CN107402009A - The method and mobile terminal of a kind of indoor navigation - Google Patents
The method and mobile terminal of a kind of indoor navigation Download PDFInfo
- Publication number
- CN107402009A CN107402009A CN201610340704.2A CN201610340704A CN107402009A CN 107402009 A CN107402009 A CN 107402009A CN 201610340704 A CN201610340704 A CN 201610340704A CN 107402009 A CN107402009 A CN 107402009A
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- CN
- China
- Prior art keywords
- mobile terminal
- label
- current location
- unit
- building
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of method of indoor navigation, applied to mobile terminal, it is characterised in that including obtaining building map；Scanning label positions to current location；Destination address is received, starts angular-rate sensor and to target navigates；Judge whether to need to calibrate position, if desired, then the label of prompting scanning present position carries out positioning calibration.Additionally provide a kind of mobile terminal, including angular-rate sensor, in addition to, for label is scanned scanning element, according to current location and target carry out the planning unit of route planning and the location calibration unit calibrated to position.The present invention solves the technical problem that prior art deposits difficulty of navigating between floors.
Description
Technical field
The present invention relates to the technology of field of navigation technology, more particularly to indoor navigation.
Background technology
Application navigation software has been a kind of important way of modern people's trip, in outdoor ring
GPS location and operator's base station auxiliary positioning can be passed through in border, it is possible to achieve degree of precision
Positioning, but when we place oneself in the midst of building, during such as market, due to gps signal and base
Signal of standing can not penetrate building, cause us to look for specific businessman, become more difficult,
Efficiently, automatically us can not be instructed to find specified businessman by software.
In existing indoor navigation technical scheme, mainly pass through wifi auxiliary positionings and gyroscope
Positioning.Using wifi auxiliary positionings, it is necessary to transform existing each market, specification wifi
The title of focus, and each market is surveyed and drawn, the specific implementation link of scheme is larger,
The property management in each market is needed to coordinate, required cost is higher.
The content of the invention
One of purpose of the present invention is to propose the method and mobile terminal of a kind of indoor navigation,
Solves the technical problem that prior art deposits difficulty of navigating between floors.It is provided by the invention all
Many technique effects that optimal technical scheme in more technical schemes can be generated are as detailed below to be explained
State.
To achieve the above object, the invention provides following technical scheme：
A kind of method of indoor navigation, applied to mobile terminal, including, obtain building map；
Scanning label positions to current location；Destination address is received, starts angular-rate sensor simultaneously
To target navigate；Judge whether to need to calibrate position, if desired, then prompt
The label of scanning present position carries out positioning calibration.
Preferably, the acquisition building map is by GPS navigation location determination current location
Whether in building, if judging current location in building, remind and obtain the building
Thing map obtains the building map automatically.
Preferably, the label is Quick Response Code or bar code or NFC label or RFC
Label.
Preferably, including, by confirming whether mobile terminal is moved more than the first distance to judge
Whether need to calibrate position, if mobile terminal movement is sentenced more than the first distance
It is disconnected to need to calibrate position.
Preferably, start angular-rate sensor, include the present bit of initialization angular-rate sensor
Put parameter.
Preferably, in addition to, WIFI signal is received by mobile terminal, according to WIFI signal
Power and the route that to target navigates judge present position, progress auxiliary positioning calibration.
Present invention also offers a kind of mobile terminal, including angular-rate sensor, in addition to, use
In the scanning element being scanned to label, according to current location and target carry out route planning
Planning unit and the location calibration unit calibrated to position.
Preferably, the mobile terminal also includes, and GPS navigation positioning unit and judgement are current
Position whether the first position identifying unit in building.
Preferably, the mobile terminal also includes, and judges whether the mobile terminal movement exceedes
The Distance Judgment unit of first distance.
Preferably, the scanning element is camera and/or near field recognition unit.
Preferably, the mobile terminal also includes, WIFI signal receiving unit, and according to
The power of WIFI signal that the WIFI signal receiving unit receives and to target navigate
Route judges the second place identifying unit of present position.
Based on above-mentioned technical proposal, it is tired that prior art of the embodiment of the present invention deposits navigation between floors
Difficult technical problem.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the application
A part, schematic description and description of the invention is used to explain the present invention, not structure
Into inappropriate limitation of the present invention.In the accompanying drawings：
The flow chart of the method for the indoor navigation that Fig. 1 is provided by the embodiment of the present invention；
The stream of the method for the indoor navigation that Fig. 2 is provided by preferred embodiment of the embodiment of the present invention
Cheng Tu；
The stream of the method for the indoor navigation that Fig. 3 is provided by preferred embodiment of the embodiment of the present invention
Cheng Tu；
The schematic diagram for the mobile terminal that Fig. 4 is provided by the embodiment of the present invention.
Reference：
Angular-rate sensor 10；Scanning element 20；Planning unit 30；Location calibration unit 40；
Distance Judgment unit 41；Second place identifying unit 42；First position identifying unit 50；WIFI
Signal receiving unit 60.
Embodiment
Be referred to accompanying drawing Fig. 1~Fig. 4 below and word content understand present disclosure with
And the distinctive points between the present invention and prior art.Hereafter by accompanying drawing and enumerate the present invention
The mode of some alternative embodiments, to technical scheme (including optimal technical scheme)
It is described in further detail.It should be noted that：Any technical characteristic in the present embodiment,
Any technical scheme be the technical characteristic of plurality of optional or one kind in optional technical scheme or
It is several, in order to describe it is succinct need it is impossible to exhaust of the invention all alternative in this document
Technical characteristic and alternative technical scheme, also it is not easy to the embodiment of each technical characteristic
It is emphasized as one of optional numerous embodiments, so those skilled in the art should know：
Any technological means provided by the invention can be replaced or by provided by the invention any two
Individual or more technological means or technical characteristic are combined mutually and obtain new technical scheme.
Any technical characteristic and any technical scheme in the present embodiment do not limit the protection of the present invention
Scope, protection scope of the present invention should not pay creative work including those skilled in the art
The thinkable any alternate embodiments of institute and those skilled in the art are by provided by the invention
Two or more technological means of anticipating or technical characteristic technology new obtained from being combined mutually
Scheme.
The embodiments of the invention provide a kind of method of indoor navigation and mobile terminal.
Technical scheme provided by the invention is explained in more detail with reference to Fig. 1~Fig. 4
State.
As shown in figure 1, a kind of method for indoor navigation that the embodiment of the present invention is provided, application
In mobile terminal, the method for the indoor navigation includes obtaining building map, and in building
In each place have the label comprising positional information, these labels can be Quick Response Code or
Bar code or NFC label or RFC labels, can be to current location by scanning label
Positioned, that is to say, that user can know oneself place this moment by scanning the method for label
Position, after user inputs destination address, startup angular-rate sensor, which is realized, to target to navigate,
Angular-rate sensor can calculate the track of walking, so as to realize navigation, during navigation
Also need to judge whether user reaches home, be used for having arrived target when judging to draw
Behind location, then the flow of navigation terminates.Wherein, need to initialize when starting angular-rate sensor
The current location parameter of angular-rate sensor.
In addition, indoor positioning is carried out using angular-rate sensor, it is necessary to be integrated to acceleration,
New position needs to rely on last position every time, can thus bring accumulated error unavoidably, make
Accurate into short distance positioning, long range deviations are larger, therefore also need to judge whether to need
Position is calibrated, if desired, then the label of prompting scanning present position is carried out
Positioning calibration.Wherein, as shown in Figure 2 can be by confirming whether mobile terminal is moved more than
One distance judges whether to need to calibrate position, if mobile terminal movement is more than
One distance, then judge to need to calibrate position, wherein the first distance is traditionally arranged to be
30 meters -70 meters, the first distance is arranged to 50 meters in present embodiment, when user is it is determined that work as
Behind front position, when moving more than 50 meters again, then judge to need to carry out school to new position
Standard, then the label of scanning present position is prompted to carry out positioning calibration.The present invention passes through to bag
Label containing positional information is scanned the navigation realized between floors, meanwhile, using fixed
Position calibration further solves the problems, such as that navigation deviation is big.
In addition, the step of in order to preferably complete positioning calibration, the embodiment of the present invention additionally provides
A kind of method of assisted calibration, this method receive WIFI signal by mobile terminal, it may be determined that
The position of WIFI signal, while judge current location from WIFI according to the power of WIFI signal
The distance of signal, judge present position further combined with the route to target to navigate, enter
Row auxiliary positioning is calibrated.Simultaneously certain ordinal relation is not present in each step in the above method,
, can also be for example user can be by just obtaining building map between building is entered
Building map and current location are obtained simultaneously when scanning label for the first time into building, in addition,
As shown in figure 3, because general outside building use GPS navigation alignment system, therefore can be with
Whether by GPS navigation location determination current location in building, if judging, current location exists
In building, then remind and obtain the building map or obtain the building map automatically.
For another example, angular-rate sensor prompting can be opened or opened automatically after user inputs destination address
Open, open mode can also be at before user inputs destination address, as long as making in use
During method with indoor navigation, angular-rate sensor is in opening.
As shown in figure 4, present invention also offers a kind of mobile terminal, including angular-rate sensor
10, in addition to, for label is scanned scanning element 20, according to current location and mesh
The position school that mark ground carries out the planning unit 30 of route planning and calibrated to position
Quasi- unit 40, the scanning element 20 are camera either near field recognition unit.It is of the invention real
The mobile terminal that example is provided is applied, when entering building, building map can be obtained, and
And each local label between floors, these label bags can be scanned by scanning element 20
Containing positional information, these labels can be Quick Response Code or bar code or NFC label or
RFC labels, scanning label by scanning element 20 can position to current location, also
Be say user can be scanned by scanning element 20 label method know oneself this moment it is in place
Put, after user inputs destination address, planning unit 30 can be planned the route of user,
Startup angular-rate sensor 10, which is realized, to target to navigate, and angular-rate sensor can calculate walking
Track, so as to realize navigation.Wherein, need to initialize angle when starting angular-rate sensor
The current location parameter of velocity sensor.On obtain building map, user can by
Into building map is just obtained between building, can also be scanned for the first time entering building
Building map and current location are obtained simultaneously during label, alternatively, it is also possible to described mobile whole
In end set GPS navigation positioning unit (omission is not drawn into) and judge current location whether
First position identifying unit 50 in building, because typically using GPS navigation outside building
Alignment system, therefore current location can be obtained by GPS navigation positioning unit, and pass through the
One location determination unit 50 judges current location whether in building, if judging, current location exists
In building, then remind and obtain the building map or obtain the building map automatically.
In addition, indoor positioning is carried out using angular-rate sensor, it is necessary to be integrated to acceleration,
New position needs to rely on last position every time, can thus bring accumulated error unavoidably, make
Accurate into short distance positioning, long range deviations are larger, therefore the embodiment of the present invention provides
Mobile terminal also includes the location calibration unit 40 calibrated to position, if judging to need
Current location is calibrated, then mobile terminal prompting scans the label of present position and led to
Cross alignment unit 40 and carry out positioning calibration.Wherein it is possible to confirmed by Distance Judgment unit 41
Whether mobile terminal is moved more than the first distance to judge whether to need to carry out school to position
Standard, if mobile terminal movement judges to need to institute more than the first distance, Distance Judgment unit 41
Calibrated in position, wherein the first distance is traditionally arranged to be 30 meters -70 meters, present embodiment
It is middle that first distance is arranged to 50 meters, when user is it is determined that behind current location, moves and exceed again
At 50 meters, then judge to need to calibrate new position by Distance Judgment unit 41,
Then the label of prompting scanning present position carries out positioning calibration.What the embodiment of the present invention provided
Mobile terminal is scanned to the label comprising positional information by scanning element 20 and realized
Navigation in building, meanwhile, positioning calibration is carried out by alignment unit 40 and further solved
The problem of deviation of navigating is big.
In addition, in order to preferably complete positioning calibration, the mobile end that the embodiment of the present invention is provided
End also includes scanning element 20, and WIFI signal is received by the scanning element 20 of mobile terminal,
It can determine the position of WIFI signal, while present bit is judged according to the power of WIFI signal
Put from a distance from WIFI signal, to target navigated further combined with what planning unit 30 provided
Route, present position is judged by second place identifying unit 42, carries out auxiliary positioning
Calibration.Mobile terminal provided by the present invention, by scanning element 20 to including positional information
Label be scanned the navigation realized between floors, meanwhile, using location calibration unit
40 carry out positioning calibration, further solve the problems, such as that navigation deviation is big.
Any technical scheme disclosed in the invention described above unless otherwise stated, if it discloses
Number range, then disclosed number range is preferable number range, any this area
Technical staff should be appreciated that：Preferable number range is only technology in many enforceable numerical value
The obvious or representative numerical value of effect.It is impossible to exhaust because numerical value is more, so
The present invention just discloses component values to illustrate technical scheme, also, above-mentioned row
The numerical value of act should not form the limitation to the invention protection domain.
If parts being limited if the word such as " first ", " second " is used herein,
Those skilled in the art should know：The use of " first ", " second " is just for the sake of just
Parts are distinguished as not having outside Stated otherwise in description, above-mentioned word is not special
Implication.
In addition, applied in any technical scheme disclosed in the invention described above be used for represent position
The term of relation or shape unless otherwise stated its implication include it is approximate with its, similar or close
State or shape.Either component provided by the invention both can be by multiple single parts
Assemble, or the separate part that integrally formed technique manufactures.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention and
It is non-that it is limited；It is affiliated although the present invention is described in detail with reference to preferred embodiments
The those of ordinary skill in field should be understood：The embodiment of the present invention can still be entered
Row modification carries out equivalent substitution to some technical characteristics；Without departing from technical solution of the present invention
Spirit, it all should cover among the claimed technical scheme scope of the present invention.
Claims (11)
- A kind of 1. method of indoor navigation, applied to mobile terminal, it is characterised in that including,Obtain building map；Scanning label positions to current location；Destination address is received, starts angular-rate sensor and to target navigates；Judge whether to need to calibrate position, if desired, then the label of prompting scanning present position carries out positioning calibration.
- 2. the method for indoor navigation as claimed in claim 1, it is characterized in that, it is described acquisition building map be by GPS navigation location determination current location whether in building, if judging current location in building, remind and obtain the building map or obtain the building map automatically.
- 3. the method for indoor navigation as claimed in claim 1, it is characterised in that the label is Quick Response Code or bar code or NFC label or RFC labels.
- 4. the method for indoor navigation as claimed in claim 1, it is characterised in that it includes by confirming whether mobile terminal is moved more than the first distance to judge whether to need to calibrate position, if mobile terminal movement needs to calibrate position more than the first distance, judgement.
- 5. the method for indoor navigation as claimed in claim 1, it is characterised in that start angular-rate sensor, include the current location parameter of initialization angular-rate sensor.
- 6. the method for the indoor navigation as described in any one of claim 1 to 5, it is characterised in that also include, WIFI signal is received by mobile terminal, present position is judged according to the power of WIFI signal and the route to target to navigate, carries out auxiliary positioning calibration.
- A kind of 7. mobile terminal, including angular-rate sensor, its spy is that the mobile terminal also includes, for label is scanned scanning element, according to current location and target carry out the planning unit of route planning and the location calibration unit calibrated to position.
- 8. mobile terminal as claimed in claim 7, it is characterised in that the mobile terminal also includes, GPS navigation positioning unit and judge current location whether the first position identifying unit in building.
- 9. mobile terminal as claimed in claim 7, it is characterised in that the mobile terminal also includes, judge mobile terminal movement whether more than the first distance Distance Judgment unit.
- 10. mobile terminal as claimed in claim 7, it is characterised in that the scanning element is camera and/or near field recognition unit.
- 11. the mobile terminal as described in any one of claim 7 to 10, it is characterized in that, the mobile terminal also includes, WIFI signal receiving unit, and the power of the WIFI signal received according to the WIFI signal receiving unit and the route that to target navigates judge the second place identifying unit of present position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610340704.2A CN107402009A (en) | 2016-05-20 | 2016-05-20 | The method and mobile terminal of a kind of indoor navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610340704.2A CN107402009A (en) | 2016-05-20 | 2016-05-20 | The method and mobile terminal of a kind of indoor navigation |
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| CN107402009A true CN107402009A (en) | 2017-11-28 |
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| CN201610340704.2A Pending CN107402009A (en) | 2016-05-20 | 2016-05-20 | The method and mobile terminal of a kind of indoor navigation |
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Cited By (3)
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| CN109724601A (en) * | 2018-11-19 | 2019-05-07 | 淮海工学院 | One kind is based on airmanship in recurrent network analysis room |
| CN110220530A (en) * | 2019-06-17 | 2019-09-10 | 腾讯科技（深圳）有限公司 | Air navigation aid and device, computer readable storage medium and electronic equipment |
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