CN109813321A - A kind of indoor map method for drafting and system based on user behavior analysis - Google Patents
A kind of indoor map method for drafting and system based on user behavior analysis Download PDFInfo
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Abstract
The present invention provides a kind of indoor map drawing system and method based on user behavior analysis, the system includes user behavior information gathering subsystem, user behavior analysis subsystem, drawing subsystem, user behavior information gathering subsystem is used to acquire the location information of User Activity, and preservation management is carried out with time series approach, for analyzing user behavior；User behavior analysis subsystem is used to analyze the behavioural characteristic of user, models to the behavioural characteristic of user, and the Construction Bank that attaches most importance to is characterized activity map and provides basic data；Drawing subsystem is used to rebuild indoor three-dimensional map according to user behavior characteristics.The system and method provided through the invention can be improved the accuracy of indoor map drafting and reduce costs, and can provide more accurately analysis result based on user behavior data and machine learning techniques.
Description
Technical background
Map is the basis of airmanship, realizes that navigation must first draw suitable map.Mapping technology has developed
It is highly developed, the especially application of satellite technology and optical technology on Modern Surveying & Mapping, cartography has evolved to by hand
Work is surveyed and drawn to satellite/aerial photograph, by the development process of two-dimensional map to three-dimensional map.The commercial map of profession makes public at present
Department largely makes map using remote sensing satellite, and three-dimensional map modeling and signal are carried out on road surface using dedicated mapping vehicle
Acquisition.
People spend the most of the time indoors, with the raising for the demand that people apply indoor positioning, indoor map
The problem of start to display, but above-mentioned satellite remote sensing technology and mapping vehicle dimensional Modeling Technology means obviously be not suitable for interior
The production of map, if drawing means using artificial, drawing cost is that any enterprise is all unacceptable.Scientific and technical research thus
Person proposes the production that multiple technologies means carry out indoor map.
For example the generation method of indoor map disclosed in 201510965363.3 application for patent of application number is used from electricity
The method that sub- base map extracts interior wiring；Indoor map production method disclosed in 201610202360.9 application for patent of application number
Using three-dimensional figure in the method measuring chamber of laser mapping；201610170700.4 patent application publication of application number based on user
Indoor map production method use mobile terminal destination real time position, according to mobile terminal real time position draw
And generate indoor map.The disclosed indoor map based on mobile crowdsourcing of 201810483501.8 application for patent of application number generates
Multi-user's track fitting indoor map generation method disclosed in 201810483521.5 number of patent application of mode and application number utilizes
Sensor built in mobile phone acquires data, obtains user trajectory, obtains the map of maximum probability using track fitting algorithm.Into one
Step, 201710525081.0 application for patent of application number is disclosed to be analyzed using indoor environment image, determines the position of object
Confidence breath, according to the location information of object, the corresponding position of the original map in region is added corresponding virtual objects and is formed indoors
Merge map.201710321986.6 application for patent of application number discloses a kind of method for generating indoor map, discloses
A kind of method that three-dimensional map generates, this method are mainly characterized by using three-dimensional presentation mode in map displaying, show true
The indoor map of real field scape.
Above-mentioned technology improves the producing efficiency and practicability of indoor map.But there is also apparent defects: indoor ground
It is still two dimensional drafting thinking that figure, which generates, generates planar structure figure；The indoor map of generation, for main purpose, is gone back with navigation routine
It is not able to satisfy the needs of scene service.
In order to overcome disadvantages described above, the indoor map method for drafting that the invention discloses a kind of based on user behavior analysis and
System is rebuild the activity scene of indoor user behavior, is drawn using the data analysis and machine learning of mobile terminal behavioural characteristic
The available three-dimensional indoor map of scene service.Map provided by the invention has the advantages that production cost is low, formation efficiency is high, favorably
It is promoted and applied under the conditions of wide area.
Summary of the invention
To be solved by this invention is the problem of three-dimensional map needed for indoor navigation and location-based service is drawn, in order to solve
The above problem the invention discloses a kind of indoor map method for drafting and system based on user behavior analysis.
A kind of indoor map drawing system based on user behavior analysis provided by the invention, including user behavior information are adopted
Subsystem, user behavior analysis subsystem, drawing subsystem, wherein user behavior information gathering subsystem is used for acquiring
The movable location information in family, and preservation management is carried out with time series approach, for analyzing user behavior；User behavior
Analyzing subsystem is used to analyze the behavioural characteristic of user, models to the behavioural characteristic of user, the Construction Bank that attaches most importance to is characterized activity
Map provides basic data；Drawing subsystem is used to rebuild indoor three-dimensional map according to user behavior characteristics, wherein
User behavior information gathering subsystem includes range finder module and mobile terminal, and range finder module surveys mobile terminal
Away from including three kinds of distance measurement modes: mobile terminal initiative range measurement, that is, operating mode 1, mobile terminal passive ranging, that is, operating mode 2,
And phase ranging.
Under operating mode 1, mobile terminal transmitting has the ranging message of High Precision Time Stamps, is calculated and is moved by range finder module
Pseudorange of the dynamic terminal to range finder module；Under operating mode 2, range finder module transmitting has the ranging message of High Precision Time Stamps,
Mobile terminal receives ranging message and calculates pseudorange according to timestamp.
Mobile terminal is capable of the activity of tracking and positioning user, by with range finder module cooperate record user activity trajectory and
Behavioural characteristic provides basic data to draw indoor map, and wherein for mobile terminal in operating mode 1, mobile terminal sends band
The ranging message of having time stamp, range finder module receives the ranging message of mobile terminal, by range finder module calculate mobile terminal to
The pseudorange of range finder module；When working mode of mobile terminal 2, ranging message and timestamp that mobile terminal is issued according to range finder module
Time calibration is carried out, based on the received the ranging message of range finder module, in the pseudorange of local computing survey module to mobile terminal.
Wherein user behavior analysis subsystem includes user behavior data library and user behavior analysis module, user behavior number
Data after managing the pseudo range data of each mobile terminal with time series approach according to library and be calculated analytically, pseudo range data
It is generated by range finder module or mobile terminal, user behavior analysis module carries out time series analysis generation analysis meter to pseudorange and counts
According to.
Drawing subsystem includes map composition module, which is used to rebuild indoor map according to the behavior of user to generate
Three-dimensional map；The process for rebuilding indoor map includes determining mobile terminal behavior, determines that mobile terminal implements the coordinate of behavior,
The suitable Model Reconstruction threedimensional model of model library selection, verifies the threedimensional model of optimized reconstruction, weight is confirmed under the intervention of user
The indoor map built simultaneously is saved in database.
Drawing subsystem further includes model library, knowledge base, map presentation engine, manual intervention module, map library.
Wherein range finder module includes message sending submodule, message receiving submodule, computation of pseudoranges submodule, clock submodule
Block composition, cloud communication module, wherein message sending submodule sends the ranging report for having High Precision Time Stamps to mobile terminal
Text, mobile terminal calculate pseudorange according to ranging message；Or mobile terminal directly issues the ranging message palindrome to range finder module, by
Range finder module calculates mobile terminal pseudorange.
Clock submodule is sent to mobile terminal by ranging message for generating a High Precision Time Stamps, mobile
There is terminal pseudo-clock to calibrate submodule, carry out time calibration using the timestamp.
Mobile terminal includes message receiving submodule, message sending submodule, computation of pseudoranges submodule, pseudo-clock calibration
Module, pseudo-clock submodule, cloud communication module.
The present invention also provides a kind of indoor map method for drafting based on user behavior analysis, including user behavior information
The activity trajectory of acquisition subsystem acquisition mobile terminal；User behavior analysis subsystem is calculated according to User Activity trajectory analysis and is used
Family behavioural characteristic, according to user behavior characteristics reconstruction regions feature hot-zone；Drawing subsystem calls three according to user behavior hot-zone
The component of Wei Goujianmoxingku establishes three-dimensional map, wherein
The step of acquiring the activity trajectory of mobile terminal includes pseudo-clock calibration process, specifically:
A. by with specific behavior track, for example " characteristic area " with evident characteristic is defined as " fingerprint region ", as
Pseudo-clock calibrates hot-zone, pseudorange Δ t of the measurement measurement module to pseudo-clock calibration hot-zonef；
B. range finder module starts high precision clock T0, obtains high accurate clock signal tn, with not less than 1 hertz frequency to
Mobile terminal broadcasting packet；
C. mobile terminal measures and records the pseudorange Δ t of mobile terminals；
D. the characteristic area for mathematically finding mobile terminal behavior determines the into or out pseudo-clock of mobile terminal
Calibrate hot-zone；
E. message when the into or out pseudo-clock of mobile terminal calibrates hot-zone is obtained, the clock letter in outgoing packet is parsed
Number tn, calculate the time t of the pseudo-clock T1 of mobile terminalm=tn+Δtf；
F. the time of the pseudo-clock calibration submodule setting mobile terminal pseudo-clock T1 of mobile terminal is tm, complete mobile whole
Hold clock alignment.
Wherein the step of analytical calculation user behavior characteristics may include behavioural characteristic analytic process, specifically include:
A. the map composition module of drawing subsystem reads user behavior data library, according to pseudorange Δ tsTime series and
The vector space Vt of constraint condition reconstruction mobile terminal track；
B. action trail matched curve, specially curve of approximation or shellfish are rebuild according to the vector space Vt of mobile terminal track
This curve of leaf；
C. classification and/or clustering are carried out to mobile terminal action trail, determines the behavior probability of user；
D. map composition module determines two-dimensional surface functional areas and functional areas range according to behavior probability；
E. map composition module invocation map picture library marking Function area and functional areas range in two-dimensional surface.
The indoor map drawing system and method based on user behavior analysis provided through the invention, can make full use of
Machine learning and user behavior data analytical technology, for be realized with a low cost the drafting of indoor three-dimensional map provide it is a kind of simple and feasible
Technology.
Detailed description of the invention
The intent of the present invention legibly is conveyed to those skilled in the art in order to become apparent from, attached drawing is provided and comes furtherly
It is bright.In figure:
Fig. 1 is the signal of the indoor map drawing system based on user behavior analysis of specific embodiment according to the present invention
Property diagram；
Fig. 2 is each step of indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
Schematic illustration；
Fig. 3 is each group of the indoor map drawing system based on user behavior analysis of specific embodiment according to the present invention
At the schematic illustration of the specific composition of part；
Fig. 4 is the user of the indoor map drawing system based on user behavior analysis of specific embodiment according to the present invention
The schematic illustration of the composition of the range finder module of behavior acquisition subsystem；
Fig. 5 is the user of the indoor map drawing system based on user behavior analysis of specific embodiment according to the present invention
The schematic illustration of the composition of the mobile terminal of behavior acquisition subsystem；
Fig. 6 is the movement of the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
The pseudo-clock calibration module of terminal implements the schematic flow chart of pseudo-clock calibration process；
Fig. 7 is to move in the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
The schematic flow chart of terminal initiative range measurement process；
Fig. 8 is to move in the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
The schematic flow chart of terminal passive ranging process；
Fig. 9 is basis in the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
User Activity trajectory analysis calculates the schematic flow chart of the process of user behavior characteristics；
Figure 10 is room in the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
The schematic flow chart of interior map reconstruction process；
Figure 11 is machine in the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
The schematic flow chart of device learning process；
Figure 12 is to move in the indoor map method for drafting based on user behavior analysis of specific embodiment according to the present invention
The dynamic terminal schematic flow chart mobile in three-dimensional space；
Figure 13 is the indoor map method for drafting middle finger based on user behavior analysis of specific embodiment according to the present invention
The schematic flow chart of line point identification process.
A specific embodiment of the invention will be described in reference to the drawings, it should be noted that attached drawing and associated description are only schematic
, it does not constitute a limitation on the scope of protection of the present invention.
Specific embodiment
A specific embodiment of the invention is described hereinafter.
Firstly, the present invention provides a kind of indoor map drawing system based on user behavior analysis, the indoor map are drawn
System processed includes three subsystems: user behavior information gathering subsystem, user behavior analysis subsystem, drawing subsystem, such as
Shown in Fig. 1,
Wherein, the effect of user behavior information gathering subsystem is the location information for acquiring User Activity, and with time sequence
Column mode carries out preservation management, for analyzing user behavior.
The effect of user behavior analysis subsystem is to analyze the behavioural characteristic of user, is built to the behavioural characteristic of user
Mould, the Construction Bank that attaches most importance to are characterized activity map and provide basic data.
The effect of drawing subsystem is rebuild according to user behavior characteristics or also according to machine learning " composition knowledge "
Indoor three-dimensional map in drawing subsystem patterning process, can carry out manual intervention, manual correction computer independently rebuilds map
The deviation and mistake occurred in the process, machine learning module update " the composition knowledge " of " knowledge base " by case study.
The overall procedure of indoor map drawing system based on user behavior analysis is as shown in Figure 2.
A kind of indoor map method for drafting and system based on user behavior analysis disclosed by the invention, which is realized, draws interior
The core technology of three-dimensional map is the ranging to mobile terminal, and the distance measurement mode that the embodiment of the present invention provides is by three kinds: mobile whole
Hold initiative range measurement, mobile terminal passive ranging, phase ranging.It is specific as follows:
The process of mobile terminal initiative range measurement is mobile terminal to range finder module transmission ranging message, and range finder module directly returns
The distance measurement mode of multiple mobile terminal coordinate, as shown in fig. 7, being described hereinafter.
The process of mobile terminal passive ranging is range finder module broadcast transmission ranging message, and mobile terminal receives ranging report
Text, the distance measurement mode of clock alignment and computation of pseudoranges process is completed by mobile terminal, and is further calculated and be converted into coordinate
Distance measurement mode, as shown in Figure 8.
Phase ranging mode is the distance measurement mode that positioning distance measuring module is opened when user does not open positioning distance measuring, phase
The electromagnetic wave signal phase that positioning distance measuring module 3 or more antenna detection mobile terminals are utilized under distance measurement mode, according to mobile whole
The direction of the phase calculation mobile terminal of the electromagnetic wave signal at end and distance, the principle and " passive passive type " (PESA) are phased
Battle array radar is identical.
Further, as shown in figure 3, the present invention is based on the user behaviors of the indoor map drawing system of user behavior analysis
Information gathering subsystem includes range finder module and mobile terminal.
The effect of range finder module is that transmitting can be used for the air message of ranging, measurement mobile terminal to locating module away from
From for range finder module under operating mode 2, transmitting has the ranging message of High Precision Time Stamps, and mobile terminal receives ranging report
Text calculates pseudorange according to timestamp；For range finder module under operating mode 1, mobile terminal transmitting has the ranging of High Precision Time Stamps
Message, by the pseudorange of range finder module calculating mobile terminal to range finder module.
Mobile terminal generally refers to the smart phone of user, is also possible to other types intelligent terminal, mobile terminal
Effect be tracking and positioning user activity, by with range finder module cooperate record user activity trajectory and behavioural characteristic, be
It draws indoor map and basic data is provided.For mobile terminal in operating mode 1, mobile terminal sends the ranging report for having timestamp
Text, range finder module receive the ranging message of mobile terminal, by the pseudorange of range finder module calculating mobile terminal to range finder module；It moves
When dynamic terminal work mode 2, mobile terminal carries out time calibration according to range finder module ranging message and timestamp, based on the received
The ranging message of range finder module, in local computing pseudorange.
With reference to Fig. 3 as it can be seen that user behavior analysis subsystem includes user behavior data library and user behavior analysis module.
User behavior data library manages the pseudo range data of each mobile terminal with time series approach and is calculated analytically
Data later, pseudo range data are generated by range finder module or mobile terminal, and user behavior analysis module carries out time sequence to pseudorange
Column analysis generates analytical calculation data.
User behavior analysis module is a data analysis engine, and effect is to calculate pseudorange feature reproduction mobile terminal to live
Dynamic rail mark analyzes the behavioural characteristic of user, the possible behavior of analysis user and movement according to the track characteristic of mobile terminal, and
It is saved in user behavior data library, provides user behavior data to rebuild three-dimensional map.
Each point of the activity trajectory of mobile terminal is a vector of three-dimensional space relative to range finder module, mobile
The track of terminal can be indicated with vector space." pseudorange " of the present invention is the distance indicated using the time, and pseudorange is scalar
There is no direction.The active characteristics for calculating mobile terminal restore the institute's directed quantity for constituting mobile terminal track first.Root of the present invention
Refer to according to " binding character " condition having and other available parameters such as inertial guidance parameter, RSSI parameter, earth magnetism of the interior space
Line etc. restores the vector space of motion of mobile terminals, the track for restoring mobile terminal is calculated in vector space, by moving
The track of terminal and the behavior of Continuous behavior signature analysis user.
Illustrate the process that map is rebuild by user behavior analysis by taking user's dining process as an example.User carries mobile terminal
Into restaurant, mobile phone signal completes the switching from outdoor positioning signal to indoor positioning signal, and the region of switching is normally at door
Near mouthful.The region is a characteristic area, or referred to as one " fingerprint region ", completes clock alignment in the region.It is mobile whole
End follows user movement, with the pseudorange per second not less than primary frequency measurement mobile terminal to range finder module.In moving process
The parameters such as the direction of compass and accelerometer record mobile terminal of mobile terminal, are moved with parameters joint accounts such as pseudoranges
The motion profile of terminal namely the action trail of user.User enters the process of box by doorway and distance is completely recorded.
User is sat around in box in dining table, the position for each user that mobile terminal accurately records, and can be according to the data meter
The parameters such as size and the height of dining table are calculated, the behavior of user can also be calculated during further having dinner.It is big to obtain dining table
Small height, according to the scope of activities of user indoors, the layout data of available a box should by map composition remodelling
The three-dimensional map in restaurant.
With reference to Fig. 3 as it can be seen that drawing subsystem include machine learning module, map composition module, model library, knowledge base,
Figure presentation engine, manual intervention module, map library.
The effect of machine learning module is that composition parameter and study correction map composition parameter are provided for map composition module
It is formed " composition knowledge ", independently charts for map composition module and " composition knowledge " is provided.
The effect of map composition module is to rebuild indoor map according to the behavior of user to generate three-dimensional map, is rebuild indoor
The process of map includes determining mobile terminal behavior, determines that mobile terminal is implemented the coordinate of behavior, is suitble in model library selection
Model Reconstruction threedimensional model, the threedimensional model for verifying optimized reconstruction, indoor map and the guarantor for confirming under the intervention of user reconstruction
It is stored to database.
The effect of model library is to save preset three-dimensional structure model, directly uses three-dimensional when constructing three-dimensional map
Component model reduces repeated workload, it is often more important that reduces computation complexity and error probability.Model library is for example by backman
Tool such as CAD, 3D Studio MAX 3 tie up modeling tool software and establish.
The effect of knowledge base is to save machine learning module to obtain " composition knowledge " by case study, is map composition
Needed for module provides reconstruction three-dimensional map " composition knowledge ".
The effect of map library is the three-dimensional map for saving map structuring module and generating, and the data of indoor three-dimensional map are preferred
It is to establish and save based on object model.Object model described herein is such as CAD, 3D Studio MAX 3 dimension modeling work
Have establish three-dimensional structure model, based on object model construct three-dimensional map data library be conducive to map three-dimensional reconstruction and
Improve network communication efficiency.
The effect of map presentation engine is to provide the terminal with Map Services in use, and needing human intervention
In the case of, effect browsing is provided during Map building for artificial intervention.
The effect of manual intervention module be computer according to " composition knowledge " generate an interior space map after,
Confirmed and modified by artificial to map, accurate calibration is carried out to the three-dimensional coordinate of model.
The composition of range finder module include message sending submodule S1, message receiving submodule S2, computation of pseudoranges submodule S3,
Clock submodule constitutes S4, cloud communication module S5.As shown in Figure 4.
Message sending submodule S1 to mobile terminal send have High Precision Time Stamps ranging message, mobile terminal according to
Ranging message calculates pseudorange or mobile terminal and directly issues the ranging message palindrome to range finder module, is calculated and is moved by range finder module
Dynamic terminal pseudorange.
The effect of message receiving module S2 is the ranging message or the ranging message palindrome for receiving mobile terminal.In Working mould
Under 2 mode of formula, the message received includes the pseudorange of mobile terminal calculating as a result, the message received under 1 mode of operating mode
It does not include the pseudorange result that mobile terminal calculates.
The effect of computation of pseudoranges submodule S3 is the pseudorange for calculating mobile terminal to range finder module.Pseudorange illustrates mobile whole
End and range finder module further calculate movement by mobile terminal and range finder module relativeness in the relativeness of three-dimensional space
The layout of plane where terminal.
The effect of clock submodule S4 is to generate a High Precision Time Stamps, and be sent to mobile terminal by ranging message
There is the mobile terminal APP of APP, user pseudo-clock to calibrate submodule M4, carry out the time using the time seed, that is, timestamp
Calibration.
The effect of cloud communication module S5 is to realize the communication of range finder module and cloud database and calculation server.
Mobile terminal APP module includes message receiving submodule M1, message sending submodule M2, computation of pseudoranges submodule
M3, pseudo-clock calibrate submodule M4, pseudo-clock submodule M5, cloud communication module M6.As shown in Figure 5.
The effect of message receiving submodule M1 is the ranging message for receiving range finder module.
The effect of message sending submodule M2 is to send the ranging message palindrome to range finder module.
Computation of pseudoranges submodule M3 is the pseudorange that mobile terminal is calculated according to ranging message to range finder module.
The effect of pseudo-clock calibration submodule 4 is calibration " pseudo-clock ", and receiving timestamp must be calibrated later.It looks for
To the finger-print region of motion of mobile terminals track, row clock calibration is clicked through using finger-print region as clock alignment.Calibrate process such as
Shown in Fig. 6.
" fingerprint region " of the present invention refers to region of the action trail there are obvious characteristic of mobile subscriber, such as indoor
Outdoor signal is Zone switched, and the mobile phones compass heading such as corridor turning is substantially change or the vibration of stair activity mobile terminal
Acceleration there is the region of significant change, or if tri- points of c, e, f described by Figure 12 have apparent feature, Ke Yizuo
For fingerprint point, for correcting the clock of mobile terminal.
Pseudo-clock submodule M5, " pseudo-clock " are not physical clock, but a highly accurate time counter, with this
" time ruler " of the counting of time counter as ranging foundation, is used for pseudo range measurement.
The effect of cloud communication module M6 is to realize that range finder module and cloud database and calculation server communicate.
Mobile terminal is mobile in three-dimensional space, and { Z } as shown in figure 12 is range finder module position, and { a ..., i } is mobile terminal
Continuously active position, vectorMouldIt is distance of the range finder module to mobile terminal, uses pseudorange
It indicates are as follows: { Δ tza,…,Δtzi}.One group of pseudorange { Δ t is obtained by mobile terminal measurementza,…,Δtzi, according to constraint item
Part, by calculating pseudorange { Δ tza,…,ΔtziIt is reduced into vector spaceMobile terminal is calculated
Coordinate { a ..., i }, mobile terminal coordinate line, i.e. mobile terminal track sequentially in time.
As shown in figure 12, mobile terminal is by a point, by b, during c ..., h point are moved to i point, in c point and
F point changes moving direction, and c point and f point can be used as fingerprint point；It is in reduction if there is d point to e point distanceE point is existed simultaneously to increase i.e. to g point distanceThen vectorIt may be perpendicular to mobile terminal
The direction of motion, e point can also be used as fingerprint point.As it was noted above, " binding character " condition and such as inertial guidance of the interior space
Parameter, RSSI parameter, earth magnetism fingerprint etc. are also fingerprint point important feature, can be used as the use of fingerprint point.Fingerprint point may be used as
Pseudo-clock calibration point, calibration process are as shown in Figure 6.
As described in Figure 12, motion of mobile terminals movement track is reconstructed by vector space Vt, mobile terminal coordinate is calculated
{ a ..., i } marks User Activity hot-zone according to the coordinate { a ..., i } of mobile terminal, by map construction part module in the plane
Three-dimensional map is reconstructed according to " the composition knowledge " that User Activity hot-zone and machine learning obtain.
The present invention takes full advantage of user behavior data analysis using the method reduction user behavior and process of pseudo range measurement
Technology and machine learning method are map structuring especially behavior using the action trail of mobile terminal user as basic data
The building of activity map provides truly feasible technical method, and a large amount of drafting cost has been saved compared with traditional mapping method
With the drafting time；Compared with laser measurement plotting mode, the present invention independently constructs indoor map by system, considerably reduces room
The cost of the drafting of interior three-dimensional map, such as finishing etc. repaints three-dimensional map later again for especially indoor arrangement change
Cost.
The indoor map drafting side based on user behavior analysis of specific embodiment according to the present invention will be described in detail below
The process of method.
One, system overall process, as shown in Figure 2
Preferred embodiment in accordance with the present invention, the indoor map method for drafting based on user behavior analysis include following step
It is rapid:
1. the activity trajectory of user behavior information gathering subsystem acquisition mobile terminal；
2. user behavior analysis subsystem calculates user behavior characteristics according to User Activity trajectory analysis, according to user behavior
Feature reconstruction provincial characteristics hot-zone；
3. drawing subsystem calls the component of material database to establish three-dimensional map, user is according to reality according to user behavior hot-zone
The adjustment of border situation and confirmation three-dimensional map and coordinate, machine learning module accumulate " composition knowledge " by case study, and " composition is known
Know " it is used for map composition remodelling three-dimensional indoor map.
Two, the step of activity trajectory of acquisition mobile terminal as described above may include pseudo-clock calibration process, specifically
As shown in fig. 6,
1. the region with specific behavior fingerprint is set as pseudo-clock calibration hot-zone, measurement measurement module to pseudo-clock
Calibrate the pseudorange Δ t of hot-zonef；
2. range finder module starts high precision clock T0, high accurate clock signal t is obtainedn, with not less than 1 hertz frequency to
Mobile terminal broadcasting packet；
3. the pseudorange Δ t that mobile terminal measures and records mobile terminals；
4. find the characteristic area of mobile terminal behavior with small echo or other mathematical methods, determine mobile terminal enter or
Person removes pseudo-clock and calibrates hot-zone；
5. obtaining message when the into or out pseudo-clock of mobile terminal calibrates hot-zone, the clock letter in outgoing packet is parsed
Number tn, calculate the time t of the pseudo-clock T1 of mobile terminalm=tn+Δtf；
6. the time of the pseudo-clock calibration submodule setting mobile terminal pseudo-clock T1 of terminal APP is tm, complete mobile whole
Hold clock alignment.
Three), the step of activity trajectory of acquisition mobile terminal as described above may include mobile terminal initiative range measurement mistake
Journey, as shown in fig. 7,
1. mobile terminal starts clock submodule S4, timestamp t is obtainedn；
2. the message sending submodule M2 of mobile terminal uses tnRanging message is bundled to range finder module as timestamp
It issues；
3. the message receiving submodule S2 of range finder module receives ranging message, read access time stabs tn；
4. the time t that the computation of pseudoranges submodule S3 of mobile terminal reads clock submodule S4mWith the time of ranging message
Stab tn, the pseudorange Δ t of calculating mobile terminal to range finder modules=tm-tn；
5. stabbing t with mobile terminal sending timenAnd/or the message receiving submodule S2 of range finder module receive message when
Between tmIt is label storage Pseudo away from Δ tsTo user behavior data library.
Four), the step of activity trajectory of acquisition mobile terminal as described above may include mobile terminal passive ranging mistake
Journey, as shown in figure 8,
1. range finder module starts clock submodule S4, current time is obtained as timestamp；
2. it is wide to mobile terminal that the message sending submodule S1 of range finder module used as timestamp is bundled to ranging message
It broadcasts out；
3. the message receiving submodule M1 of mobile terminal APP receives ranging message, read access time stabs tn；
4. the time t that the computation of pseudoranges submodule M3 of mobile terminal reads pseudo-clockmWith the timestamp t of ranging messagen, meter
Pseudorange Δ t of the calculation mobile terminal to range finder modules=tm-tn；
5. stabbing t with ranging message sending timenAnd/or the message receiving submodule M1 of mobile terminal APP receives message
Time tmIt is label storage Pseudo away from Δ tsTo user behavior data library.
Five), the step of analytical calculation user behavior characteristics as described above may include behavioural characteristic analytic process, such as scheme
Shown in 9,
1. the map composition module of drawing subsystem reads user behavior data library, according to the time series of pseudorange Δ ts and
The vector space Vt of constraint condition reconstruction mobile terminal track；
2. rebuilding action trail matched curve, such as curve of approximation or pattra leaves according to the vector space Vt of mobile terminal track
The matched curves such as this curve；
3. a pair mobile terminal action trail carries out classification and/or clustering, the behavior probability of user is determined；
4. the map composition module of drawing subsystem determines two-dimensional surface functional areas and functional areas range according to behavior probability；
5. map composition module invocation map picture library marking Function area and functional areas range in two-dimensional surface.
Six), as described above may include indoor map reconstruction process the step of establishing three-dimensional map, as shown in figure 9,
1. functional areas and functional areas range that map composition module reads map library two-dimensional surface mark；
2. the behavior object chosen in building library constructs area's scene, such as dining room scene: round or square dining table, mistake
Road corridor, pick-up platform etc.；Supermarket's scene: shelf, checkout station etc.；Other scenes；
3. whether user is correct using the map that artificial intervention module confirmation system independently constructs, error label in figure is modified
With inappropriate component, calibrated component coordinate；
4. corrected three-dimensional indoor map is saved in map library；
5. machine learning module Learning Map composition parameter saves " composition knowledge " and arrives knowledge base.
Seven), as described above may include machine-learning process the step of establishing three-dimensional map, as shown in figure 11,
1. inputting map library model, map " composition knowledge " is read from knowledge base；
2. inputting manual intervention module corrected parameter, learn case；
3. updating " knowledge " of " knowledge base ", saves " composition knowledge " and arrive knowledge base.
Eight), as described above may include fingerprint point identification process the step of establishing three-dimensional map, as shown in figure 13,
1. reading mobile terminal pseudorange time series data；
2. restoring mobile terminal is displaced each point vector；
3. calculating mobile terminal track；
4. calculating inflection point curvature, curvature is greater than the set value, as track characteristic fingerprint point.
Claims (10)
1. a kind of indoor map drawing system based on user behavior analysis, including user behavior information gathering subsystem, user
Behavioural analysis subsystem, drawing subsystem,
Wherein, user behavior information gathering subsystem is used to acquire the location information of User Activity, and with time series approach into
Row preservation management, for analyzing user behavior；
User behavior analysis subsystem is used to analyze the behavioural characteristic of user, models to the behavioural characteristic of user, to rebuild
Behavioural characteristic activity map provides basic data；
Drawing subsystem is used to rebuild indoor three-dimensional map according to user behavior characteristics, wherein
User behavior information gathering subsystem includes range finder module and mobile terminal, and range finder module carries out ranging to mobile terminal,
Including three kinds of distance measurement modes: mobile terminal initiative range measurement, that is, operating mode 1, mobile terminal passive ranging, that is, operating mode 2 and phase
Position ranging.
2. indoor map drawing system as described in claim 1, under operating mode 1, mobile terminal transmitting is with high-precision
The ranging message of timestamp, by the pseudorange of range finder module calculating mobile terminal to range finder module；Under operating mode 2, ranging mould
Block transmitting has the ranging message of High Precision Time Stamps, and mobile terminal receives ranging message and calculates pseudorange according to timestamp.
3. indoor map drawing system as described in claim 1, mobile terminal is capable of the activity of tracking and positioning user, by with
The activity trajectory and behavioural characteristic of range finder module cooperation record user, provides basic data to draw indoor map, wherein moving
For terminal in operating mode 1, mobile terminal sends the ranging message for having timestamp, and range finder module receives the survey of mobile terminal
Away from message, by the pseudorange of range finder module calculating mobile terminal to range finder module；When working mode of mobile terminal 2, mobile terminal root
The ranging message and timestamp issued according to range finder module carries out time calibration, based on the received the ranging message of range finder module,
Local computing surveys module to the pseudorange of mobile terminal.
4. indoor map drawing system as described in claim 1, wherein user behavior analysis subsystem includes user behavior number
According to library and user behavior analysis module, user behavior data library manages the pseudo range data of each mobile terminal with time series approach
Be calculated analytically after data, pseudo range data generates by range finder module or mobile terminal, user behavior analysis module pair
Pseudorange carries out time series analysis and generates analytical calculation data.
5. indoor map drawing system as described in claim 1, drawing subsystem includes that the map composition module module is used for
Indoor map is rebuild to generate three-dimensional map according to the behavior of user, and the process for rebuilding indoor map includes determining mobile terminal row
For, determine that mobile terminal implements the coordinate of behavior, in the suitable Model Reconstruction threedimensional model of model library selection, verifying optimized reconstruction
Threedimensional model, confirm under the intervention of user the indoor map of reconstruction and be saved in database.
6. indoor map drawing system as claimed in claim 5, drawing subsystem further includes model library, knowledge base, map exhibition
Show engine, manual intervention module, map library.
7. indoor map drawing system as described in claim 1, wherein range finder module includes that message sending submodule, message connect
Receive submodule, computation of pseudoranges submodule, clock submodule constitute, cloud communication module, wherein message sending submodule is to movement
Terminal sends the ranging message for having High Precision Time Stamps, and mobile terminal calculates pseudorange according to ranging message；Or mobile terminal
The ranging message palindrome directly is issued to range finder module, mobile terminal pseudorange and clock submodule are calculated for giving birth to by range finder module
It is sent to mobile terminal at a High Precision Time Stamps, and by ranging message, there is mobile terminal pseudo-clock to calibrate submodule,
It carries out time calibration using the timestamp.
8. indoor map drawing system as described in claim 1, mobile terminal includes message receiving submodule, message transmission
Module, computation of pseudoranges submodule, pseudo-clock calibrate submodule, pseudo-clock submodule, cloud communication module.
9. a kind of indoor map method for drafting based on user behavior analysis, comprising steps of
The activity trajectory of user behavior information gathering subsystem acquisition mobile terminal；
User behavior analysis subsystem calculates user behavior characteristics according to User Activity trajectory analysis, according to user behavior characteristics weight
Build provincial characteristics hot-zone；
Drawing subsystem calls the component of three-dimensional structure model library to establish three-dimensional map according to user behavior hot-zone, wherein
The step of acquiring the activity trajectory of mobile terminal includes pseudo-clock calibration process, specifically:
A. with specific behavior track will there is " characteristic area " of evident characteristic to be defined as " fingerprint region ", as pseudo-clock school
Quasi- hot-zone, pseudorange Δ t of the measurement measurement module to pseudo-clock calibration hot-zonef；
B. range finder module starts high precision clock T0, obtains high accurate clock signal tn, with the frequency not less than 1 hertz to movement
Terminal broadcast message；
C. mobile terminal measures and records the pseudorange Δ t of mobile terminals；
D. the characteristic area for mathematically finding mobile terminal behavior determines the into or out pseudo-clock calibration of mobile terminal
Hot-zone；
E. message when the into or out pseudo-clock of mobile terminal calibrates hot-zone is obtained, the clock signal t in outgoing packet is parsedn,
Calculate the time t of the pseudo-clock T1 of mobile terminalm=tn+Δtf；
F. the time of the pseudo-clock calibration submodule setting mobile terminal pseudo-clock T1 of mobile terminal is tm, when completing mobile terminal
Clock calibration.
10. indoor map method for drafting as claimed in claim 9, wherein the step of analytical calculation user behavior characteristics may include
Behavioural characteristic analytic process, specifically includes:
A. the map composition module of drawing subsystem reads user behavior data library, according to pseudorange Δ tsTime series and constraint
The vector space Vt of condition reconstruction mobile terminal track；
B. action trail matched curve, specially curve of approximation or Bayes are rebuild according to the vector space Vt of mobile terminal track
Curve；
C. classification and/or clustering are carried out to mobile terminal action trail, determines the behavior probability of user；
D. map composition module determines two-dimensional surface functional areas and functional areas range according to behavior probability；
E. map composition module invocation map picture library marking Function area and functional areas range in two-dimensional surface.
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