CN106228847A - A kind of parking lot Vehicular navigation system and air navigation aid - Google Patents
A kind of parking lot Vehicular navigation system and air navigation aid Download PDFInfo
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- CN106228847A CN106228847A CN201610862057.1A CN201610862057A CN106228847A CN 106228847 A CN106228847 A CN 106228847A CN 201610862057 A CN201610862057 A CN 201610862057A CN 106228847 A CN106228847 A CN 106228847A
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- 238000012549 training Methods 0.000 claims description 60
- 238000013480 data collection Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 14
- 239000012141 concentrate Substances 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 7
- 230000001143 conditioned effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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Abstract
The application provides a kind of parking lot Vehicular navigation system and air navigation aid, wherein, described system includes: multiple wireless transceivers of distribution, the control server being connected with the plurality of wireless transceiver and the mobile terminal being arranged in vehicle in parking lot, described mobile terminal carries the wireless signal of self identification for outwards broadcast；Described wireless transceiver is for receiving the wireless signal that described mobile terminal sends, and sends the intensity of the wireless signal received to described control server；The intensity of the described control server wireless signal for sending respectively according to the plurality of wireless transceiver, determines the current location of described mobile terminal；Plan the guidance path between current location and the target parking position of described mobile terminal, and push the navigation information corresponding with described guidance path to described mobile terminal.A kind of parking lot Vehicular navigation system of the application offer and air navigation aid, it is possible in the case of external device is not installed, vehicle is navigated.
Description
Technical field
The application relates to intelligent navigation technology field, particularly to a kind of parking lot Vehicular navigation system and air navigation aid.
Background technology
Currently, along with the increase of automobile pollution, when driving to go out, the problem of parking difficulty is the most increasingly severe.For
This, current megastore, community etc. are provided with large-scale ground or underground parking mostly.Enter big for the ease of vehicle
Stopping in type parking lot, and determines the position that vehicle is stopped, and prior art typically uses photographic head mode and RF identification
(Radio Frequency Identification is called for short RFID) technology realizes.
Wherein, the mode using photographic head is to install vehicle-mounted pick-up equipment, wherein vehicle-mounted pick-up equipment on vehicle
At least include the first photographic head and the second camera being arranged at vehicle front, wherein, the first photographic head and second camera
The left and right sides of vehicle front it is installed in respectively by predetermined angle relation, when vehicle sails parking lot into, the first photographic head and
Two photographic head can shoot respectively and be attached at each beam column in parking lot or the Quick Response Code mark on wall.Thus by two dimension
Code mark is calculated geographical position character string, updates three-dimensional map data finally according to geographical position character string, and display is stopped
Navigation picture information in Chang, in order to vehicle is navigated.
And using the mode of REID is to install the car-mounted terminal of reading rfid tags on vehicle.
Read the RFID tag arranged everywhere in parking lot by this car-mounted terminal, thus position automobile location, come
Realize the navigation of vehicle.
Visible, currently to the vehicle in parking lot is navigated, generally individually need to install external equipment on vehicle,
Such as camera device, radio frequency identification equipment etc., for not installing the vehicle of external equipment, it is difficult to it is carried out parking ground navigation.
It should be noted that introduction to technical background above be intended merely to the convenient technical scheme to the application carry out clear,
Complete explanation, and facilitate the understanding of those skilled in the art to illustrate.Can not be merely because these schemes be the application's
Background section is set forth and thinks that technique scheme is known to those skilled in the art.
Summary of the invention
The purpose of the application embodiment is to provide a kind of parking lot Vehicular navigation system and air navigation aid, it is possible to not
In the case of external device is installed, vehicle is navigated.
For achieving the above object, on the one hand the application provides a kind of parking lot Vehicular navigation system, and described system includes: point
The cloth multiple wireless transceivers, the control server being connected with the plurality of wireless transceiver in parking lot and be positioned at vehicle
Interior mobile terminal, the quantity of described wireless transceiver is suitable with the scale in described parking lot, wherein: described used for mobile terminal
The wireless signal of self identification is carried in outwards broadcast；Described wireless transceiver is wireless for receive that described mobile terminal sends
Signal, and the intensity of the wireless signal received is sent to described control server；Described control server is for according to institute
State the intensity of the wireless signal that multiple wireless transceiver is sent respectively, determine the current location of described mobile terminal；Planning is described
Guidance path between current location and the target parking position of mobile terminal, and push and described navigation road to described mobile terminal
The navigation information that footpath is corresponding.
Further, described mobile terminal specifically includes: association request frame construction unit, comprises described movement for structure
The association request frame of terminal iidentification, wherein, described mobile terminal identification is filled in the specific letter of supplier of described association request frame
In breath element field；Signal radio unit, for outwards broadcasting the association request frame comprising described mobile terminal identification.
Further, described wireless transceiver specifically includes: marker extraction unit, for carrying from described association request frame
Take described mobile terminal identification；Strength determining unit, for determining that the received signal strength corresponding with described association request frame refers to
Show；Key-value pair transmitting element, for described mobile terminal identification and described received signal strength indicator being constituted key-value pair, and will
Described key-value pair sends to described control server.
Further, described control server specifically includes: signal strength data collection acquiring unit, for obtaining with described
The signal strength data collection that mobile terminal is corresponding, described signal strength data concentrate include the plurality of wireless transceiver for
The received signal strength indicator that described mobile terminal is sent；Predicting unit, for according to presetting position prediction model, determines and institute
Stating the position prediction collection that signal strength data collection is corresponding, described position prediction concentrates the prediction bits including binding mutually with probit
Put；Current location determines unit, is defined as described movement for the predicted position concentrating probit maximum described position prediction
The current location of terminal.
Further, described predicting unit specifically includes: training dataset acquisition module, for obtaining the instruction of mobile terminal
Practicing data set, described training data is concentrated and is included what the position coordinates of described mobile terminal and each wireless transceiver received
The received signal strength indicator being associated with described mobile terminal；Training position determination module, for predicting according to initial alignment
Model, determines the training position corresponding with the received signal strength indicator that described training data is concentrated；Error correction module, uses
In the error determined between described training position and the position coordinates of described mobile terminal, and according to described error to described initially
Location prediction model is corrected, so that the training position obtained according to the location prediction model prediction after correction and described shifting
Error between the position coordinates of dynamic terminal meets pre-conditioned.
Further, described training position determination module specifically includes: training position prediction collection acquisition module, for basis
Described initial alignment forecast model, determines the training position corresponding with the received signal strength indicator that described training data is concentrated
Forecast set, described training position prediction concentrates the multiple training positions including binding mutually with probit；Probit screening module, uses
The reception letter concentrated with described training data it is defined as in the training position that described training position prediction is concentrated probit maximum
The training position that the instruction of number intensity is corresponding.
For achieving the above object, another aspect of the present invention provides a kind of parking lot automobile navigation method, and described method includes:
The mobile terminal being arranged in vehicle outwards broadcasts the wireless signal carrying mobile terminal identification；Be distributed in parking lot is multiple
Wireless transceiver receives the wireless signal that described mobile terminal sends, and sends the intensity of the wireless signal received to controlling
Server；The intensity of the wireless signal that described control server is sent respectively according to the plurality of wireless transceiver, determines described
The current location of mobile terminal；Described in described control servers' layout between current location and the target parking position of mobile terminal
Guidance path, and push the navigation information corresponding with described guidance path to described mobile terminal.
Further, the mobile terminal being arranged in vehicle outwards broadcasts that to carry the wireless signal of mobile terminal identification concrete
Including: described mobile terminal builds the association request frame comprising described mobile terminal identification, and wherein, described mobile terminal identification is filled out
Fill in the vendor specific information element field of described association request frame；Described mobile terminal will comprise described mobile terminal mark
The association request frame known outwards is broadcasted.
Further, the multiple wireless transceivers being distributed in parking lot receive the wireless communication that described mobile terminal sends
Number, and the intensity transmission of the wireless signal received is specifically included to controlling server: the plurality of wireless transceiver is from institute
State and association request frame is extracted described mobile terminal identification and determines that the received signal strength corresponding with described association request frame refers to
Show；Described mobile terminal identification and described received signal strength indicator are constituted key-value pair by the plurality of wireless transceiver, and will
Described key-value pair sends to described control server.
Further, the wireless signal that described control server is sent respectively according to the plurality of wireless transceiver strong
Degree, determines that the current location of described mobile terminal specifically includes: described control server obtains corresponding with described mobile terminal
Signal strength data collection, described signal strength data concentrate include that the plurality of wireless transceiver is sent out for described mobile terminal
The received signal strength indicator come；According to presetting position prediction model, described control server determines and described signal intensity number
According to the position prediction collection that collection is corresponding, described position prediction concentrates the predicted position including binding mutually with probit；Described control
The predicted position that described position prediction is concentrated probit maximum by server is defined as the current location of described mobile terminal.
Therefore, the application is by the mobile terminal of personnel in vehicle and multiple wireless transceivers of distribution in parking lot
Between to carry out signal mutual, may thereby determine that each wireless transceiver signal intensity relative to mobile terminal.These are wireless
The intensity of signal can send to controlling server, such that it is able to determined the current location of vehicle by control server.So, institute
State control server and just can carry out path planning between target parking position and the current location of vehicle such that it is able to be not required to
Easily vehicle is navigated in the case of wanting external miscellaneous equipment.
With reference to explanation hereinafter and accompanying drawing, disclose in detail the particular implementation of the application, specify the former of the application
Reason can be in adopted mode.It should be understood that presently filed embodiment is not so limited in scope.In appended power
In the range of the spirit and terms that profit requires, presently filed embodiment includes many changes, revises and be equal to.
The feature described for a kind of embodiment and/or illustrate can be in same or similar mode one or more
Other embodiment individual uses, combined with the feature in other embodiment, or substitute the feature in other embodiment.
It should be emphasized that term " includes/comprises " existence referring to feature, one integral piece, step or assembly herein when using, but also
It is not excluded for the existence of one or more further feature, one integral piece, step or assembly or additional.
Accompanying drawing explanation
Included accompanying drawing is used for providing being further understood from the application embodiment, which constitutes the one of description
Part, is used for illustrating presently filed embodiment, and describes, with word, the principle coming together to explain the application.It should be evident that
Accompanying drawing in describing below is only some embodiments of the application, for those of ordinary skill in the art, is not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.In the accompanying drawings:
The structural representation of a kind of parking lot Vehicular navigation system that Fig. 1 provides for the application embodiment；
The flow chart of a kind of parking lot automobile navigation method that Fig. 2 provides for the application embodiment.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in the application, real below in conjunction with the application
Execute the accompanying drawing in mode, the technical scheme in the application embodiment is clearly and completely described, it is clear that described
Embodiment is only a part of embodiment of the application rather than whole embodiments.Based on the embodiment party in the application
Formula, other embodiments all that those of ordinary skill in the art are obtained under not making creative work premise, all answer
When the scope belonging to the application protection.
Referring to Fig. 1, a kind of parking lot Vehicular navigation system that the application embodiment provides may include that to be distributed in and stops
Multiple wireless transceivers 100 in parking lot, the control server 200 being connected with the plurality of wireless transceiver 100 and setting
Mobile terminal 300 in vehicle, the quantity of described wireless transceiver is suitable with the scale in described parking lot, wherein:
Described mobile terminal 300 carries the wireless signal of self identification for outwards broadcast；
Described wireless transceiver 100 is for receiving the wireless signal that described mobile terminal 300 sends, and the nothing that will receive
The intensity of line signal sends to described control server 200；
Described control server 200 is strong for the wireless signal sent respectively according to the plurality of wireless transceiver 100
Degree, determines the current location of described mobile terminal 300；Plan the current location of described mobile terminal 300 and target parking position it
Between guidance path, and push the navigation information corresponding with described guidance path to described mobile terminal 300.
In the present embodiment, mobile terminal 300 can be the passenger in vehicle or the smart mobile phone of driver, flat board electricity
Brain, intelligence wearable device etc..Can be with built-in wireless communication module in described mobile terminal 300, such that it is able to outwards broadcast is taken
Wireless signal with self identification.The self identification of described mobile terminal can be vehicle when sailing parking lot into, by parking lot
Unique numeral numbering of staff's distribution.The wireless signal that described mobile terminal is sent out can be association request
(Association Request) frame.In the present embodiment, described mobile terminal 300 specifically may include that
Association request frame construction unit, for building the association request frame comprising described mobile terminal identification, wherein, described
Mobile terminal identification is filled in vendor specific information element (the Vendor Specific of described association request frame
Information Element, Vendor Specific IE) in field；
Signal radio unit, for outwards broadcasting the association request frame comprising described mobile terminal identification.
Such as, unique numeral numbering 30 can be filled in the association request frame of outwards broadcast by described mobile terminal.
So, when wireless transceiver receives the association request frame of broadcast, just can determine from described association request frame and currently treat
The numeral numbering of the vehicle of navigation.
Specifically, in the present embodiment, described wireless transceiver 100 specifically may include that
Marker extraction unit, for extracting described mobile terminal identification from described association request frame；
Strength determining unit, for determining the received signal strength indicator (Received corresponding with described association request frame
Signal Strength Indication, RSSI)；
Key-value pair transmitting element, for constituting key assignments by described mobile terminal identification and described received signal strength indicator
Right, and described key-value pair is sent to described control server.
Specifically, described wireless transceiver can be from the vendor specific information element field of the association request frame received
The middle mobile terminal identification reading filling.Meanwhile, described wireless transceiver can carry out, by RSSI, the nothing that quantificational expression receives
The intensity of line signal.So, mobile terminal identification and RSSI can be constituted key-value pair (key-by described wireless transceiver
Value), to set up the incidence relation between mobile terminal identification and RSSI.Each wireless transceiver all can will receive
Wireless signal is converted to one group of key-value pair, such that it is able to send, to controlling server, the key-value pair being converted to.
In the present embodiment, described control server 200 can receive each key assignments that each wireless transceiver is sent
Right, and key-value pair identical for mobile terminal identification can be carried out classification process, such that it is able to different vehicles is carried out not
Same navigation.Specifically, in the present embodiment, the method that described control server 200 can be learnt by the degree of depth, according to not
The current location of vehicle is positioned by the RSSI that same wireless transceiver is corresponding.Described control server specifically can wrap
Include:
Signal strength data collection acquiring unit, for obtaining the signal strength data collection corresponding with described mobile terminal,
Described signal strength data is concentrated and is included the received signal strength that the plurality of wireless transceiver is sent for described mobile terminal
Instruction；
Predicting unit, for according to presetting position prediction model, determines the position corresponding with described signal strength data collection
Putting forecast set, described position prediction concentrates the predicted position including binding mutually with probit；
Current location determines unit, and the predicted position for concentrating probit maximum described position prediction is defined as described
The current location of mobile terminal.
Specifically, the mobile terminal corresponding for each RSSI that corresponding with described mobile terminal signal strength data is concentrated
Identify the most identical.Described presetting position prediction model can obtain according to the training of degree of depth learning algorithm.Specifically, this is preset
Location prediction model can be trained obtaining by the following module in predicting unit:
Training dataset acquisition module, for obtaining the training dataset of mobile terminal, described training data is concentrated and is included
The reception being associated with the described mobile terminal letter that the position coordinates of described mobile terminal and each wireless transceiver receive
The instruction of number intensity；
Training position determination module, for according to initial alignment forecast model, determines and connecing that described training data is concentrated
Receive the training position that signal intensity instruction is corresponding；
Error correction module, for determining the error between described training position and the position coordinates of described mobile terminal,
And according to described error, described initial alignment forecast model is corrected, so that pre-according to the location prediction model after correction
Error between the training position and the position coordinates of described mobile terminal that record meets pre-conditioned.
Therefore, by initial alignment forecast model is constantly corrected, the location after correction may finally be made
Forecast model can be correctly predicted training data concentrate respectively organize data.
So, after obtaining accurate described presetting position prediction model, just can be according to this model to currently waiting to lead
Each RSSI that boat vehicle is corresponding is predicted, thus obtains the current location of described vehicle.
In the present embodiment, described training position determination module specifically may include that
Training position prediction collection acquisition module, for according to described initial alignment forecast model, determines and described training number
According to the training position prediction collection that the received signal strength indicator concentrated is corresponding, described training position prediction is concentrated and is included and probability
Multiple training positions that value is bound mutually；
Probit screening module, the training position for concentrating probit maximum described training position prediction be defined as with
The corresponding training position of received signal strength indicator that described training data is concentrated.
In the present embodiment, may each be multiple training position by what model prediction obtained, and different training positions
The probit putting correspondence can also be different.Probit is the biggest, then show that the vehicle probability in this training position is the biggest.So,
Can be using training position maximum for probit as the training position predicting that the received signal strength indicator obtained is corresponding.
So, after prediction obtains the current location of vehicle, just can plan between current location and target parking position
Path.The mode in physical planning path can obtain according to the plane structure chart in parking lot.In plane structure chart, it is determined that car
Current location and target parking position, such that it is able to plan the shortest guidance path between these 2, such that it is able to institute
State mobile terminal and push the navigation information corresponding with described guidance path.
The application also provides for a kind of parking lot automobile navigation method.Referring to Fig. 2, described method may include that
Step S1: the mobile terminal being arranged in vehicle outwards broadcasts the wireless signal carrying mobile terminal identification；
Step S2: the multiple wireless transceivers being distributed in parking lot receive the wireless signal that described mobile terminal sends,
And the intensity of the wireless signal received is sent to controlling server；
Step S3: the intensity of the wireless signal that described control server is sent respectively according to the plurality of wireless transceiver,
Determine the current location of described mobile terminal；Plan the navigation road between current location and the target parking position of described mobile terminal
Footpath, and push the navigation information corresponding with described guidance path to described mobile terminal.
In one embodiment of the application, the mobile terminal being arranged in vehicle is outwards broadcasted and is carried mobile terminal identification
Wireless signal specifically include:
Described mobile terminal builds the association request frame comprising described mobile terminal identification, wherein, described mobile terminal mark
Know in the vendor specific information element field being filled in described association request frame；
The association request frame comprising described mobile terminal identification is outwards broadcasted by described mobile terminal.
In one embodiment of the application, the multiple wireless transceivers being distributed in parking lot receive described mobile terminal
The wireless signal sent, and the intensity transmission of the wireless signal received is specifically included to controlling server:
The plurality of wireless transceiver extracts described mobile terminal identification from described association request frame and determines with described
The received signal strength indicator that association request frame is corresponding；
Described mobile terminal identification and described received signal strength indicator are constituted key-value pair by the plurality of wireless transceiver,
And described key-value pair is sent to described control server.
In one embodiment of the application, described control server is sent respectively according to the plurality of wireless transceiver
The intensity of wireless signal, determines that the current location of described mobile terminal specifically includes:
Described control server obtains the signal strength data collection corresponding with described mobile terminal, described signal intensity number
The received signal strength indicator that the plurality of wireless transceiver is sent is included for described mobile terminal according to concentrating；
According to presetting position prediction model, described control server determines the position corresponding with described signal strength data collection
Putting forecast set, described position prediction concentrates the predicted position including binding mutually with probit；
The predicted position that described position prediction is concentrated probit maximum by described control server is defined as described mobile whole
The current location of end.
It should be noted that the specific implementation of each method step above-mentioned all with in the Vehicular navigation system of parking lot
Describe consistent, the most just repeat no more.
Therefore, the application is by the mobile terminal of personnel in vehicle and multiple wireless transceivers of distribution in parking lot
Between to carry out signal mutual, may thereby determine that each wireless transceiver signal intensity relative to mobile terminal.These are wireless
The intensity of signal can send to controlling server, such that it is able to determined the current location of vehicle by control server.So, institute
State control server and just can carry out path planning between target parking position and the current location of vehicle such that it is able to be not required to
Easily vehicle is navigated in the case of wanting external miscellaneous equipment.
Above the describing of various embodiments of the application is supplied to those skilled in the art with the purpose described.It is not
It is intended to exhaustive or is not intended to limit the invention to single disclosed embodiment.As it has been described above, the application's is various
Substitute and change will be apparent from for above-mentioned technology one of ordinary skill in the art.Therefore, although the most specifically beg for
Discuss the embodiment of some alternatives, but other embodiment will be apparent from, or those skilled in the art are relative
Easily draw.The application is intended to be included in all replacements of this present invention discussed, amendment and change, and falls
Other embodiment in the spirit and scope of above-mentioned application.
Each embodiment in this specification all uses the mode gone forward one by one to describe, identical similar between each embodiment
Part see mutually, what each embodiment stressed is the difference with other embodiments.Especially, right
For method embodiment, owing to it is substantially similar to system embodiment, so describe is fairly simple, relevant part ginseng
See that the part of system embodiment illustrates.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that the application has many deformation
With change without deviating from spirit herein, it is desirable to appended claim includes that these deformation and change are without deviating from the application
Spirit.
Claims (10)
1. a parking lot Vehicular navigation system, it is characterised in that include following device: be distributed in parking lot is multiple wireless
Transceiver, the control server being connected with the plurality of wireless transceiver and the mobile terminal being positioned at vehicle, described wireless
The quantity of transceiver is suitable with the scale in described parking lot, wherein:
Described mobile terminal carries the wireless signal of self identification for outwards broadcast；
Described wireless transceiver is for receiving the wireless signal that described mobile terminal sends, and strong by the wireless signal that receives
Degree sends to described control server；
The intensity of the described control server wireless signal for sending respectively according to the plurality of wireless transceiver, determines described
The current location of mobile terminal；Plan the guidance path between current location and the target parking position of described mobile terminal, and to
Described mobile terminal pushes the navigation information corresponding with described guidance path.
Parking lot the most according to claim 1 Vehicular navigation system, it is characterised in that described mobile terminal specifically includes:
Association request frame construction unit, for building the association request frame comprising described mobile terminal identification, wherein, described movement
Terminal iidentification is filled in the vendor specific information element field of described association request frame；
Signal radio unit, for outwards broadcasting the association request frame comprising described mobile terminal identification.
Parking lot the most according to claim 2 Vehicular navigation system, it is characterised in that described wireless receiving and dispatching implement body bag
Include:
Marker extraction unit, for extracting described mobile terminal identification from described association request frame；
Strength determining unit, for determining the received signal strength indicator corresponding with described association request frame；
Key-value pair transmitting element, for described mobile terminal identification and described received signal strength indicator are constituted key-value pair, and
Described key-value pair is sent to described control server.
Parking lot the most according to claim 1 Vehicular navigation system, it is characterised in that described control server specifically wraps
Include:
Signal strength data collection acquiring unit, for obtaining the signal strength data collection corresponding with described mobile terminal, described
Signal strength data is concentrated and is included the received signal strength indicator that the plurality of wireless transceiver is sent for described mobile terminal；
Predicting unit, for according to presetting position prediction model, determines that the position corresponding with described signal strength data collection is pre-
Surveying collection, described position prediction concentrates the predicted position including binding mutually with probit；
Current location determines unit, is defined as described movement for the predicted position concentrating probit maximum described position prediction
The current location of terminal.
Parking lot the most according to claim 4 Vehicular navigation system, it is characterised in that described predicting unit specifically includes:
Training dataset acquisition module, for obtaining the training dataset of mobile terminal, described training data concentration includes described
The reception signal being associated with described mobile terminal that the position coordinates of mobile terminal and each wireless transceiver receive is strong
Degree instruction；
Training position determination module, for according to initial alignment forecast model, determining the reception letter concentrated with described training data
The training position that the instruction of number intensity is corresponding；
Error correction module, for determining the error between described training position and the position coordinates of described mobile terminal, and root
According to described error, described initial alignment forecast model is corrected, so that obtaining according to the location prediction model prediction after correction
To training position and the position coordinates of described mobile terminal between error meet pre-conditioned.
Parking lot the most according to claim 5 Vehicular navigation system, it is characterised in that described training position determination module has
Body includes:
Training position prediction collection acquisition module, for according to described initial alignment forecast model, determines and described training dataset
In the corresponding training position prediction collection of received signal strength indicator, described training position prediction is concentrated and is included and probit phase
Multiple training positions of binding；
Probit screening module, is defined as with described for the training position concentrating probit maximum described training position prediction
The corresponding training position of received signal strength indicator that training data is concentrated.
7. a parking lot automobile navigation method, it is characterised in that comprise the steps:
The mobile terminal being arranged in vehicle outwards broadcasts the wireless signal carrying mobile terminal identification；
Multiple wireless transceivers of being distributed in parking lot receive the wireless signal that described mobile terminal sends, and will receive
The intensity of wireless signal sends to controlling server；
The intensity of the wireless signal that described control server is sent respectively according to the plurality of wireless transceiver, determines described movement
The current location of terminal；Plan the guidance path between current location and the target parking position of described mobile terminal, and to described
Mobile terminal pushes the navigation information corresponding with described guidance path.
Parking lot the most according to claim 7 automobile navigation method, it is characterised in that the mobile terminal being arranged in vehicle
The wireless signal that mobile terminal identification is carried in outside broadcast specifically includes:
Described mobile terminal builds the association request frame comprising described mobile terminal identification, and wherein, described mobile terminal identification is filled out
Fill in the vendor specific information element field of described association request frame；
The association request frame comprising described mobile terminal identification is outwards broadcasted by described mobile terminal.
Parking lot the most according to claim 8 automobile navigation method, it is characterised in that the multiple nothings being distributed in parking lot
Line transceiver receives the wireless signal that described mobile terminal sends, and sends the intensity of the wireless signal received to controlling clothes
Business implement body includes:
The plurality of wireless transceiver extracts described mobile terminal identification from described association request frame and determines and described association
The received signal strength indicator that claim frame is corresponding；
Described mobile terminal identification and described received signal strength indicator are constituted key-value pair by the plurality of wireless transceiver, and will
Described key-value pair sends to described control server.
Parking lot the most according to claim 7 automobile navigation method, it is characterised in that described control server is according to institute
State the intensity of the wireless signal that multiple wireless transceiver is sent respectively, determine the current location of described mobile terminal, specifically include:
Described control server obtains the signal strength data collection corresponding with described mobile terminal, described signal strength data collection
Include the received signal strength indicator that the plurality of wireless transceiver is sent for described mobile terminal；
According to presetting position prediction model, described control server determines that the position corresponding with described signal strength data collection is pre-
Surveying collection, described position prediction concentrates the predicted position including binding mutually with probit；
The predicted position that described position prediction is concentrated probit maximum by described control server is defined as described mobile terminal
Current location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610862057.1A CN106228847B (en) | 2016-09-28 | 2016-09-28 | A kind of parking lot Vehicular navigation system and air navigation aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610862057.1A CN106228847B (en) | 2016-09-28 | 2016-09-28 | A kind of parking lot Vehicular navigation system and air navigation aid |
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| CN111123340A (en) * | 2020-02-10 | 2020-05-08 | 腾讯科技（深圳）有限公司 | Logistics distribution navigation method and system, near field positioning navigation device and storage medium |
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