target terminal according to the obtained motion data of the target terminal; and sharing the indoor traveling track with other terminals or designated terminals to navigate the other terminals or designated terminals to the current position of the target terminal. The invention also discloses an indoor people search cloud server and system based on shared track. The provided indoor people search method, cloud server, and system based on shared track can precisely and rapidly find the people indoor.

Description

Based on the indoor looking-for-person method of shared track, cloud server and system
Technical field
The present invention relates to indoor positioning technologies field, refer to a kind of indoor looking-for-person method based on shared track, cloud server and system especially.
Background technology
Indoor public environment such as market, office building, airport, railway station are the inevitable zones of action of people.Research shows, people spend the time of 80% to live in indoor every day, and the service based on indoor location seems particularly important.Indoor positioning adopts the multiple technologies such as wireless telecommunications, architecture, inertial navigation location to realize the location, position in the interior space such as personnel, object.Early stage indoor positioning technologies is mainly realized by the hardware device that deployment is special, such as infrored equipment, acoustic wave device, visual apparatus, radio frequency transmitter and sniffer etc.These class methods are by the known positioning signal source in position, received the signal from each positioning signal source by locating terminal and use specific distance-finding method to measure mutual distance, determining the locus of object eventually through the even polygon localization method in three limits.Although these methods achieve good indoor positioning effect, but depend on expensive certain hardware device due to it, significantly increase the cost overhead of location, and deployment difficulty is excessive, thus lack the feasibility of reality.
Always run into the sight looking for people in daily life, such as, make an appointment in strange city and friend, two people walk around at same solitary building reason pocket, but can not find the particular location of the other side all the time; When you need the office space arriving new client as early as possible to talk, in the face of complete unfamiliar building, may stop over and to meet with client thus to cause unnecessary loss.
For above problem, not yet there is effective solution at present.
Summary of the invention
In view of this, the object of the invention is to propose a kind of indoor looking-for-person method based on shared track, cloud server and system, indoor missing can be completed accurately and rapidly.
Based on the above-mentioned purpose indoor looking-for-person method based on shared track provided by the invention, comprising:
The exercise data of Real-time Obtaining target terminal;
According to the exercise data of Real-time Obtaining target terminal, determine the indoor run trace of target terminal;
Share the indoor run trace of this target terminal to other-end or designated terminal, navigate to the current location of target terminal for it.
In some embodiments, the directional data of the acceleration information of the built-in accelerometer of target terminal and the built-in gyroscope of target terminal and compass is comprised from the exercise data of target terminal Real-time Obtaining;
The described exercise data according to Real-time Obtaining target terminal, determine that the step of the indoor run trace of target terminal then also comprises:
The Stride length and frequency of target terminal is calculated according to the acceleration information of accelerometer;
The direction of motion of target terminal is calculated according to the directional data of gyroscope and compass;
According to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain indoor run trace.
In some embodiments, the described initial position according to target terminal and inceptive direction, in conjunction with Stride length and frequency, direction of motion, the step obtaining indoor run trace then also comprises:
According to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain the positional information of each step of target terminal;
The positional information of each step of target terminal is mated with indoor map point of interest;
The matched position information of each step coupling of target terminal obtained, is presented in indoor map in real time, forms the indoor run trace of the matched position information with each step.
In some embodiments, described method also comprises:
Obtain the current location information of designated terminal and the point of interest topological map of indoor map;
The shortest path from the current location of designated terminal to target terminal current location is calculated by path planning algorithm;
This shortest path is returned to designated terminal and be used for navigation.
Another aspect of the present invention additionally provides a kind of indoor missing cloud server based on shared track, comprising:
Data acquisition module, for the exercise data of Real-time Obtaining target terminal;
Track module, for the target terminal exercise data according to Real-time Obtaining, determines the indoor run trace of this target terminal;
Sharing module, for sharing the indoor run trace of this target terminal to other-end or designated terminal, navigates to the current location of target terminal for it;
Archive module, for storing the exercise data of the terminal of Real-time Obtaining and indoor run trace thereof.
In some embodiments, described data acquisition module comprises the directional data of the acceleration information of the built-in accelerometer of target terminal and the built-in gyroscope of target terminal and compass from the exercise data of target terminal Real-time Obtaining;
Described track module is then also for calculating the Stride length and frequency of target terminal according to the acceleration information of accelerometer; The direction of motion of target terminal is calculated according to the directional data of gyroscope and compass; And, according to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain indoor run trace.
In some embodiments, described track module, also for according to the initial position of target terminal and inceptive direction, in conjunction with Stride length and frequency, direction of motion, obtains positional information of each step of target terminal; The positional information of each step of target terminal is mated with indoor map point of interest; And the matched position information of each step coupling of target terminal obtained, is presented in indoor map in real time, forms the indoor run trace of the matched position information with each step.
In some embodiments, described data acquisition module is also for the point of interest topological map of the current location information and indoor map that obtain designated terminal;
Described track module is then also for calculating the shortest path from the current location of designated terminal to target terminal current location by path planning algorithm; Described sharing module is also used for navigation for this shortest path being returned to designated terminal.
Another aspect of the present invention additionally provides a kind of indoor person finding system based on shared track, comprises at least one target terminal, at least one designated terminal, and cloud server as above;
Described target terminal is for gathering the exercise data of self and uploading to described cloud server;
Described designated terminal is used for the indoor run trace from cloud server receiving target terminal and navigates to target terminal according to this indoor run trace.
In some embodiments, described target terminal comprises accelerometer and gyroscope.
As can be seen from above, indoor looking-for-person method based on shared track provided by the invention, cloud server and system, by obtaining the exercise data of its Real-time Collection from target terminal, given initial position and inceptive direction, the user A utilizing inertial navigation technology to obtain holding target terminal the public interior space run trace and utilize pixel value to mate with indoor map; Again indoor run trace real-time for user A is shared to other users of the user B holding designated terminal or more; Also arrange and the shared key uploaded by obtaining target terminal simultaneously, thus make the user B holding designated terminal utilize the run trace of shared key download user A, impact point is navigated to from current location based on indoor point of interest topological map, under the prerequisite ensureing privacy of user, substantially increase indoor and seek human efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram of the embodiment of the indoor looking-for-person method based on shared track provided by the invention;
Fig. 2 is the inertial navigation method process flow diagram of the embodiment of the indoor looking-for-person method based on shared track provided by the invention;
Fig. 3 is the cloud service process flow diagram of the embodiment of the indoor looking-for-person method based on shared track provided by the invention;
Fig. 4 a is the indoor map exemplary plot with point of interest of the embodiment of the indoor looking-for-person method based on shared track provided by the invention;
Fig. 4 b is the path planning exemplary plot based on topological map of the embodiment of the indoor looking-for-person method based on shared track provided by the invention;
Fig. 5 is the topology example figure of the embodiment of the indoor missing cloud server based on shared track provided by the invention;
Fig. 6 is the topology example figure of the embodiment of the indoor person finding system based on shared track provided by the invention.
Embodiment
Clearly understand for making the object, technical solutions and advantages of the present invention, below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention carry out further clear, complete, describe in detail, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of protection of the invention.
It should be noted that, in the embodiment of the present invention, the statement of all uses " first " and " second " is all the parameters in order to the entity or non-equal distinguishing two same names non-equal, visible " first " " second " convenience only in order to state, should not be construed as the restriction to the embodiment of the present invention, subsequent embodiment illustrates no longer one by one to this.
As shown in Figure 1, be the process flow diagram of the embodiment of the indoor looking-for-person method based on shared track provided by the invention.
The described indoor looking-for-person method based on shared track, mainly comprises following step:
Step 101: the exercise data of Real-time Obtaining target terminal;
Step 102: according to the exercise data of Real-time Obtaining target terminal, determines the indoor run trace of target terminal;
Step 103: the indoor run trace sharing this target terminal to other-end or designated terminal, navigates to the current location of target terminal for it.
Further, the target terminal exercise data got utilizes inertial navigation method to calculate the indoor run trace holding the sporter of target terminal, in the motion process of sporter holding target terminal, the target terminal that sporter holds carries out motion path intelligence sample by motion sensor according to fixing sample frequency f, wherein: the acceleration information comprising the built-in accelerometer of target terminal from the exercise data of the motion sensor Real-time Obtaining of target terminal, the directional data of the gyroscope that target terminal is built-in and compass.
As shown in Figure 2, the described exercise data according to Real-time Obtaining target terminal, determine that the step 102 item of the indoor run trace of target terminal also can comprise further:
Step 201: the Stride length and frequency calculating target terminal according to the acceleration information of accelerometer;
Determine user's step number according to the acceleration information that accelerometer measures obtains, remove the high frequency noise in measurement data by low-pass filter, carry out numerical value denoising at operation Kalman filter algorithm; The maximum value of acceleration within the scope of Measuring Time and minimal value is identified by Wave crest and wave trough detection method, and according to adjacent Min-max, differentiate whether the sporter holding target terminal takes a step with adaptive threshold method, whenever judging that the sporter holding target terminal steps a step, passometer adds 1, and the total step number that the sporter holding target terminal advances in Measuring Time is designated as N; Adaptive threshold method can be judged to the acceleration range that strides to be obtained the decision procedure that strides of optimum special exercise person at short notice by limited distance according to the walking posture of sporter and habit modification effectively;
Stride length and frequency linear relationship is utilized to measure user step-length A, i.e. A i=af (i)+b.Wherein, i is step number, and a, b are the paces parameter of sporter, can be determined by the linear regression of sampled data.
Step 202: the direction of motion calculating target terminal according to the directional data of gyroscope and compass;
The effect of compass, mainly for inertial navigation method provides inceptive direction, then utilizes gyroscope to carry out the estimation of direction of travel in inertial navigation method position fixing process afterwards, therefore, and the determination of inceptive direction:
Hold the incipient stage of sporter in location of target terminal, obtain absolute direction in the current residing indoor environment of user (i.e. personnel under the world coordinate system of compass acquisition towards) by obtaining compass data, the inceptive direction based on inertial navigation method is provided.Hold the sporter of target terminal in motion process, target terminal (can be arbitrary portable intelligent device) determines the angle change of sporter in traveling process by the rreturn value obtaining gyroscope survey, and the inceptive direction this angle situation of change and the sporter holding target terminal to have obtained move is superimposed, the absolute motion direction of acquisition target terminal; When target terminal does not obtain the target terminal inceptive direction that oriented terrestrial reference provides, then relative angle can only be calculated; In the process stepping a step, i.e. t 0~ t na time integral in time calculates the angle change α in user i-th step process i, can be calculated the position (x of user's kth+1 step k+1, y k+1),
Wherein, x k + 1 = x k + A k + 1 · c o s α k + 1 y k + 1 = y k + A k + 1 · sinα k + 1 .
Step 203: according to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain indoor run trace;
The integration of the angle change that often strides recorded by gyroscope can determine the current direct of travel holding the sporter of target terminal; To directional information, step-length be obtained in conjunction with the positional information (x of the current step of current kinetic person k, y k), can next step positional information (x of setting movement person k+1, y k+1).So can obtain user in indoor run trace; In addition, indoor run trace adopts picture pixels value to represent, namely (x, y) is indoor picture pixels value.
Wherein, the key difficulties utilizing inertial navigation method to calculate indoor run trace is the determination of initial position and inceptive direction; The current initial position of inertial navigation method and the inceptive direction of utilizing is that the position that utilizes building entrance place gps signal to disappear and compass are determined, but the precision of initial position and inceptive direction is not high, the positioning precision that directly impact is follow-up.In order to head it off, can choose indoor point of interest (stair, elevator, doorway etc.) as initial position, point of interest so directly demarcates in indoor map, and positioning precision is higher.In addition, when people go out elevator & stairs, doorway, the direction of advance be in most cases into go out both direction, thus the error that compass produces is calibrated, improves the precision of inceptive direction.
Further, the described initial position according to target terminal and inceptive direction, in conjunction with Stride length and frequency, direction of motion, the step 203 item obtaining indoor run trace also can comprise further:
Step 301: according to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtains the positional information of each step of target terminal;
Step 302: the positional information of each step of target terminal is mated with indoor map point of interest;
Step 303: the matched position information of each step coupling of target terminal obtained, is presented in indoor map in real time, forms the indoor run trace of the matched position information with each step.
Utilize picture pixels value uniquely to determine the absolute coordinates of indoor point of interest in indoor map, belong to artificial demarcation mode.Utilize the indoor point of interest extensively existed, the run trace of the sporter holding target terminal mated with indoor map, real-time is presented at the current location of target terminal in indoor map.In the process of coupling, there will be matching error, be defined as error; The coordinate defining indoor point of interest (i) is coordinate that user is in point of interest i is to utilize inertial navigation method to orient euclidean distance is so utilized to carry out metrics match error e rror, namely matching optimization target minimizes error to obtain the indoor run trace of accurately user.The computing formula of error is as follows:
Be error to i-th interest points matching error i, optimization aim is:
m i n Σ i = 1 n error i
Wherein, i=1,2 ..., n, n are the quantity of indoor map point of interest.
Described error optimization method adopts genetic algorithm to solve, and specifically can adopt following steps:
(1) chromosome coding
In this programme, the matching error of each point of interest adopts m gene to represent, namely suppose in the specific interior space, the matching error maximal value of two points of interest is 2 mrice.M really normal root determines according to the ultimate range between the size of the interior space and two points of interest.So, chromosomal number just has 2 mkind.
(2) genetic algorithm parameter is determined
P c=0.7 (exchange 2 chromosomal portion genes selected with this probability, produce 2 offsprings)
P m=0.001 (changing the genic value of 2 offsprings with this probability at random)
(3) fitness function is determined
Fitness function is optimization aim:
Σ i = 1 n error i
Preferably, the described indoor looking-for-person method based on shared track also comprises:
Obtain the current location information of designated terminal and the point of interest topological map of indoor map;
The shortest path from the current location of designated terminal to target terminal current location is calculated by path planning algorithm;
This shortest path is returned to designated terminal and be used for navigation.
Because the indoor run trace of the target terminal shared is mated with indoor map, calculate from user B (designated terminal) current location to the shortest path of user A (target terminal) current location by path planning algorithm based on point of interest topological map.
Point of interest topological map construction method is: first marked in indoor map by the point of interest of indoor map, gives pixel coordinate value, (x, y); Distance between every a pair point of interest is recorded by inertial navigation method; Point of interest topological relation is as shown in Figs. 4a and 4b.
Based on the current location of user B and the current location of user A, run dijkstra's algorithm and calculate shortest path, navigation user B is to the position of user A.
As can be seen from above-described embodiment, indoor looking-for-person method based on shared track provided by the invention, by obtaining the exercise data of its Real-time Collection from target terminal, given initial position and inceptive direction, the user A utilizing inertial navigation technology to obtain holding target terminal the public interior space run trace and utilize pixel value to mate with indoor map; Again indoor run trace real-time for user A is shared to other users of the user B holding designated terminal or more; Also arrange and the shared key uploaded by obtaining target terminal simultaneously, thus make the user B holding designated terminal utilize the run trace of shared key download user A, impact point is navigated to from current location based on indoor point of interest topological map, under the prerequisite ensureing privacy of user, substantially increase indoor and seek human efficiency.
It is pointed out that the indoor run trace set forth in the embodiment of the present invention refers to the run trace on two dimensional surface, the co-ordinate position information of point of interest is also all be limited to positional information on two dimensional surface and range information.As having the indoor public space of multi-story structure, aspect should set up multiple plane at various height, the method that can the present invention be used respectively to set forth in each plane carries out missing, all should avoid mutual interference between the track in Different Plane, between user.
Another aspect of the present invention, provides a kind of indoor missing cloud server based on shared track.With reference to accompanying drawing 5, be the topology example figure of the embodiment of the indoor missing cloud server based on shared track provided by the invention.
As shown in Figure 5, the described indoor missing cloud server 400 based on shared track, comprising:
Data acquisition module 401, for the exercise data of Real-time Obtaining target terminal;
Track module 402, for the target terminal exercise data according to Real-time Obtaining, determines the indoor run trace of this target terminal;
Sharing module 403, for sharing the indoor run trace of this target terminal to other-end or designated terminal, navigates to the current location of target terminal for it;
Archive module 404, for storing the exercise data of the terminal of Real-time Obtaining and indoor run trace thereof.
Further, the target terminal exercise data got utilizes inertial navigation method to calculate the indoor run trace holding the sporter of target terminal, in the motion process of sporter holding target terminal, the target terminal that sporter holds carries out motion path intelligence sample by motion sensor according to fixing sample frequency f, wherein: the acceleration information comprising the built-in accelerometer of target terminal from the exercise data of the motion sensor Real-time Obtaining of target terminal, the directional data of the gyroscope that target terminal is built-in and compass;
Described track module 402 is also for calculating the Stride length and frequency of target terminal according to the acceleration information of accelerometer; Determine user's step number according to the acceleration information that accelerometer measures obtains, remove the high frequency noise in measurement data by low-pass filter, carry out numerical value denoising at operation Kalman filter algorithm; The maximum value of acceleration within the scope of Measuring Time and minimal value is identified by Wave crest and wave trough detection method, and according to adjacent Min-max, differentiate whether the sporter holding target terminal takes a step with adaptive threshold method, whenever judging that the sporter holding target terminal steps a step, passometer adds 1, and the total step number that the sporter holding target terminal advances in Measuring Time is designated as N; Adaptive threshold method can be judged to the acceleration range that strides to be obtained the decision procedure that strides of optimum special exercise person at short notice by limited distance according to the walking posture of sporter and habit modification effectively;
Stride length and frequency linear relationship is utilized to measure user step-length A, i.e. A i=af (i)+b.Wherein, i is step number, and a, b are the paces parameter of sporter, can be determined by the linear regression of sampled data.
Described track module 402 is also for calculating the direction of motion of target terminal according to gyrostatic directional data; The effect of compass is mainly for inertial navigation method provides inceptive direction, gyroscope is then utilized to carry out the estimation of direction of travel in inertial navigation method position fixing process afterwards, therefore, the determination of inceptive direction: the incipient stage of sporter in location holding target terminal, obtain absolute direction in the current residing indoor environment of user (i.e. personnel under the world coordinate system of compass acquisition towards) by obtaining compass data, the inceptive direction based on inertial navigation method is provided.Hold the sporter of target terminal in motion process, target terminal (can be arbitrary portable intelligent device) determines the angle change of sporter in traveling process by the rreturn value obtaining gyroscope survey, and the inceptive direction this angle situation of change and the sporter holding target terminal to have obtained move is superimposed, the absolute motion direction of acquisition target terminal; When target terminal does not obtain the target terminal inceptive direction that oriented terrestrial reference provides, then relative angle can only be calculated; In the process stepping a step, i.e. t 0~ t na time integral in time calculates the angle change α in user i-th step process i, can be calculated the position (x of user's kth+1 step k+1, y k+1), wherein,
x k + 1 = x k + A k + 1 · c o s α k + 1 y k + 1 = y k + A k + 1 · sinα k + 1 .
And described track module 402 also for according to the initial position of target terminal and inceptive direction, in conjunction with Stride length and frequency, direction of motion, obtains indoor run trace; The integration of the angle change that often strides recorded by gyroscope can determine the current direct of travel holding the sporter of target terminal; To directional information, step-length be obtained in conjunction with the positional information (x of the current step of current kinetic person k, y k), can next step positional information (x of setting movement person k+1, y k+1).So can obtain user in indoor run trace; In addition, indoor run trace adopts picture pixels value to represent, namely (x, y) is indoor picture pixels value.
Wherein, the key difficulties utilizing inertial navigation method to calculate indoor run trace is the determination of initial position and inceptive direction; The current initial position of inertial navigation method and the inceptive direction of utilizing is that the position that utilizes building entrance place gps signal to disappear and compass are determined, but the precision of initial position and inceptive direction is not high, the positioning precision that directly impact is follow-up.In order to head it off, can choose indoor point of interest (stair, elevator, doorway etc.) as initial position, point of interest so directly demarcates in indoor map, and positioning precision is higher.In addition, when people go out elevator & stairs, doorway, the direction of advance be in most cases into go out both direction, thus the error that compass produces is calibrated, improves the precision of inceptive direction.
Further, described track module 402, also for according to the initial position of target terminal and inceptive direction, in conjunction with Stride length and frequency, direction of motion, obtains positional information of each step of target terminal; The positional information of each step of target terminal is mated with indoor map point of interest; And the matched position information of each step coupling of target terminal obtained, is presented in indoor map in real time, forms the indoor run trace of the matched position information with each step.
Utilize picture pixels value uniquely to determine the absolute coordinates of indoor point of interest in indoor map, belong to artificial demarcation mode.Utilize the indoor point of interest extensively existed, the run trace of the sporter holding target terminal mated with indoor map, real-time is presented at the current location of target terminal in indoor map.In the process of coupling, there will be matching error, be defined as error; The coordinate defining indoor point of interest (i) is coordinate that user is in point of interest i is to utilize inertial navigation method to orient euclidean distance is so utilized to carry out metrics match error e rror, namely matching optimization target minimizes error to obtain the indoor run trace of accurately user.The computing formula of error is as follows:
Be error to i-th interest points matching error i, optimization aim is:
m i n Σ i = 1 n error i
Wherein, i=1,2 ..., n, n are the quantity of indoor map point of interest.
Described error optimization method adopts genetic algorithm to solve, and specifically can adopt following steps:
(1) chromosome coding
In this programme, the matching error of each point of interest adopts m gene to represent, namely suppose in the specific interior space, the matching error maximal value of two points of interest is 2 mrice.M really normal root determines according to the ultimate range between the size of the interior space and two points of interest.So, chromosomal number just has 2 mkind.
(2) genetic algorithm parameter is determined
P c=0.7 (exchange 2 chromosomal portion genes selected with this probability, produce 2 offsprings)
P m=0.001 (changing the genic value of 2 offsprings with this probability at random)
(3) fitness function is determined
Fitness function is optimization aim:
Σ i = 1 n error i
Preferably, described data acquisition module 401 is also for the point of interest topological map of the current location information and indoor map that obtain designated terminal;
Described track module 402 is also for calculating the shortest path from the current location of designated terminal to target terminal current location by path planning algorithm; Described sharing module 403 is also used for navigation for this shortest path being returned to designated terminal.
Because the indoor run trace of the target terminal shared is mated with indoor map, calculate from user B (designated terminal) current location to the shortest path of user A (target terminal) current location by path planning algorithm based on point of interest topological map.
Point of interest topological map construction method is: first marked in indoor map by the point of interest of indoor map, gives pixel coordinate value, (x, y); Distance between every a pair point of interest is recorded by inertial navigation method; Point of interest topological relation is as shown in Figs. 4a and 4b.
Based on the current location of user B and the current location of user A, run dijkstra's algorithm and calculate shortest path, navigation user B is to the position of user A.
As can be seen from above-described embodiment, indoor missing cloud server based on shared track provided by the invention, by obtaining the exercise data of its Real-time Collection from target terminal, given initial position and inceptive direction, the user A utilizing inertial navigation technology to obtain holding target terminal the public interior space run trace and utilize pixel value to mate with indoor map; Again indoor run trace real-time for user A is shared to other users of the user B holding designated terminal or more; Also arrange and the shared key uploaded by obtaining target terminal simultaneously, thus make the user B holding designated terminal utilize the run trace of shared key download user A, impact point is navigated to from current location based on indoor point of interest topological map, under the prerequisite ensureing privacy of user, substantially increase indoor and seek human efficiency.
Described cloud server 400, can adopt Baidu's Cloud Server.Baidu's Cloud Server is a comparatively stable cloud server; By using Baidu cloud, can conveniently realize data syn-chronization function between user, what better realize between user is mutual.In order to meet the demand of more users, oneself path shared can be uploaded by cloud between user, also can download other people path, find you to want the people looked for.
This method embodiment can adopt the data storage function in Frontia.Frontia is the service based on MBaaS (namely rear end is served: Backend as a Service) that the open cloud of Baidu provides for developer.Baidu's cloud service flow process based on this application comprises: application application permission, and establishment engineering is test, obtains the API Key of this engineering, creates Bucket, uploading data, store data, downloading data.
It is pointed out that the indoor run trace set forth in the present invention refers to the run trace on two dimensional surface, the co-ordinate position information of point of interest is also all be limited to positional information on two dimensional surface and range information.As having the indoor public space of multi-story structure, aspect should set up multiple plane at various height, the method that can the present invention be used respectively to set forth in each plane carries out missing, all should avoid mutual interference between the track in Different Plane, between user.
With reference to accompanying drawing 6, be the topology example figure of the embodiment of the indoor person finding system based on shared track provided by the invention.
The described indoor person finding system based on shared track, comprises at least one target terminal, at least one designated terminal, and the cloud server as described in above-described embodiment;
Described target terminal is for gathering the exercise data of self and uploading to described cloud server;
Described designated terminal is used for the indoor run trace from cloud server receiving target terminal and navigates to target terminal according to this indoor run trace.
The embodiment of the indoor person finding system based on shared track provided by the invention, relate to indoor positioning technologies, this system comprises the indoor map respectively as storing at least two intelligent terminals of target terminal and designated terminal, cloud server, cloud server.The function of system utilizes the track shared between user, realizes the people that user under indoor common scene finds track shared with it.Method comprises: a) user A carries target terminal in indoor walking, and target terminal gathers the exercise data of user, is uploaded to cloud server; B) after cloud server receives exercise data, run the indoor orientation method based on inertial navigation, obtain the indoor run trace of user A; C) the indoor run trace of user A is stored in cloud server, utilizes cloud server sharing functionality to share to formulation terminal entrained by designated user B; D) user B (after may be selected to be input validation password) can the indoor run trace of download user A, navigates to the site of user A from the current location of user B.Present system can be applicable in the location Based service such as good friend finds, position is shared.
Further, described target terminal comprises accelerometer, gyroscope, magnetometer, is respectively used to gather the reading of motion sensor built-in separately.
As can be seen from above-described embodiment, indoor person finding system based on shared track provided by the invention, by obtaining the exercise data of user A, utilize inertial navigation method to calculate the run trace of user A, and be uploaded to after high in the clouds is mated with the topological indoor map based on point of interest and share to other users; Be shared the track data of user B by download user A of track, utilize paths planning method to navigate to the position of user A from the current location of user B, realize indoor missing function.
In conjunction with the described indoor person finding system based on shared track, introduce a kind of indoor looking-for-person method based on shared track below.
The object of the described indoor person finding system based on shared track utilizes the track shared between user, realizes the people that user under indoor common scene finds track shared with it.For achieving the above object, the step of the indoor looking-for-person method technical solution of the described indoor person finding system based on shared track comprises:
Step is a): user A carries target terminal in indoor walking, and target terminal gathers the exercise data of user, is uploaded to cloud server;
Step b): after cloud server receives the exercise data of target terminal, run the indoor orientation method (the concrete method adopting another above-mentioned indoor looking-for-person method to provide) based on inertial navigation, obtain the indoor run trace of user A;
C) the indoor run trace of user A is stored in cloud server, utilizes the sharing functionality of cloud server to share to designated terminal entrained by designated user B;
D) can the indoor run trace of download user A after user B authentication password, utilize the topological track based on point of interest to navigate to the place of user A from the current location of user B.
The indoor looking-for-person method of the described indoor person finding system based on shared track, is applicable to any large-scale public indoor scene, such as shopping center, railway station, airport, library etc.Current each big bus interior space has all installed the WAP that can get online without being tethered to a cable (Access Point, AP), and free for user, provides condition for target terminal, designated terminal communicate with cloud server.
Preferably, step a) in target terminal can adopt built-in Inertial Measurement Unit (IMU), it comprises accelerometer, gyroscope, magnetometer, and wireless communication module, such as Wi-Fi module.
Step a) in the exercise data that collects of target terminal comprise acceleration readings, angular velocity reading and magnetic data.
Step a) in, in order to ensure the positioning precision of inertial navigation, user can hand-held mobile terminal as much as possible, is beneficial to improve sensing data precision.
Step b) in the indoor run trace that obtains be stored in high in the clouds by indoor map picture pixels value.
Step c) in, utilize the sharing functionality of cloud server, the indoor run trace of user A can be shared to other designated users except the user B holding designated terminal or more user.
Step c) in, by arranging shared password, making to only have the user by checking just can download shared track, enhancing personal secrets.
Steps d) in point of interest be indoor unique point, such as: doorway, turning point, escalator, escalator, stair etc.
Steps d) in based on indoor map picture pixels value, indoor point of interest is associated, set up indoor topological map.
Steps d) in based on indoor topological map, utilize dijkstra's algorithm calculate shortest path.
Described indoor looking-for-person method is simple, can be applicable in the location Based service such as good friend finds, position is shared.
Described target terminal and designated terminal can be one or more in smart mobile phone, panel computer, notebook computer, intelligent wearable device; Above-mentioned cloud server can make Baidu's cloud, google cloud, Ali's cloud etc.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1., based on an indoor looking-for-person method for shared track, it is characterized in that, comprising:
The exercise data of Real-time Obtaining target terminal;
According to the exercise data of Real-time Obtaining target terminal, determine the indoor run trace of target terminal;
Share the indoor run trace of this target terminal to other-end or designated terminal, navigate to the current location of target terminal for it.
2. method according to claim 1, is characterized in that, comprises the directional data of the acceleration information of the built-in accelerometer of target terminal and the built-in gyroscope of target terminal and compass from the exercise data of target terminal Real-time Obtaining;
The described exercise data according to Real-time Obtaining target terminal, determine that the step of the indoor run trace of target terminal then also comprises:
The Stride length and frequency of target terminal is calculated according to the acceleration information of accelerometer;
The direction of motion of target terminal is calculated according to the directional data of gyroscope and compass;
According to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain indoor run trace.
3. method according to claim 2, is characterized in that, the described initial position according to target terminal and inceptive direction, and in conjunction with Stride length and frequency, direction of motion, the step obtaining indoor run trace then also comprises:
According to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain the positional information of each step of target terminal;
The positional information of each step of target terminal is mated with indoor map point of interest;
The matched position information of each step coupling of target terminal obtained, is presented in indoor map in real time, forms the indoor run trace of the matched position information with each step.
4. method according to claim 3, is characterized in that, also comprises:
Obtain the current location information of designated terminal and the point of interest topological map of indoor map;
The shortest path from the current location of designated terminal to target terminal current location is calculated by path planning algorithm;
This shortest path is returned to designated terminal and be used for navigation.
5., based on an indoor missing cloud server for shared track, it is characterized in that, comprising:
Data acquisition module, for the exercise data of Real-time Obtaining target terminal;
Track module, for the target terminal exercise data according to Real-time Obtaining, determines the indoor run trace of this target terminal;
Sharing module, for sharing the indoor run trace of this target terminal to other-end or designated terminal, navigates to the current location of target terminal for it;
Archive module, for storing the exercise data of the terminal of Real-time Obtaining and indoor run trace thereof.
6. cloud server according to claim 5, it is characterized in that, described data acquisition module comprises the directional data of the acceleration information of the built-in accelerometer of target terminal and the built-in gyroscope of target terminal and compass from the exercise data of target terminal Real-time Obtaining;
Described track module is then also for calculating the Stride length and frequency of target terminal according to the acceleration information of accelerometer; The direction of motion of target terminal is calculated according to the directional data of gyroscope and compass; And, according to initial position and the inceptive direction of target terminal, in conjunction with Stride length and frequency, direction of motion, obtain indoor run trace.
7. cloud server according to claim 6, is characterized in that, described track module, also for according to the initial position of target terminal and inceptive direction, in conjunction with Stride length and frequency, direction of motion, obtains positional information of each step of target terminal; The positional information of each step of target terminal is mated with indoor map point of interest; And the matched position information of each step coupling of target terminal obtained, is presented in indoor map in real time, forms the indoor run trace of the matched position information with each step.
8. cloud server according to claim 7, is characterized in that, described data acquisition module is also for the point of interest topological map of the current location information and indoor map that obtain designated terminal;
Described track module is then also for calculating the shortest path from the current location of designated terminal to target terminal current location by path planning algorithm; Described sharing module is also used for navigation for this shortest path being returned to designated terminal.
9. based on an indoor person finding system for shared track, it is characterized in that, comprise at least one target terminal, at least one designated terminal, and the cloud server as described in claim 1-6 any one;
Described target terminal is for gathering the exercise data of self and uploading to described cloud server;
Described designated terminal is used for the indoor run trace from cloud server receiving target terminal and navigates to target terminal according to this indoor run trace.
10. system according to claim 9, is characterized in that, described target terminal comprises accelerometer and gyroscope.
CN201510366240.8A 2015-06-29 2015-06-29 Indoor people search method, cloud server, and system based on shared track Pending CN104977003A (en)

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