CN104931051A - Indoor electronic map drawing and navigating method and system based on big data - Google Patents
Indoor electronic map drawing and navigating method and system based on big data Download PDFInfo
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- CN104931051A CN104931051A CN201510309591.5A CN201510309591A CN104931051A CN 104931051 A CN104931051 A CN 104931051A CN 201510309591 A CN201510309591 A CN 201510309591A CN 104931051 A CN104931051 A CN 104931051A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
Abstract
The invention discloses an indoor electronic map drawing and navigating method and system based on big data. The indoor electronic map drawing and navigating method comprises the following steps: a GPS signal is acquired by a smartphone, and the condition that a user enters a room or not is judged according to the change of positioning longitude or latitude; information on acceleration and azimuth is acquired by the smartphone, and positioning and tracking information of a pedestrian is obtained according to the dead reckoning of the pedestrian; the positioning and tracking information is sent to a server, and the server generates an inertial atlas through an information fusion algorithm, and returns the positioning and navigating information according to the user' requirements. The system comprises the smartphone and the server. An indoor map is drawn on the basis of a large amount of inertial positioning data, and the navigation is performed according to the indoor map, so that the obtained map data are more visual and accurate; meanwhile, the positioning precision is more accurate along with the increase of the sample quantity; an outdoor visitor can determine the position per se through self position calculation and the known indoor inertial navigation map.
Description
Technical field
The present invention relates to indoor electronic map to draw and precision navigation technology, particularly a kind of indoor electronic map based on large data is drawn and air navigation aid and system thereof.
Background technology
In the last few years, along with the quick increase of building quantity, the demand of indoor electronic map and location navigation also constantly increased.And due to building quantity too huge, be there is the problems such as cost is high, length consuming time by existing artificial mapping.
At present, based on GPS location outdoor ground mapping and airmanship very ripe.But GPS obviously declines in indoor precision, be sometimes even in the blank area of signal, cannot normally use at all.Existing indoor positioning technologies mainly contains two kinds: based on WLAN with based on self-contained sensor.
There are infrared ray, Wi-Fi, UWB, RFID, ZigBee etc. based on LAN, because needs carry out deployed with devices, waste time and energy, be not suitable for the track recording being used as a large amount of architecture indoor mapping.
Application number be 201410415407.0 patent of invention disclose a kind of smart mobile phone indoor orientation method, the method obtains pedestrian position based on the dead reckoning of self-contained sensor, and then obtains the flight path of pedestrian in indoor; But this localization method needs magnetic field map carry out mating otherwise cannot ensure positioning precision, indoor magnetic field map very easily changes, and cause location inaccurate, and magnetic field map is not directly perceived.
Summary of the invention
A kind of indoor electronic map based on large data is the object of the present invention is to provide to draw and air navigation aid and system thereof.
The technical scheme realizing the object of the invention is: a kind of indoor electronic map based on large data is drawn and air navigation aid, and the method comprises:
Smart mobile phone gathers gps signal, judges whether user enters indoor according to the longitude of location or the change of latitude;
Smart mobile phone gathers acceleration and azimuth information, obtains location and the flight path information of pedestrian according to pedestrian's dead reckoning;
Location and flight path information are sent to server, and server generates inertially atlas by information fusion algorithm, asks restoring to normal position navigation information according to user.
Further, whether smart mobile phone is greater than 0.001 degree according to the change of the longitude of twice location before and after gps signal or latitude and judges that user is at indoor or outdoors.
Further, described information fusion algorithm is the information fusion algorithm based on Kalman filtering.
Further, described locating navigation information is the shortest path obtained according to dijkstra's algorithm.
Indoor electronic map based on large data is drawn and a navigational system, and comprise smart mobile phone and server, wherein smart mobile phone comprises:
Gps signal module, for gathering gps signal;
Sensor assembly, for gathering acceleration and azimuth information;
Data processing module, for adopting pedestrian's dead reckoning to obtain location and the flight path information of pedestrian according to acceleration and azimuth information;
Mobile communication module, for server radio communication, location and flight path information are sent to server, and simultaneously reception server sends to the locating navigation information of user;
Location navigation display module, for showing locating navigation information, obtains the location navigation request of user simultaneously.
Further, described server comprises:
Server com-munication module, for receiving the location and flight path information or location navigation request that mobile communication module sends, sends locating navigation information to user;
Map server, the user location that received communication module is sent and flight path information or location navigation request, generate inertially atlas by information fusion algorithm, ask restoring to normal position navigation information according to user;
Database module, the inertially atlas that information and map server for storing user generate.
Web-based enterprise management interface, for operating inertia map and the managing user information of generation.
Further, described server is Ali's Cloud Server.
Further, described sensor assembly comprises acceleration transducer, gyroscope and magnetometric sensor.
Further, described information fusion algorithm is the information fusion algorithm based on Kalman filtering.
Further, described locating navigation information is the shortest path obtained according to dijkstra's algorithm.
Compared with prior art, its remarkable advantage is in the present invention:
(1) the present invention solves high cost, the low efficiency problem of current drawing electronic map method by large data mining and information fusion technology;
(2) the present invention is by means of only the self-contained sensor of smart mobile phone, does not need the deployment carrying out other wireless devices, makes indoor positioning more convenient, and reduce location cost;
(3) the present invention combines the autonomous navigate mode drawing inertial navigation map by inertial navigation is that existing indoor navigation technology increases a kind of new solution;
(4) the present invention utilizes the localization method generating inertial navigation map, makes indoor position accuracy more accurate;
(5) the present invention is by information database and map data base separately process, makes location navigation task processing speed faster;
(6) indoor map drafting of the present invention and air navigation aid are based on a large amount of inertial positioning data, make the map datum obtained more intuitively with accurate, meanwhile, along with the increase positioning precision of number of samples will be more accurate; The personnel that visit outward are calculated by self-position, in conjunction with existing indoor inertial navigation map, just can determine oneself position and complete indoor navigation.
Accompanying drawing explanation
Fig. 1 the present invention is based on the indoor electronic map drafting of large data and the structured flowchart of navigational system.
Fig. 2 is user's positioning result schematic diagram of the embodiment of the present invention.
Fig. 3 is all user movement trajectory diagrams of the embodiment of the present invention.
Fig. 4 is the movement locus figure after adopting information fusion algorithm process in the embodiment of the present invention.
Fig. 5 is the inertial navigation map that the embodiment of the present invention generates.
Fig. 6 is the itinerary map that in the embodiment of the present invention, system issues visitor.
Fig. 7 is the schematic diagram that in the embodiment of the present invention, visitor arrives destination according to inertial navigation map.
Embodiment
Composition graphs 1, the indoor electronic map based on large data of the present invention is drawn and air navigation aid, and the method comprises:
Smart mobile phone gathers gps signal, whether is greater than 0.001 degree judges whether user enters indoor according to the longitude of gps signal location or the change of latitude;
Smart mobile phone gathers acceleration and azimuth information, obtains location and the flight path information of pedestrian according to pedestrian's dead reckoning;
Location and flight path information are sent to server, server is by generating inertially atlas based on the information fusion algorithm of Kalman filtering, ask restoring to normal position navigation information according to user, wherein locating navigation information is the shortest path obtained according to dijkstra's algorithm.
Indoor electronic map based on large data of the present invention is drawn and navigational system, comprises smart mobile phone and server; Server is Ali's Cloud Server ECS;
Smart mobile phone comprises gps signal module, sensor assembly, data processing module, mobile communication module and location navigation display module, and wherein this sensor assembly comprises acceleration transducer, gyroscope and magnetometric sensor;
Server comprises server com-munication module, map server, database module and Web-based enterprise management interface, and wherein database module comprises map data base and User Information Database;
Gps signal module is connected with data processing module, and the gps signal received is sent to data processing module; Described sensor assembly is connected with data processing module, and the acceleration collected and azimuth information are sent to data processing module; Data processing module utilizes pedestrian's dead reckoning to obtain location and the flight path information of pedestrian;
Data processing module is connected with server by mobile communication module, and the location drawn by data processing module and flight path information send to server, and reception server sends to the locating navigation information of user simultaneously; Wherein mobile communication module can be Wi-Fi or cellular mobile network;
Location navigation display module is connected with data processing module, and the locating navigation information obtained by data processing module is shown to user, obtains the location navigation request of user simultaneously;
Server com-munication module is connected with mobile communication module, for receiving the location and flight path information or location navigation request that user sends, sends to user the locating navigation information that server provides;
Map server is connected with server com-munication module, the user location that received communication module is sent and flight path information or location navigation request, by generating inertially atlas based on the information fusion algorithm of Kalman filtering, ask restoring to normal position navigation information according to user, locating navigation information is the shortest path obtained according to dijkstra's algorithm;
Database module is connected with map server, stores the information of user and the inertially atlas of map server generation; Wherein whether user profile comprises user name, logs in password, sex, cell-phone number, is outer visitor and access rights.
Web-based enterprise management interface is connected with map server, for operating inertia map and the managing user information of generation; Operation inertia map comprises and carries out border amendment to it, the numbering of addition room's inner room, the person liable in room, and marks the position of some fire fighting devicies; Managing user information comprises manually to be increased or deletes user, resets user and logs in password, the access rights of change user.
Wherein, map server is the MapXtreme server of MapInfo, and map data base is Oracle Spatial, and User Information Database is MySQL5.6;
Below in conjunction with specific embodiment, the invention will be further described.
Embodiment
First, the keeper of system selectes the sample of sample of users as cartography of some; Smart mobile phone constantly gathers the latitude and longitude information of user, when the difference of twice, the front and back after glide filter longitude or latitude is greater than 0.001 degree, can judge that user enters indoor; Previous longitude and latitude, then as the reference position of this user, is the entry position of this building simultaneously.
After user enters indoor, smart mobile phone starts the data of collecting acceleration transducer, gyroscope and magnetometric sensor, and data processing module determines the movement locus of user according to pedestrian's dead reckoning method.Pedestrian's dead reckoning is exactly the step-length and the step number that are obtained pedestrian by acceleration information, azimuth information can be drawn according to gyroscope and magnetometric sensor information, be incorporated into into geography information during indoor, just user location can be carried out, positioning result as shown in Figure 2, ' X ' represents the entry position identified, and ' O ' represents each moment pedestrian position determined based on pedestrian's dead reckoning method, and all ' O ' forms the movement locus of user jointly.The motion track information of the user obtained is sent to server by communication module by smart mobile phone.When the movement locus of all users is all uploaded onto the server, obtain proprietary movement locus as shown in Figure 3.Map server utilizes based on the information fusion algorithm of Kalman filtering according to the trace generator inertial navigation map of user, and as shown in Figure 4, the inertial navigation map of generation as shown in Figure 5 for the movement locus after process.Information fusion algorithm based on Kalman filtering is exactly using the initial position of each user as starting point, makes prediction to its next location status, and according to the criterion of actual value and predicted value minimum variance, revises next step location status prediction.After data variance being greater than 0.1 by the method for filtering weed out, just can reach the object of information fusion.According to the fuse information obtained, system manager draws out indoor map more intuitively by the web administration page, and the solid line in Fig. 5 is the indoor map that keeper draws.
The locator data of the indoor map of drafting and user is stored in map data base by server simultaneously, and the information of user is then stored in User Information Database.When there being outer visitor, his position is ' X ' in Fig. 6, and destination is ' △ ' in map.The position that inertial navigation is located by visitor and destination send to server, data in server calls map data base, and obtain the shortest navigation way according to dijkstra's algorithm, and itinerary map is sent to visitor, as shown in Figure 6, the dotted line with arrow in figure represents navigation way to the itinerary map sent.Dijkstra's algorithm is exactly by starting point, each corner point and destination composition point set, and by each point connected distance weights determining them between two, is sorted by weights.Then, from starting point, determine that every bar may arrive the total weight value of destination route, finally determine the route of shortest path.Finally, visitor finds destination according to inertial navigation map, and as shown in Figure 7, ' O ' in figure represents user's actual position, and the dotted line of band arrow represents navigation way, and solid line is the indoor map generated.
Claims (10)
1. the indoor electronic map based on large data is drawn and an air navigation aid, and it is characterized in that, the method comprises:
Smart mobile phone gathers gps signal, judges whether user enters indoor according to the longitude of location or the change of latitude;
Smart mobile phone gathers acceleration and azimuth information, obtains location and the flight path information of pedestrian according to pedestrian's dead reckoning;
Location and flight path information are sent to server, and server generates inertially atlas by information fusion algorithm, asks restoring to normal position navigation information according to user.
2. the indoor electronic map based on large data according to claim 1 is drawn and air navigation aid, it is characterized in that, whether smart mobile phone is greater than 0.001 degree according to the longitude of twice location before and after gps signal or latitude change judges that user is at indoor or outdoors.
3. the indoor electronic map based on large data according to claim 1 and 2 is drawn and air navigation aid, and it is characterized in that, described information fusion algorithm is the information fusion algorithm based on Kalman filtering.
4. the indoor electronic map based on large data according to claim 1 and 2 is drawn and air navigation aid, and it is characterized in that, described locating navigation information is the shortest path obtained according to dijkstra's algorithm.
5. the indoor electronic map based on large data is drawn and a navigational system, and it is characterized in that, comprise smart mobile phone and server, wherein smart mobile phone comprises:
Gps signal module, for gathering gps signal;
Sensor assembly, for gathering acceleration and azimuth information;
Data processing module, for adopting pedestrian's dead reckoning to obtain location and the flight path information of pedestrian according to acceleration and azimuth information;
Mobile communication module, for server radio communication, location and flight path information are sent to server, and simultaneously reception server sends to the locating navigation information of user;
Location navigation display module, for showing locating navigation information, obtains the location navigation request of user simultaneously.
6. the indoor electronic map based on large data according to claim 5 is drawn and navigational system, and it is characterized in that, described server comprises:
Server com-munication module, for receiving the location and flight path information or location navigation request that mobile communication module sends, sends locating navigation information to user.
Map server, the user that received communication module is sent locates flight path information or location navigation request, generates inertially atlas by information fusion algorithm, asks restoring to normal position navigation information according to user;
Database module, the inertially atlas that information and map server for storing user generate;
Web-based enterprise management interface, for operating inertia map and the managing user information of generation.
7. the indoor electronic map based on large data according to claim 6 is drawn and navigational system, and it is characterized in that, described server is Ali's Cloud Server.
8. the indoor electronic map based on large data according to claim 5-7 any one is drawn and navigational system, and it is characterized in that, described sensor assembly comprises acceleration transducer, gyroscope and magnetometric sensor.
9. the indoor electronic map based on large data according to claim 5-7 any one is drawn and navigational system, and it is characterized in that, described information fusion algorithm is the information fusion algorithm based on Kalman filtering.
10. the indoor electronic map based on large data according to claim 5-7 any one is drawn and navigational system, and it is characterized in that, described locating navigation information is the shortest path obtained according to dijkstra's algorithm.
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| CN107091641A (en) * | 2017-06-14 | 2017-08-25 | 上海建工集团股份有限公司 | Job site personnel localization method and positioner |
| CN108132477A (en) * | 2018-01-30 | 2018-06-08 | 上海康斐信息技术有限公司 | The localization method and device that a kind of GPS is combined with PDR |
| CN109782317A (en) * | 2018-11-13 | 2019-05-21 | 斯沃德教育科技股份有限公司 | It is a kind of based on wearable positioning system |
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| CN109782317A (en) * | 2018-11-13 | 2019-05-21 | 斯沃德教育科技股份有限公司 | It is a kind of based on wearable positioning system |
| CN110032120A (en) * | 2019-04-29 | 2019-07-19 | 江苏科技大学 | A kind of floating beacon coordinate control device, method and system |
| CN113739784A (en) * | 2020-05-27 | 2021-12-03 | 华为技术有限公司 | Positioning method, user equipment, storage medium and electronic equipment |
| CN114061579A (en) * | 2020-07-30 | 2022-02-18 | 华为技术有限公司 | Indoor positioning and indoor navigation method and device, electronic equipment and storage medium |
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