CN106918334A

CN106918334A - Indoor navigation method and device

Info

Publication number: CN106918334A
Application number: CN201510998476.3A
Authority: CN
Inventors: 李金松; 冯磊; 曲文启; 陈祺
Original assignee: Autonavi Information Technology Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2015-12-25
Filing date: 2015-12-25
Publication date: 2017-07-04

Abstract

This application provides a kind of indoor navigation method and device, wherein methods described includes：Indoor positioning is carried out to user terminal and obtains customer location, wherein customer location includes latitude and longitude coordinates and floor information；The destination that user is set is received, wherein destination locations include latitude and longitude coordinates and floor information；Navigation requests in receiving chamber, with the customer location as starting point, with the destination as terminal；According to the floor information of the beginning and end, indoor navigation strategy is determined；According to the indoor navigation strategy, calculate from the indoor navigation path of the origin-to-destination；Indoor navigation is carried out according to the indoor navigation path.The application realizes the accurate guiding of indoor course.

Description

Indoor navigation method and device

Technical field

The application is related to field of navigation technology, more particularly to a kind of indoor navigation method and device.

Background technology

At present, air navigation aid carries out path planning and guides primarily directed to two outdoor points, such as According to user set beginning and end plan guidance path, and according to the guidance path by user from Starting point is directed to terminal.

When destination is a POI, such as in market a retail shop in certain building, planning navigation at present Path is, using the building where the destination as terminal, to plan leading from starting point to the building Bit path, but path planning and guiding can't be carried out for indoor section.But often due to Interior of building is complex, and retail shop or Office Area are more, and user enters after building, to The a certain position reached in building is easy to get lost, therefore how to carry out indoor guiding then for user As the problem more paid close attention at present, but at present not for the relevant programme of indoor navigation.

The content of the invention

One of technical problem that the application is solved is to provide a kind of indoor navigation method and device, real The purpose of existing indoor navigation.

According to one embodiment of the application one side, there is provided a kind of indoor navigation method, including：

Indoor positioning is carried out to user terminal and obtains customer location, wherein customer location includes latitude and longitude coordinates And floor information；

The destination that user is set is received, wherein destination locations include latitude and longitude coordinates and floor information；

Navigation requests in receiving chamber, with the customer location as starting point, with the destination as terminal；

According to the floor information of the beginning and end, indoor navigation strategy is determined；

According to the indoor navigation strategy, calculate from the indoor navigation path of the origin-to-destination；

Indoor navigation is carried out according to the indoor navigation path.

According to one embodiment of the application another aspect, there is provided a kind of indoor navigation device, bag Include：

Indoor positioning unit, customer location, wherein user are obtained for carrying out indoor positioning to user terminal Position includes latitude and longitude coordinates and floor information；

Destination receiving unit, the wherein destination for receiving user's setting, destination locations include warp Latitude coordinate and floor information；

Indoor navigation request reception unit, for navigation requests in receiving chamber, with the customer location to rise Point, with the destination as terminal；

Indoor navigation policy determining unit, for the floor information according to the beginning and end, determines room Interior navigation strategy；

Indoor navigation path-calculating element, for according to the indoor navigation strategy, calculating from the starting point To the indoor navigation path of terminal；

Indoor navigation unit, for carrying out indoor navigation according to the indoor navigation path.

The embodiment of the present application not only obtains latitude and longitude coordinates when starting point and final position is obtained, and also obtains The floor information of vertical direction, therefore simultaneously basis should to determine indoor navigation strategy according to terminus floor information Indoor navigation policy calculation not only realizes the mesh of indoor navigation from the indoor navigation path of origin-to-destination , and the relative position of terminus horizontal direction had both been considered when guidance path is planned, it is also contemplated that The floor relative position of vertical direction, therefore the guidance path cooked up can characterize two three dimensions The pass of location point, terminal is directed to more according to the guidance path that planning is obtained by user from starting point Accurately.

Although those of ordinary skill in the art will be appreciated that referenced in schematic is implemented in following detailed description Example, accompanying drawing are carried out, but the application is not limited in these embodiments.But, scope of the present application It is extensive, and is intended to be bound only by appended claims restriction scope of the present application.

Brief description of the drawings

The detailed description made to non-limiting example made with reference to the following drawings by reading, Other features, objects and advantages will become more apparent upon：

Fig. 1 is the flow chart of the indoor navigation method according to the application one embodiment.

Fig. 2 is the method flow diagram of the floor of the determination user terminal according to the application one embodiment.

Fig. 3 is the user terminal current location schematic diagram according to the application one embodiment.

Fig. 4 is the destination schematic diagram set according to the user of the application one embodiment.

Fig. 5 is the mesh shown in the starting point to Fig. 4 according to the application one embodiment from Fig. 3 One of the ground indoor navigation path of planning be intended to.

Fig. 6 is the Route guiding schematic diagram according to the application one embodiment.

Fig. 7 is the indoor navigation apparatus structure schematic diagram according to the application one embodiment.

Specific embodiment

It should be mentioned that some exemplary realities before exemplary embodiment is discussed in greater detail Apply treatment or method that example is described as describing as flow chart.Although flow chart retouches operations The treatment of order is stated into, but many of which operation can be by concurrently, concomitantly or simultaneously Implement.Additionally, the order of operations can be rearranged.The place when its operations are completed Reason can be terminated, it is also possible to have the additional step being not included in accompanying drawing.The treatment Can correspond to method, function, code, subroutine, subprogram etc..

The computer equipment includes user equipment and the network equipment.Wherein, the user equipment bag Include but be not limited to computer, smart mobile phone, PDA etc.；The network equipment is including but not limited to single The webserver, the server group of multiple webserver composition or based on cloud computing (Cloud Computing the cloud being made up of a large amount of computers or the webserver), wherein, cloud computing is point One kind that cloth is calculated, a super virtual computing being made up of the computer collection of a group loose couplings Machine.Wherein, the computer equipment can isolated operation realize the application, also can access network simultaneously The application is realized by with the interactive operation of other computer equipments in network.Wherein, it is described Network residing for computer equipment include but is not limited to internet, wide area network, Metropolitan Area Network (MAN), LAN, VPN etc..

It should be noted that the user equipment, the network equipment and network etc. are only for example, other The existing or computer equipment that will be likely to occur from now on or network are such as applicable to the application, should also wrap It is contained within the application protection domain, and is incorporated herein by reference.

Method (some of them are illustrated by flow) discussed hereafter can be by hardware, soft Part, firmware, middleware, microcode, hardware description language or its any combination are implemented.When During with software, firmware, middleware or microcode to implement, it is used to implement the program generation of necessary task Code or code segment can be stored in machine or computer-readable medium (such as storage medium).(one Individual or multiple) processor can implement necessary task.

Concrete structure disclosed herein and function detail are only representational, and are for retouching State the purpose of the exemplary embodiment of the application.But the application can by many alternative forms come Implement, and be not interpreted as being limited only by the embodiments set forth herein.

Although it should be appreciated that may have been used term " first ", " second " etc. herein To describe unit, but these units should not be limited by these terms.Use these terms Just for the sake of a unit and another unit are made a distinction.For example, without departing substantially from showing In the case of the scope of example property embodiment, first module can be referred to as second unit, and be similar to Ground second unit can be referred to as first module.Term "and/or" used herein above is included wherein Any and all combination of one or more listed associated items.

It should be appreciated that when a unit is referred to as " connection " or " coupled " to another unit When, it can be connected or coupled to another unit, or there may be temporary location. On the other hand, when a unit is referred to as " being directly connected " or " directly coupled " to another unit When, then in the absence of temporary location.Should explain in a comparable manner be used for description unit it Between relation other words (such as compared to " between being directly in ... " " between being in ... ", " with ... It is neighbouring " compared to " with ... it is directly adjacent to " etc.).

Term used herein above is not intended to limit exemplary just for the sake of description specific embodiment Embodiment.Unless the context clearly dictates otherwise, singulative " otherwise used herein above It is individual ", " one " also attempt to include plural number.It is to be further understood that term " bag used herein above Include " and/or "comprising" specify stated feature, integer, step, operation, unit and/or group The presence of part, and do not preclude the presence or addition of one or more other features, integer, step, behaviour Work, unit, component and/or its combination.

It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be with Occur according to the order different from being indicated in accompanying drawing.For example, depending on involved function/dynamic Make, the two width figures for showing in succession can essentially substantially simultaneously perform or sometimes can be according to phase Anti- order is performed.

The technical scheme to the application is described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is the flow chart of the indoor navigation method according to the application one embodiment, and the method can To complete on the same mobile device, such as smart mobile phone, PAD (panel computer), PND are (portable Formula automated navigation system) etc., partial arithmetic function can also be put and performed on the server.This implementation Example methods described is used to plan indoor course for user, and guides user to arrive at.Should Method mainly comprises the following steps：

S110, indoor positioning is carried out to user terminal obtain customer location, wherein customer location includes Latitude and longitude coordinates and floor information；

S120, reception user set destination, and wherein destination locations include latitude and longitude coordinates and building Layer information；

Navigation requests in S130, receiving chamber, with the customer location as starting point, with the destination It is terminal；

S140, the floor information according to the beginning and end, determine indoor navigation strategy；

S150, according to the indoor navigation strategy, calculate the indoor navigation from the origin-to-destination Path；

S160, indoor navigation is carried out according to the indoor navigation path.

Above steps is described in further detail below.

At present, indoor positioning mode mainly includes wifi positioning and bluetooth positioning, but these are positioned Mode uses single location information, can more or less there is certain error, positioning precision It is not high.Preferably, the embodiment of the present invention, when being positioned to user terminal, according to user's end The location information of some sensors that the location information or user terminal that end is scanned are carried comes comprehensive User terminal is positioned, to improve Position location accuracy.Therefore, in foregoing S110, to user Terminal carries out indoor positioning and obtains customer location, and implementing can be as follows：According to the user terminal Following at least two location information indoor positioning carried out to the user terminal obtain customer location： Wifi information, Bluetooth information, Geomagnetism Information, light source information, directional information and velocity information, air pressure Information.

The location information of the embodiment of the present application can be divided into the first location information and the second location information, Wherein, (the first location information can scan peripheral information to first location information by user terminal Obtain) include：At least one in wifi information, Bluetooth information, Geomagnetism Information and light source information, Second location information (the second location information can be obtained by the sensor inside user terminal, Directional information and velocity information are such as obtained by gyroscope, pressure information are obtained by barometer) bag Include：At least one in directional information and velocity information, pressure information；Then described in described basis Following at least two location information of user terminal carries out indoor positioning and is used to the user terminal Family position, specifically includes：

Step A, the initial latitude and longitude coordinates that the customer location is obtained according to first location information and Initial floor information；

If step B, second location information include directional information and velocity information, judge described first When whether beginning latitude and longitude coordinates precision is less than preset the first precision threshold (such as 50%, 60%), if The initial latitude and longitude coordinates are modified according to directional information and velocity information then, the user is obtained The latitude and longitude coordinates of position, if otherwise using initial latitude and longitude coordinates as customer location latitude and longitude coordinates；

In step B, such as according to the position of user terminal the last time GPS location, the last GPS Positioning time and the time difference of this time positioned to user terminal, by the time difference and speed Product obtains displacement, and the position, displacement and direction further according to the last GPS location push away A fixed position, by initial latitude and longitude coordinates described in the position correction.

If step C, second location information include pressure information, the initial longitude and latitude is judged When whether coordinate precision is less than preset the second precision threshold (such as 50%, 60%), if then basis The pressure information is modified to the initial floor information, obtains the floor of the customer location Information, if otherwise using initial floor information as customer location floor information.

Wherein the first precision threshold be able to can also be differed with the second precision threshold with identical, this area Technical staff can flexibly be set as needed.

In step C, according to preset air pressure level and floor corresponding relation, the air pressure is obtained The corresponding floor of air pressure level in information, according to the initial floor of floor amendment.

Wherein, the method that the initial floor information of the customer location is obtained according to the first location information It is including but not limited to as follows：

The wifi signals or the mac (medium education) of Bluetooth signal obtained according to different floors Difference carrys out the initial floor information of identifying user terminal, and flow as shown in Figure 2 is specifically included Following steps：

The mac addresses of S210, the current retrievable wifi signals of identification or Bluetooth signal；

S220, the mac addresses for determining the current retrievable wifi signals or Bluetooth signal with it is pre- The matching degree of the corresponding mac addresses of each floor for first recording；

S230, by with the mac addresses of the wifi signals or Bluetooth signal of the current acquisition The corresponding floor information in mac addresses that matching degree highest is recorded is used as the customer location for obtaining Floor information.

For example, recording the mac addresses of the different retrievable wifi signals of floor, i.e. floor with can The corresponding relation of the mac addresses of at least one set of wifi signals of acquisition.Assuming that the corresponding relation is such as Shown in following table：

One group of mac address in upper table bracket is the corresponding one group of mac address of floor, by Upper table can be seen that a floor can correspond at least one set mac addresses.

Assuming that the current corresponding one group of mac address of wifi signals for obtaining for (mac14, mac15, Mac16, mac17, mac18), tri- buildings corresponding one group of mac address matching degrees of Qi Yu are 100%, Then can determine that floor where customer location is three buildings.If the mac addresses of the current wifi signals for obtaining Be (mac19, mac21, mac15, mac23), although it is above-mentioned not with its identical one Group mac addresses, but its matching with (mac19, mac20, mac21, mac15, mac23) Degree highest, then can determine that floor where user is (mac19, mac20, mac21, mac15, mac23) Corresponding floor, i.e., three building.The principle of the method for the floor information of customer location is positioned using bluetooth It is similar to using wifi, here is omitted.

It is assumed that customer location (starting point) is as shown in Figure 3, the floor residing for user in B2, i.e., Two layers of underground.

The method that the initial latitude and longitude coordinates of the customer location are obtained according to the first location information includes But it is not limited to as follows：

Mode 1

Be previously stored with fingerprint base, the intensity of the various location informations that are stored with the fingerprint base and/or The corresponding relation of characteristic information and latitude and longitude coordinates；

For each location information in the first location information, following steps are performed：This is positioned Information carries out Similarity Measure with each location information in preset fingerprint base, by fingerprint base with It is described fixed that the corresponding latitude and longitude coordinates of similarity highest location information of the location information are defined as The latitude and longitude coordinates of position information；

The corresponding latitude and longitude coordinates of each location information in first location information are carried out into COMPREHENSIVE CALCULATING to obtain To the initial latitude and longitude coordinates of the customer location.COMPREHENSIVE CALCULATING is such as：In determining the first location information The corresponding latitude and longitude coordinates identical number of each location information, by the most longitude and latitude of same number Coordinate as customer location initial latitude and longitude coordinates；Or, calculate each location information corresponding The central point latitude and longitude coordinates of latitude and longitude coordinates (such as calculate the corresponding longitude and latitude of each location information to sit Target longitude average value, latitude average value, using the longitude average value and latitude average value as center Point latitude and longitude coordinates), the central point latitude and longitude coordinates are defined as the initial longitude and latitude of the customer location Degree coordinate.

Mode 2

Fingerprint base is previously stored with, the intensity of each location information that is stored with fingerprint base combination And/or the corresponding relation of characteristic information and latitude and longitude coordinates；

In the combination of all location informations that will be included in the first location information and preset fingerprint base Each location information combination carry out Similarity Measure, by fingerprint base with the first location information institute The similarity highest location information for having the combination of location information combines corresponding latitude and longitude coordinates and determines It is the initial latitude and longitude coordinates of the customer location.

Preferably, to ensure that the destination that user described in step S120 is set is non-close region Destination, that is, position the customer location for obtaining in the destination and step S110 can be indoors Connection.In the embodiment of the present invention, the corresponding position in closed area in indoor map can also be prestored Scope is put, when the destination that user is set is received, judges the destination whether in preset envelope In the position range of closed region, if determining if, destination unavailable emphasis user resets destination； If not if using the destination as the destination of indoor navigation.

Assuming that user is by searching for the destination for obtaining as shown in Figure 4, it is the cuisines positioned at 2 layers Square.

Navigation requests can connect for user clicks on indoor navigation in receiving chamber described in step S130 Mouthful, so that navigation requests in dispatcher's office.

Floor information described in step S140 according to the beginning and end determines indoor navigation strategy Method comprises the following steps a- steps e：

Whether the floor of step a, the floor for judging the starting point and terminal is same layer, if then performing Step b, if otherwise performing step c；

The shortest path of step b, generation walking navigation strategy, i.e., direct zequin and terminal；

Pass facility between step c, the acquisition connection starting point floor and terminal floor；It is described current Facility include but is not limited to it is following any one or more：Stair, staircase, vertical ladder.

Step d, indoor navigation strategy is determined according to the pass facility.Specifically include following operation：

According to the pass facility, at least one navigation strategy to be selected is generated, including but not limited to：

When the pass facility includes staircase, the preferential navigation strategy to be selected of generation staircase；

When the pass facility includes vertical ladder, the preferential navigation strategy to be selected of generation vertical ladder；

When the pass facility includes stair, the preferential navigation strategy to be selected of generation stair.

Step e, according to the number of floor levels between the Origin And Destination from generation navigation strategy to be selected in Selection one of which is used as indoor navigation strategy；Or, the navigation strategy to be selected for generating is showed User selects for user, using the navigation strategy to be selected of user's selection as indoor navigation strategy. It is exactly that the embodiment of the present application can automatically determine indoor navigation strategy according to the navigation strategy to be selected of generation； The indoor navigation strategy of user's selection can also be received.

Wherein, it is described according to the number of floor levels between the Origin And Destination from generation in step e One of which is selected in navigation strategy to be selected to be included as the method for indoor navigation strategy：

If the navigation strategy to be selected of generation is one kind, using the navigation strategy to be selected as indoor navigation Strategy；

If the navigation strategy to be selected of generation is various, indoor navigation can be selected according in the following manner Strategy：

When the number of floor levels is more than or equal to preset amount threshold, selected according to following sequencing One of which is used as indoor navigation strategy：Vertical ladder is preferential, staircase is preferential, stair are preferential；

When the number of floor levels is less than preset amount threshold, according to the selection of following sequencing wherein One kind is used as indoor navigation strategy：Staircase is preferential, vertical ladder is preferential, stair are preferential.

Several examples cited by inventor are above are only, can as needed design many in practical application Plant indoor navigation strategy.

Step S150 is it is determined that after indoor navigation strategy, according to the indoor navigation policy calculation for determining From the starting point to the indoor navigation path of the terminal.Due to the starting point acquired in the present embodiment and The position of terminal include latitude and longitude coordinates and floor information, therefore calculated from starting point reach eventually The indoor navigation path of point includes the course of horizontal direction and the course of vertical direction, i.e., Realize the planning in the indoor navigation path of three-dimensional.

Preferably, the application is chosen or by computer journey to optimize indoor navigation strategy by user The indoor navigation strategy usually superior strategy that sequence is chosen, therefore, the application will be chosen by user Or the weight lifting of the indoor navigation strategy chosen by computer program, to increase follow-up path planning The probability of the Shi Xuanzhong indoor navigation strategies is (high by weight during as selected navigation strategy for user Before row, behind the low row of weight), improve navigation accuracy.Wherein, it is selected in order to increase The selected probability of indoor navigation strategy, the embodiment of the present application, can after indoor navigation strategy is selected Adjust the weight of indoor navigation strategy.For example, increasing the power of the selected indoor navigation strategy Weight, and/or, the navigation strategy to be selected is reduced when there is not selected navigation strategy to be selected Weight.For example, the weight of the indoor navigation strategy of selection is amplified into 1.2 times, and will not be chosen In the weight of indoor navigation strategy narrow down to 0.8 times.

It is described according to the indoor navigation strategy in step S150, calculate from the starting point to institute A kind of embodiment for stating the indoor navigation path of terminal is as follows：

Step a1, with the customer location as starting point, with the corresponding pass facility of the indoor navigation strategy For terminal plans the first shortest path；It is understood that indoor navigation strategy described herein is corresponding Pass facility is for the indoor navigation strategy of same floor is corresponding logical with floor where customer location Row facility.

Step b1, with the corresponding pass facility of the indoor navigation strategy as starting point, be with the destination Terminal, plans the second shortest path；It is understood that indoor navigation strategy described herein is corresponding Pass facility is for the indoor navigation strategy of same floor is corresponding with floor where the destination Pass facility.

Step c1, the indoor navigation path is obtained according to first shortest path, the second shortest path.

Abovementioned steps a1-c1 is implemented can at least be realized by following two modes：

Mode 1

Step a1 is implemented as follows：Obtained from the corresponding pass facility of the indoor navigation strategy away from The pass facility nearest from customer location, be with the nearest pass facility by starting point of the customer location Terminal, plans the first shortest path；

Step b1 is implemented as follows：With the nearest pass facility as starting point, it is with the destination Terminal, plans the second shortest path；

Step c1 is implemented as follows：First shortest path and the second shortest path are merged Obtain indoor navigation path.

Mode 2

Step a1 is implemented as follows：For corresponding each pass facility of indoor navigation strategy, with The customer location is starting point, with described each pass facility as terminal, is planned corresponding with the pass facility The first shortest path；

Step b1 is implemented as follows：For corresponding each pass facility of indoor navigation strategy, with Described each pass facility is starting point, with the destination as terminal, plans corresponding with the pass facility the Two shortest paths；

Step c1 is implemented as follows：For corresponding each pass facility of indoor navigation strategy, will First shortest path and the second shortest path of the pass facility are merged and obtain indoor navigation road to be selected Footpath；Will be most short as indoor navigation path in indoor navigation path to be selected.

Aforementioned manner 1 and mode 2 are described in detail with specific example.Assuming that indoor navigation strategy For vertical ladder is preferential, the current vertical ladder between customer location and destination floor includes 3, represents respectively It is vertical ladder A, vertical ladder B and vertical ladder C, the wherein nearest vertical ladder in distance users position is vertical ladder A.Mode 1 is：The nearest vertical ladder A of selected distance customer location, straight by starting point of customer location from three vertical ladders Terraced location A is that terminal plans the first shortest path, is starting point with destination as terminal with vertical ladder location A The second shortest path is planned, using the first shortest path and the second shortest path path for obtaining of splicing as room Interior guidance path.Mode 2：With customer location as starting point, successively with vertical ladder A, vertical ladder B and vertical ladder C For terminal plans shortest path respectively, three the first shortest paths are obtained for A1, A2, A3；Successively with Vertical ladder A, vertical ladder B and vertical ladder C are starting point, and destination is terminal, and the second shortest path is planned respectively It is B1, B2, B3；A1 and B1 splicings are obtained into the first indoor navigation path to be selected, by A2 and B2 Splicing obtains the second indoor navigation path to be selected, and A3 and B3 splicings obtain the 3rd indoor navigation path to be selected； Will be most short as final indoor navigation path in foregoing three indoor navigation paths to be selected.

The one of which embodiment cited by inventor is above are only, the application is not limited thereto.

As shown in Figure 5, it is that starting point shown in Fig. 3 reaches terminal shown in Fig. 4 according to helping One indoor navigation path of terraced preferential indoor navigation policy calculation.

It is that indoor navigation is carried out according to the indoor navigation path described in step S160, can is real-time Current location according to user carries out voice guide or word guiding, to realize that user is accurate The purpose of terminal is directed to from starting point.Fig. 6 is corresponding Route guiding schematic diagram.

Preferably, it is the indoor map information that further shows floor where it for user, indoors In navigation procedure, user terminal current location is shown in real time on map, and work as according to user terminal The floor information of front position calls floor plan corresponding with the floor information to show user.

Further, since indoor environment is more complicated with respect to outdoor environment, indoor road shape thousand strange hundred Strange, direction change is more, and is not geographic positive north and south, positive thing, so if according to The mode of outdoor navigation is navigated, and user still can there are problems that unclear.Therefore, this Shen Please when navigation guide is carried out, can also introduce interior some landmark points, with improve boot efficiency and Accuracy.The embodiment of the present application can be in advance the preset corresponding landmark point of different sections of highway, the landmark point Generally on section easily be recognized by the user location point (as trade mark logo known to user retail shop, Finishing more it is characteristic it is easy attract user concern retail shop), the location point positioned at intersection or It is the location point for turning round, can is retail shop, elevator, gateway, staircase, direction board etc..

The prompting of landmark point is increased in the navigation hint that application embodiment is navigated indoors, to give User more clearly points to, and after S150, step is may also include before S160：

S150A, each section included for indoor navigation path, obtain the preset landmark point in the section, According to the direct of travel of the section direct of travel, the landmark point and next section, generation broadcast point and In the navigation content of the broadcast point.

In S150A, as a example by the location point with landmark point as intersection, according to the section direct of travel, The landmark point and the direct of travel in next section, generate broadcast point and the navigation in the broadcast point Content, specifically includes：A distance apart from landmark point is chosen on section where landmark point to be less than Used as broadcast point, (such as the broadcast point can be crossroad to one location point of preset distance threshold Mouthful), with section direct of travel as reference direction, calculate next section direct of travel and reference direction it Between angle；Corresponding relation according to preset angle and steering order obtain it is described under with section row The corresponding steering order of the angle that enters between direction and reference direction, will introduce in the steering order Landmark point information generates navigation content.Such as：It is 0 degree of direction with reference direction, according to up time Pin direction sets angle, and such as 0-20 ° corresponding steering order is straight forward, 20-70 ° corresponding turn It is right front to instruction, 70-110 ° is right-hand rotation, and 110-160 ° is right back, and 160-200 ° is straight backward OK；200-250 ° is left back, and 250-290 ° is turned left, and 290-340 ° is left front, 340-360 ° It is straight forward.Above corresponding relation is one of embodiment.Navigation content is such as：Go to ground Punctuate A turns left, and goes to landmark point B right-hand rotations, directly walked forward by landmark point C etc..

S160 is specifically included：User terminal current location is positioned, when user terminal reaches front During nearest broadcast point, the corresponding navigation content of the broadcast point is reported or shown.

The mode positioned to user terminal is reference can be made to the correlation of foregoing determination user terminal location is retouched State, will not be repeated here.

Furthermore it is preferred that the indoor navigation road planned originally to avoid user from causing due to driftage The inapplicable problem in footpath, to provide the user accurate indoor navigation path in time, preceding method, Can also be comprised the following steps in navigation procedure：

Step a3, acquisition user terminal current location, and judge whether the user goes off course, if not Then continue to navigate, if then performing step b3；

Step b3, with user terminal current location as starting point, with the destination as terminal, again Calculate indoor guidance path.How indoor guidance path is calculated reference can be made to foregoing teachings, herein no longer Repeat.

Furthermore it is preferred that some interiors there may be location information covering not comprehensively so as to cause The problem that customer location cannot be positioned during boat.Therefore, it is foregoing in navigation procedure, can also wrap Include：During indoor navigation is carried out, user's gait of march and direct of travel are recorded；When to user When carrying out positioning failure, according to user's gait of march and traveling side of a preceding positioning result and record To supposition customer location.Interval duration, root are such as calculated according to a preceding positioning time to current time According to user's gait of march and interval duration calculation walking distance, according to a preceding positioning result, Walking distance and walking direction presumption current location.

The embodiment of the present application also provides a kind of indoor navigation dress corresponding with above-mentioned indoor navigation method Put, the indoor navigation apparatus structure schematic diagram is as shown in Figure 7, main to include such as lower unit：

Indoor positioning unit 710, customer location is obtained for carrying out indoor positioning to user terminal, its Middle customer location includes latitude and longitude coordinates and floor information；

Destination receiving unit 720, the destination in the non-close region for receiving user's setting, its Middle destination locations include latitude and longitude coordinates and floor information；

Indoor navigation request reception unit 730, for navigation requests in receiving chamber, with user position Starting point is set to, with the destination as terminal；

Indoor navigation policy determining unit 740, for the floor information according to the beginning and end, Determine indoor navigation strategy；

Indoor navigation path-calculating element 750, for according to the indoor navigation strategy, calculating from institute State the indoor navigation path of origin-to-destination；

Indoor navigation unit 760, for carrying out indoor navigation according to the indoor navigation path.

The indoor positioning unit 710 is configured as：

Following at least two location information according to the user terminal carries out interior to the user terminal Positioning obtains customer location：Wifi information, Bluetooth information, Geomagnetism Information, light source information, directional information With velocity information, pressure information.

The location information includes the first location information and the second location information, wherein, first positioning Information includes：At least one in wifi information, Bluetooth information, Geomagnetism Information and light source information, it is described Second location information includes：At least one in directional information and velocity information, pressure information；

Indoor positioning unit 710 is according to following at least two location information of the user terminal to the use Family terminal carries out indoor positioning and obtains customer location, specifically includes：

The initial latitude and longitude coordinates and initial building of the customer location are obtained according to first location information Layer information；

If second location information includes directional information and velocity information, the initial longitude and latitude is judged When whether coordinate precision is less than the first preset precision threshold, if then according to directional information and velocity information The initial latitude and longitude coordinates are modified, the latitude and longitude coordinates of the customer location are obtained, if otherwise Using the initial latitude and longitude coordinates as customer location latitude and longitude coordinates；

If second location information includes pressure information, judge that the initial latitude and longitude coordinates precision is It is no less than the second preset precision threshold when, if then being believed the initial floor according to the pressure information Breath is modified, and obtains the floor information of the customer location, if otherwise making the initial floor information It is the floor information of customer location.

The indoor navigation policy determining unit 740 is configured as：

Judge whether the floor of the starting point and the floor of terminal are same layer；

If it is not, then obtaining the pass facility between the connection starting point floor and terminal floor；

Indoor navigation strategy is determined according to the pass facility.

The indoor navigation policy determining unit 740 determines indoor navigation strategy according to the pass facility, Specifically include：

According to the pass facility, at least one navigation strategy to be selected is generated；

Selected wherein from the navigation strategy to be selected of generation according to the number of floor levels between the Origin And Destination One kind is used as indoor navigation strategy；Or, the navigation strategy to be selected for generating is showed into user for user Selection, using the navigation strategy to be selected of user's selection as indoor navigation strategy.

The indoor navigation policy determining unit 740 is according to the pass facility, and generation is at least one to be selected Navigation strategy, specifically includes：

The indoor navigation policy determining unit 740 is according to the number of floor levels between the Origin And Destination from life Into navigation strategy to be selected in select one of which as indoor navigation strategy, specifically include：

If the navigation strategy to be selected of generation is one kind, using the navigation strategy to be selected as indoor navigation plan Slightly；

If the navigation strategy to be selected of generation is various, indoor navigation strategy is selected according in the following manner：

When the number of floor levels is more than or equal to preset amount threshold, according to the selection of following sequencing wherein One kind is used as indoor navigation strategy：Vertical ladder is preferential, staircase is preferential, stair are preferential；

When the number of floor levels is less than preset amount threshold, one of which is selected according to following sequencing As indoor navigation strategy：Staircase is preferential, vertical ladder is preferential, stair are preferential.

The indoor navigation path-calculating element 750 is configured as：

With the customer location as starting point, advised by terminal of the corresponding pass facility of the indoor navigation strategy Draw the first shortest path；

With the corresponding pass facility of the indoor navigation strategy as starting point, with the destination as terminal, rule Draw the second shortest path；

The indoor navigation path is obtained according to first shortest path, the second shortest path.

The indoor navigation path-calculating element 750 is led with the customer location as starting point with the interior The tactful corresponding pass facility that navigates is that terminal plans the first shortest path, is specifically included：

Acquisition distance users position is nearest from the indoor navigation strategy corresponding pass facility passes through Facility, is starting point with the nearest pass facility as terminal with the customer location, plans the first shortest path Footpath；

The indoor navigation path-calculating element 750 is with the corresponding pass facility of the indoor navigation strategy Starting point, with the destination as terminal, plans the second shortest path, specifically includes：With described logical recently Row facility is starting point, with the destination as terminal, plans the second shortest path；

The indoor navigation path-calculating element 750 is according to first shortest path, the second shortest path The indoor navigation path is obtained, is specifically included：First shortest path and the second shortest path are entered Row merging obtains indoor navigation path；

Or,

The indoor navigation path-calculating element 750 is led with the customer location as starting point with the interior The tactful corresponding pass facility that navigates is that terminal plans the first shortest path, is specifically included：For indoor navigation Corresponding each pass facility of strategy, with the customer location as starting point, with described each pass facility It is terminal, plans the first shortest path corresponding with the pass facility；

The indoor navigation path-calculating element 750 is with the corresponding pass facility of the indoor navigation strategy Starting point, with the destination as terminal, plans the second shortest path, specifically includes：For indoor navigation Corresponding each pass facility of strategy, with described each pass facility as starting point, be with the destination Terminal, plans the second shortest path corresponding with the pass facility；

The indoor navigation path-calculating element 750 is according to first shortest path, the second shortest path The indoor navigation path is obtained, is specifically included：For indoor navigation strategy it is corresponding each current set Apply, the first shortest path of the pass facility and the second shortest path are merged and is obtained interior to be selected and is led Bit path；Will be most short as indoor navigation path in indoor navigation path to be selected.

Described device also includes：

Weight adjustment unit 770, the weight for increasing the selected indoor navigation strategy, and/ Or, reducing the weight of the navigation strategy to be selected when there is not selected navigation strategy to be selected.

The indoor navigation unit 760 is configured as：

For each section that indoor navigation path includes, the preset landmark point in the section is obtained, according to this The direct of travel of section direct of travel, the landmark point and next section, generates broadcast point and is broadcast at this Report the navigation content of point；

Indoor navigation is carried out according to the indoor navigation path, is specifically included：

User terminal current location is positioned, when user terminal reaches the nearest broadcast point in front, Report or show the corresponding navigation content of the broadcast point.

Described device also includes：

Whether judging unit 780, for obtaining user terminal current location, and judge the user terminal Driftage；

The indoor navigation path-calculating element 750 is configured as, and institute is judged in the judging unit 780 State in the case of user's driftage, with user terminal current location as starting point, with the destination as terminal, weigh It is new to calculate indoor guidance path.

Described device also includes：

Recording unit 790, in navigation procedure indoors, recording user's gait of march and direct of travel； Such as by the gyroscope acquisition speed of user terminal and direction.

Customer location presumption units 7110, for when failure is positioned to user terminal, according to preceding once fixed User's gait of march and direct of travel of position result and record speculate user terminal current location.To sum up institute State, the embodiment of the present application not only obtains latitude and longitude coordinates when starting point and final position is obtained, and also obtains The floor information of vertical direction, therefore simultaneously basis should to determine indoor navigation strategy according to terminus floor information Indoor navigation policy calculation not only realizes the mesh of indoor navigation from the indoor navigation path of origin-to-destination , and the relative position of terminus horizontal direction had both been considered when guidance path is planned, it is also contemplated that The floor relative position of vertical direction, therefore the guidance path cooked up can characterize two three dimensions The pass of location point, terminal is directed to more according to the guidance path that planning is obtained by user from starting point Accurately.

It should be noted that the application can be carried out in the assembly of software and/or software with hardware, For example, can be using application specific integrated circuit (ASIC), general purpose computer or any other is similar hard Part equipment is realized.In one embodiment, the software program of the application can be held by processor Go to realize steps described above or function.Similarly, software program (including the correlation of the application Data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory, Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can Employ hardware to realize, for example, coordinating so as to perform each step or function as with processor Circuit.

In addition, the part of the application can be applied to computer program product, such as computer journey Sequence is instructed, and when it is computer-executed, by the operation of the computer, can be called or be provided According to the present processes and/or technical scheme.And the programmed instruction of the present processes is called, can Can be stored in fixed or moveable recording medium, and/or be held by broadcast or other signals Carry the data flow in media and be transmitted, and/or be stored in the meter according to described program instruction operation In the working storage of calculation machine equipment.Here, the one embodiment according to the application includes a dress Put, the device is included for storing the memory of computer program instructions and for execute program instructions Processor, wherein, when the computer program instructions are by the computing device, trigger the device Methods and/or techniques scheme of the operation based on foregoing multiple embodiments according to the application.

It is obvious to a person skilled in the art that the application is not limited to above-mentioned one exemplary embodiment Details, and in the case of without departing substantially from spirit herein or essential characteristic, can be with others Concrete form realizes the application.Which point therefore, no matter from the point of view of, embodiment all should be regarded as It is exemplary, and be nonrestrictive, scope of the present application is by appended claims rather than upper Bright restriction is stated, it is intended that by the institute in the implication and scope of the equivalency of claim that falls Change and be included in the application.Any reference in claim should not be considered as limitation institute The claim being related to.Furthermore, it is to be understood that " including " word is not excluded for other units or step, odd number is not Exclude plural number.The multiple units or device stated in system claims can also by a unit or Device is realized by software or hardware.The first, the second grade word is used for representing title, and simultaneously Any specific order is not indicated that.

Claims

1. a kind of indoor navigation method, it is characterised in that including：

Indoor navigation is carried out according to the indoor navigation path.

2. the method for claim 1, it is characterised in that indoor positioning is carried out to user terminal Customer location is obtained, is specifically included：

3. method as claimed in claim 2, it is characterised in that the location information includes that first determines Position information and the second location information, wherein, first location information includes：Wifi information, bluetooth letter At least one in breath, Geomagnetism Information and light source information, second location information includes：Directional information With at least one in velocity information, pressure information；

Following at least two location information according to the user terminal carries out interior to the user terminal Positioning obtains customer location, specifically includes：

If second location information includes directional information and velocity information, the initial longitude and latitude is judged When whether degree coordinate precision is less than the first preset precision threshold, if then according to directional information and speed Information is modified to the initial latitude and longitude coordinates, obtains the latitude and longitude coordinates of the customer location, if Otherwise using the initial latitude and longitude coordinates as customer location latitude and longitude coordinates；

4. the method for claim 1, it is characterised in that according to the building of the beginning and end Layer information, determines indoor navigation strategy, including：

Indoor navigation strategy is determined according to the pass facility.

5. method as claimed in claim 4, it is characterised in that room is determined according to the pass facility Interior navigation strategy, specifically includes：

6. method as claimed in claim 5, it is characterised in that according to the pass facility, generation At least one navigation strategy to be selected, specifically includes：

7. method as claimed in claim 6, it is characterised in that according between the Origin And Destination Number of floor levels one of which is selected from the navigation strategy to be selected of generation as indoor navigation strategy, specific bag Include：

8. method as claimed in claim 5, it is characterised in that according to the indoor navigation strategy, The indoor navigation path from the starting point to the terminal is calculated, including：

9. method according to claim 8, it is characterised in that with the customer location as starting point, The first shortest path is planned by terminal of the corresponding pass facility of the indoor navigation strategy, is specifically included： The nearest pass facility in distance users position is obtained from the corresponding pass facility of the indoor navigation strategy, It is starting point with the nearest pass facility as terminal with the customer location, plans the first shortest path；

With the corresponding pass facility of the indoor navigation strategy as starting point, with the destination as terminal, rule The second shortest path is drawn, is specifically included：With the nearest pass facility as starting point, it is with the destination Terminal, plans the second shortest path；

The indoor navigation path is obtained according to first shortest path, the second shortest path, specific bag Include：First shortest path and the second shortest path are merged and obtains indoor navigation path；

Or,

With the customer location as starting point, advised by terminal of the corresponding pass facility of the indoor navigation strategy The first shortest path is drawn, is specifically included：For corresponding each pass facility of indoor navigation strategy, with The customer location is starting point, with described each pass facility as terminal, is planned corresponding with the pass facility The first shortest path；

With the corresponding pass facility of the indoor navigation strategy as starting point, with the destination as terminal, rule The second shortest path is drawn, is specifically included：For corresponding each pass facility of indoor navigation strategy, with Described each pass facility is starting point, with the destination as terminal, plans corresponding with the pass facility the Two shortest paths；

The indoor navigation path is obtained according to first shortest path, the second shortest path, specific bag Include：For corresponding each pass facility of indoor navigation strategy, by the first shortest path of the pass facility Footpath merges with the second shortest path and obtains indoor navigation path to be selected；By in indoor navigation path to be selected It is most short as indoor navigation path.

10. method according to claim 5, it is characterised in that also include：

Increase the weight of the selected indoor navigation strategy, and/or, it is not selected to be selected existing The weight of the navigation strategy to be selected is reduced during navigation strategy.

11. method as described in any one of claim 1~10, it is characterised in that according to the interior Navigation strategy, calculates from after the indoor navigation path of the origin-to-destination, also includes：

12. method as described in any one of claim 1~10, it is characterised in that methods described is also wrapped Include：

User terminal current location is obtained, and judges whether the user terminal goes off course；

If so, then with user terminal current location as starting point, with the destination as terminal, recalculating Indoor navigation path.

13. method as described in any one of claim 1~10, it is characterised in that methods described is also wrapped Include：

Indoors in navigation procedure, user's gait of march and direct of travel are recorded；

When failure is positioned to user terminal, according to a preceding positioning result and user's gait of march of record And direct of travel speculates user terminal current location.

A kind of 14. indoor navigation devices, it is characterised in that including：

15. devices as claimed in claim 14, it is characterised in that the indoor positioning unit is matched somebody with somebody It is set to：

16. devices as claimed in claim 15, it is characterised in that the location information includes first Location information and the second location information, wherein, first location information includes：Wifi information, bluetooth At least one in information, Geomagnetism Information and light source information, second location information includes：Believe in direction At least one in breath and velocity information, pressure information；

17. devices as claimed in claim 14, it is characterised in that the indoor navigation strategy determines Unit is configured as：

Indoor navigation strategy is determined according to the pass facility.

18. devices as claimed in claim 17, it is characterised in that the indoor navigation strategy determines Unit determines indoor navigation strategy according to the pass facility, specifically includes：

19. devices as claimed in claim 18, it is characterised in that the indoor navigation strategy determines Unit generates at least one navigation strategy to be selected according to the pass facility, specifically includes：

20. devices as claimed in claim 19, it is characterised in that the indoor navigation strategy determines Unit is selected wherein according to the number of floor levels between the Origin And Destination from the navigation strategy to be selected of generation One kind is specifically included as indoor navigation strategy：

21. devices as claimed in claim 18, it is characterised in that the indoor navigation path computing Unit is configured as：

22. devices according to claim 21, it is characterised in that the indoor navigation path meter Unit is calculated with the customer location as starting point, with the corresponding pass facility of the indoor navigation strategy as terminal The first shortest path is planned, is specifically included：

Or,

23. devices according to claim 18, it is characterised in that described device also includes：

Weight adjustment unit, the weight for increasing the selected indoor navigation strategy, and/or, The weight of the navigation strategy to be selected is reduced when there is not selected navigation strategy to be selected.

24. device as described in any one of claim 14~23, it is characterised in that the indoor navigation Unit is configured as：

25. device as described in any one of claim 14~23, it is characterised in that described device is also wrapped Include：

Judging unit, for obtaining user terminal current location, and judges whether the user terminal goes off course；

The indoor navigation path-calculating element is configured as, and judges that the user is inclined in the judging unit In the case of boat, with user terminal current location as starting point, with the destination as terminal, to recalculate Indoor navigation path.

26. device as described in any one of claim 14~23, it is characterised in that described device is also wrapped Include：

Recording unit, in navigation procedure indoors, recording user's gait of march and direct of travel；

Customer location presumption units, for when failure is positioned to user terminal, according to preceding one-time positioning knot User's gait of march and direct of travel of fruit and record speculate user terminal current location.