CN104251700A - Method and equipment for automatically describing indoor position - Google Patents
Method and equipment for automatically describing indoor position Download PDFInfo
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- CN104251700A CN104251700A CN201310264392.8A CN201310264392A CN104251700A CN 104251700 A CN104251700 A CN 104251700A CN 201310264392 A CN201310264392 A CN 201310264392A CN 104251700 A CN104251700 A CN 104251700A
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- mobile device
- described mobile
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- indoor
- reference point
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a method and equipment for automatically describing indoor position, which comprises the following steps: 1)when mobile equipment moves from an initial position point indoor, an initial reference point is detected at first; 2)when the mobile equipment moves in the door, the motion direction of the mobile equipment is continuously detected through an electronic compass at every preset time interval, simultaneously, motion frequency of the mobile equipment is continuously detected through a gravity inductor; S3, the motion direction of the mobile equipment, the motion frequency of the mobile equipment and the initial reference point are combined, a mobile locus of the mobile equipment is generated based on a set algorithm, according to the relative position of the mobile equipment and the indoor building, and the mobile locus of the mobile equipment is presented on an interface, the mobile locus of a test terminal can be obtained in an accuracy and high efficiency mode, and accurate positioning to a carrier can be realized.
Description
Technical field
The invention belongs to track record technical field, be specifically related to the method and apparatus that a kind of indoor location robotization describes.
Background technology
In fields such as indoor track navigation or indoor positioning, because indoor do not have gps signal, therefore, traditional manual mode is adopted to describe the motion track of test terminal often, that is: tester carries test terminal and carries out in the process of movement, and at each location point, subjective judgement self is relative to the relative position of buildings respectively, and then manually dot method marks each location point on map, all location points are carried out line by software automatically in chronological order, motion track in forming chamber.
The mode that above-mentioned dependence tester manually records test position simulates the mobile route of test terminal, mainly there is following problem:
(1) manually get the artificial participation of needs ready, cannot robotization complete;
(2) hand labeled location point in moving process, exists because manual operation produces unavoidable shake, thus causes location point to mark the problem that there is error;
(3) only with eye-observation, accurately cannot estimate the position of the relative interior architecture of current location point, thus cause the problem of the motion track limited accuracy finally obtained.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of method that indoor location robotization describes, for the space lacking gps signal, accurately can obtain the motion track of test terminal efficiently, realize the precise positioning to carrier.
The technical solution used in the present invention is as follows:
The invention provides a kind of method that indoor location robotization describes, comprise the following steps:
S1, when initial position point starts mobile mobile device indoor, first detects initial reference point;
S2, when in the process of described mobile device at indoor moving, every the time interval of presetting, is constantly detected the direction of motion of described mobile device, meanwhile, is constantly detected the motion frequency of described mobile device by gravity sensor by electronic compass;
S3, in conjunction with the direction of motion of described mobile device, the motion frequency of described mobile device and described initial reference point, algorithm based on setting generates the motion track of described mobile device, and according to the relative position of described mobile device and interior architecture thing, the motion track of described mobile device is presented on interface.
Preferably, described mobile device is navigator, notebook, panel computer or smart mobile phone.
Preferably, in S1, described initial position point is indoor entry position point.
Preferably, described initial reference point is described indoor entry position point; The position coordinates of described initial reference point is obtained by GPS positioning equipment.
Preferably, S3 is specially: by the matched rule of setting, the motion frequency of described mobile device is scaled the display frequency of motion track on described interface; With the direction of motion of described initial reference point and described mobile device for constraint condition, namely obtain the motion track of described mobile device.
The equipment that the present invention also provides a kind of indoor location robotization to describe, comprising:
Detection module, for detecting initial reference point;
Electronic compass, for when described mobile device is in the process of indoor moving, every the time interval of presetting, constantly detects the direction of motion of described mobile device;
Gravity sensor, for when described mobile device is in the process of indoor moving, every the time interval of presetting, constantly detects the motion frequency of described mobile device;
Track Pick-up module, in conjunction with described initial reference point, described direction of motion and described motion frequency, generates the motion track of described mobile device based on the algorithm set;
Display module, for showing described motion track on interface.
Beneficial effect of the present invention is as follows:
The method and apparatus that indoor location robotization provided by the invention describes, can obtain the motion track of more accurate test terminal; Especially for the space lacking gps signal, accurately can obtain the motion track of test terminal efficiently, realize the precise positioning to test terminal.
Accompanying drawing explanation
Fig. 1 is the structural representation of the equipment that indoor location robotization provided by the invention describes.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
The invention provides a kind of method that indoor location robotization describes, comprise the following steps:
S1, when initial position point starts mobile mobile device indoor, first detects initial reference point;
Wherein, mobile device includes but not limited to navigator, notebook, panel computer or smart mobile phone.By mounting software in above-mentioned mobile device, namely can realize indoor location robotization of the present invention and describe.
In addition, initial position point can be indoor entry position point, due in indoor shortage GPS positioning signal, and GPS positioning signal is there is in indoor entry position, therefore, by existing GPS location technology, the absolute coordinates of indoor entry position point or the relative coordinate with interior architecture thing can be obtained very easily.Accordingly, initial reference point is preferably indoor entry position point.
S2, when in the process of described mobile device at indoor moving, every the time interval of presetting, is constantly detected the direction of motion of described mobile device, meanwhile, is constantly detected the motion frequency of described mobile device by gravity sensor by electronic compass;
S3, in conjunction with the direction of motion of described mobile device, the motion frequency of described mobile device and described initial reference point, algorithm based on setting generates the motion track of described mobile device, and according to the relative position of described mobile device and interior architecture thing, the motion track of described mobile device is presented on interface.
This step is specially: by the matched rule of setting, the motion frequency of described mobile device is scaled the display frequency of motion track on described interface; With the direction of motion of described initial reference point and described mobile device for constraint condition, namely obtain the motion track of described mobile device.Concrete, because the display frequency of motion track on interface comprises distance factor and time factor simultaneously, therefore, then in conjunction with direction of motion factor, can motion track be formed.Have Track Pick-up simply, advantage accurately.
As shown in Figure 1, the equipment that the present invention also provides a kind of indoor location robotization to describe, comprising:
Detection module, for detecting initial reference point;
Electronic compass, for when described mobile device is in the process of indoor moving, every the time interval of presetting, constantly detects the direction of motion of described mobile device;
Gravity sensor, for when described mobile device is in the process of indoor moving, every the time interval of presetting, constantly detects the motion frequency of described mobile device;
Track Pick-up module, in conjunction with described initial reference point, described direction of motion and described motion frequency, generates the motion track of described mobile device based on the algorithm set;
Display module, for showing described motion track on interface.
The method and apparatus that indoor location robotization provided by the invention describes, can obtain the motion track of more accurate test terminal; Especially for the space lacking gps signal, accurately can obtain the motion track of test terminal efficiently, realize the precise positioning to test terminal.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (6)
1. a method for indoor location robotization description, is characterized in that, comprise the following steps:
S1, when initial position point starts mobile mobile device indoor, first detects initial reference point;
S2, when in the process of described mobile device at indoor moving, every the time interval of presetting, is constantly detected the direction of motion of described mobile device, meanwhile, is constantly detected the motion frequency of described mobile device by gravity sensor by electronic compass;
S3, in conjunction with the direction of motion of described mobile device, the motion frequency of described mobile device and described initial reference point, algorithm based on setting generates the motion track of described mobile device, and according to the relative position of described mobile device and interior architecture thing, the motion track of described mobile device is presented on interface.
2. the method for indoor location robotization description according to claim 1, it is characterized in that, described mobile device is navigator, notebook, panel computer or smart mobile phone.
3. the method for indoor location robotization description according to claim 1, it is characterized in that, in S1, described initial position point is indoor entry position point.
4. the method for indoor location robotization description according to claim 3, it is characterized in that, described initial reference point is described indoor entry position point; The position coordinates of described initial reference point is obtained by GPS positioning equipment.
5. the method for indoor location robotization description according to claim 1, it is characterized in that, S3 is specially: by the matched rule of setting, the motion frequency of described mobile device is scaled the display frequency of motion track on described interface; With the direction of motion of described initial reference point and described mobile device for constraint condition, namely obtain the motion track of described mobile device.
6. an equipment for indoor location robotization description, is characterized in that, comprising:
Detection module, for detecting initial reference point;
Electronic compass, for when described mobile device is in the process of indoor moving, every the time interval of presetting, constantly detects the direction of motion of described mobile device;
Gravity sensor, for when described mobile device is in the process of indoor moving, every the time interval of presetting, constantly detects the motion frequency of described mobile device;
Track Pick-up module, in conjunction with described initial reference point, described direction of motion and described motion frequency, generates the motion track of described mobile device based on the algorithm set;
Display module, for showing described motion track on interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310264392.8A CN104251700A (en) | 2013-06-27 | 2013-06-27 | Method and equipment for automatically describing indoor position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310264392.8A CN104251700A (en) | 2013-06-27 | 2013-06-27 | Method and equipment for automatically describing indoor position |
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| Publication Number | Publication Date |
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| CN104251700A true CN104251700A (en) | 2014-12-31 |
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| CN201310264392.8A Pending CN104251700A (en) | 2013-06-27 | 2013-06-27 | Method and equipment for automatically describing indoor position |
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| CN (1) | CN104251700A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977003A (en) * | 2015-06-29 | 2015-10-14 | 中国人民解放军国防科学技术大学 | Indoor people search method, cloud server, and system based on shared track |
| CN109642935A (en) * | 2016-08-05 | 2019-04-16 | 昕诺飞控股有限公司 | Building automation system |
| CN110741271A (en) * | 2017-06-20 | 2020-01-31 | 北京嘀嘀无限科技发展有限公司 | System and method for locating building doorway |
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| CN101644578A (en) * | 2009-05-20 | 2010-02-10 | 北京派瑞根科技开发有限公司 | Tracking system for object motion trace based on network computing |
| WO2010098449A1 (en) * | 2009-02-27 | 2010-09-02 | トヨタ自動車株式会社 | Movement trajectory generator |
| CN102609197A (en) * | 2012-01-18 | 2012-07-25 | 华为终端有限公司 | Mobile terminal and image display method for same |
| CN103052151A (en) * | 2011-10-14 | 2013-04-17 | 中国电信股份有限公司 | Terminal positioning method and device as well as mobile terminal |
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2013
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| CN101272605A (en) * | 2007-03-22 | 2008-09-24 | 东南大学 | Mobile terminal locating method and positioning device |
| WO2010098449A1 (en) * | 2009-02-27 | 2010-09-02 | トヨタ自動車株式会社 | Movement trajectory generator |
| CN101644578A (en) * | 2009-05-20 | 2010-02-10 | 北京派瑞根科技开发有限公司 | Tracking system for object motion trace based on network computing |
| CN103052151A (en) * | 2011-10-14 | 2013-04-17 | 中国电信股份有限公司 | Terminal positioning method and device as well as mobile terminal |
| CN102609197A (en) * | 2012-01-18 | 2012-07-25 | 华为终端有限公司 | Mobile terminal and image display method for same |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977003A (en) * | 2015-06-29 | 2015-10-14 | 中国人民解放军国防科学技术大学 | Indoor people search method, cloud server, and system based on shared track |
| CN109642935A (en) * | 2016-08-05 | 2019-04-16 | 昕诺飞控股有限公司 | Building automation system |
| CN109642935B (en) * | 2016-08-05 | 2023-07-28 | 昕诺飞控股有限公司 | Building automation system |
| CN110741271A (en) * | 2017-06-20 | 2020-01-31 | 北京嘀嘀无限科技发展有限公司 | System and method for locating building doorway |
| CN110741271B (en) * | 2017-06-20 | 2023-08-22 | 北京嘀嘀无限科技发展有限公司 | System and method for locating building doorways |
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Address after: 519085 No. five, No. 8, science and technology, Zhuhai Harbour Road, Guangdong, Zhuhai Applicant after: DINGLI CORP., LTD. Address before: 519085 No. five, No. 8, science and technology, Zhuhai Harbour Road, Guangdong, Zhuhai Applicant before: Dingli Communications Corp., Ltd. |
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Application publication date: 20141231 |