CN104990551A - Indoor and outdoor co-navigation method and system based on trajectory extraction - Google Patents
Indoor and outdoor co-navigation method and system based on trajectory extraction Download PDFInfo
- Publication number
- CN104990551A CN104990551A CN201510344838.7A CN201510344838A CN104990551A CN 104990551 A CN104990551 A CN 104990551A CN 201510344838 A CN201510344838 A CN 201510344838A CN 104990551 A CN104990551 A CN 104990551A
- Authority
- CN
- China
- Prior art keywords
- track
- line segment
- point position
- indoor
- outdoor
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
The invention discloses an indoor and outdoor co-navigation method and system based on trajectory extraction. The indoor and outdoor co-navigation method comprises the steps that an indoor and outdoor three-dimensional map and a plurality of POI positions in the indoor and outdoor three-dimensional map are obtained; coarse-grain positions of a trajectory contributor and a navigation user in the indoor and outdoor three-dimensional map are detected; the individual motion trajectory of the trajectory contributor is collected; according to the coarse-grain position of the trajectory contributor in the indoor and outdoor three-dimensional map and the POI positions in the indoor and outdoor three-dimensional map, effective motion trajectory is extracted from the individual motion trajectory and stored; a navigation request of the navigation user is received, and according to the coarse-grain position of the navigation user in the indoor and outdoor three-dimensional map and the navigation request of the navigation user, a navigation path is generated and sent to the navigation user.
Description
Technical field
The present invention relates to wireless communication field, especially, relate to a kind of indoor and outdoor based on trajectory extraction associating air navigation aid and system.
Background technology
Subway transportation system, more than 100 urban development is all over the world got up, and total length is more than 7000 kilometers.Nowadays, subway is occupied an leading position in the public transportation system in many cities.Such as, Metro in Paris of France System Take 70% of Paris public transport volume of passenger traffic.
Take the subway travelling time, passenger need one to arrive from any position, the indoor of a subway station near an outdoor destination---such as, a shopping center---convenience, few walking path consuming time.But this basic demand is not easy to meet, reason is as follows.The first, subway station has complicated doors structure, particularly to those transfer stops.The second, passenger does not know the situation of each gateway of subway station, especially extends in other interior architectures, as market place builet below the ground in some outlets.The shortage of indoor and outdoor navigation not only brings a lot of trouble to passenger, and greatly reduces the efficiency of subway transport system.
A simple method for indoor and outdoor navigation allows each passenger consult a map, and map provides the information around the subway station of coarseness.But map, only provides very limited information, be difficult to the navigation needs meeting most of passenger.In addition, passenger finds a suitable guidance path to be very difficult something fast and accurately by consulting a map, especially for the people of the outsider and directionless sense.Although the application program of the mobile phone that latest developments are got up, as subway navigation, the existing cartographic information be posted in subway station is just presented on the mobile phone of passenger by they.Therefore, they can not realize indoor and outdoor self-navigation.On the other hand, large quantifier elimination makes great efforts the precision improving indoor positioning, but indoor navigation system is not also implemented, and arrives outdoor common navigation system still more indoor.
For the problem lacking indoor and outdoor associating airmanship scheme in prior art, not yet there is effective solution at present.
Summary of the invention
For the problem lacking indoor and outdoor associating airmanship scheme in prior art, the object of the invention is to propose a kind of indoor and outdoor based on trajectory extraction associating air navigation aid and system, indoor and outdoor can be completed and combine navigation work, fill up the technological gap of this area.
Based on above-mentioned purpose, technical scheme provided by the invention is as follows:
According to an aspect of the present invention, a kind of indoor and outdoor based on trajectory extraction associating air navigation aid is provided.
The associating of the indoor and outdoor based on the trajectory extraction air navigation aid provided according to the present invention comprises:
Obtain indoor and outdoor three-dimensional map, and the multiple POI positions in indoor and outdoor three-dimensional map;
Detect track contributor and the coarse grained location of navigation user in indoor and outdoor three-dimensional map;
The individual sports track of acquisition trajectories contributor;
According to the coarse grained location of track contributor in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, from individual sports track, extract effective exercise track, and store effective movement locus;
Receive the navigation requests of navigation user, and generate guidance path according to the navigation requests of the coarse grained location of navigation user in indoor and outdoor three-dimensional map and navigation user and send to navigation user.
Wherein, according to the coarse grained location of track contributor in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from individual sports track, for the track line segment that multiple terminus is POI position will be extracted in each individual sports track, be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, and multiple track line segment and multiple track line segment cluster are formed effective movement locus.
And, the track line segment that multiple terminus is POI position will be extracted in each individual sports track, multiple different types of POI position is detected for the characteristic kinematic pattern that embodies at particular location according to individual sports track, individual sports track is multiple track line segment according to multiple different types of POI location resolution and extracts, wherein, multiple different types of POI position comprises: gate position, turning position, entrance.
And, be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, for being the sub-line segment of track that multiple terminus is walking point according to multiple walking points of each track contributor by each track line segment Further Division, it is identical that the sub-line segment of each track in same track line segment is regarded as size.
Simultaneously, multiple track line segment and multiple track line segment cluster are formed effective movement locus, for each track line segment is represented in the mode of the sub-line segment cluster of multiple track, and the total length of the sub-line segment of multiple track, the run duration of this track line segment and the motion encoded of this track line segment on the termination POI position of the initial POI position of the cluster of the sub-line segment of multiple track on each track line segment, this track line segment, this track line segment, this track line segment, this track line segment are set up corresponding relation, simultaneously using this corresponding relation as effective exercise track stored in server.
In addition, generating guidance path according to the navigation requests of the coarse grained location of navigation user in indoor and outdoor three-dimensional map and navigation user sends to navigation user to comprise:
Retrieve according in the effective exercise track that the initial point position in the navigation requests of navigation user and terminating point position store in server;
When existence one comprises the effective exercise track of initial point position and terminating point position simultaneously, effective exercise track is sent to navigation user as guidance path;
When having many and comprise the effective exercise track of initial point position and terminating point position simultaneously, to the consuming time and travel distance of every bar effective exercise trajectory calculation motion, select the motion effective exercise track minimum with travel distance integrated value consuming time and send to navigation user as guidance path;
When there is not the effective exercise track comprising initial point position and terminating point position simultaneously, but there are many when comprising the effective exercise track of initial point position and terminating point position respectively, select the combination of two movement locus of initial point position place effective exercise track and place, terminating point position effective exercise track, the combination of two movement locus is sent to navigation user as guidance path, when there is the combination of multiple two movement locus, the combination selecting two movement locus minimum with travel distance integrated value consuming time that move sends to navigation user as guidance path,
When do not exist comprise initial point position and terminating point position simultaneously effective exercise track, there is not the effective exercise track comprising initial point position and terminating point position respectively yet time, near initial point position and terminating point position, search for nearest POI position respectively, and carry out retrieving and generating guidance path in the effective exercise track stored in server as initial point position and terminating point position according to nearest two the POI positions of initial point position and terminating point position.
And, when navigation user is not moved according to guidance path or when behind the destination that navigation user arrival guidance path indicates, navigation user is considered as track contributor and continues to gather individual sports track, extract effective exercise track and store this effective exercise track.
According to another aspect of the present invention, a kind of indoor and outdoor common navigation system based on trajectory extraction is provided.
The entity positioning system provided according to the present invention comprises:
Server, server is wirelessly connected to the mobile device of track contributor and navigation user, for obtaining indoor and outdoor three-dimensional map, and the multiple POI positions in indoor and outdoor three-dimensional map, receive the individual sports track that mobile device gathers, server is according to the coarse grained location of track contributor in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from individual sports track, and store effective movement locus, server generates guidance path according to the navigation requests of the coarse grained location of navigation user in indoor and outdoor three-dimensional map and navigation user and sends to navigation user.
Track contributor, track contributor carries mobile device and moves on indoor and outdoor three-dimensional map;
Navigation user, navigation user sends navigation requests by mobile device to server, and carries mobile device and move on indoor and outdoor three-dimensional map;
Mobile device, mobile device detects track contributor or the coarse grained location of navigation user in indoor and outdoor three-dimensional map, the individual sports track of acquisition trajectories contributor, individual sports track is sent to server, simultaneously the guidance path of mobile device also for sending to navigation requests and the reception server of server transmission navigation user.
Wherein, server is according to the coarse grained location of track contributor in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from individual sports track, for the track line segment that multiple terminus is POI position will be extracted in each individual sports track, be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, and multiple track line segment and multiple track line segment cluster are formed effective movement locus;
The track line segment that multiple terminus is POI position will be extracted in each individual sports track, multiple different types of POI position is detected for the characteristic kinematic pattern that embodies at particular location according to individual sports track, individual sports track is multiple track line segment according to multiple different types of POI location resolution and extracts, wherein, multiple different types of POI position comprises: gate position, turning position, entrance;
Be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, for being the sub-line segment of track that multiple terminus is walking point according to multiple walking points of each track contributor by each track line segment Further Division, it is identical that the sub-line segment of each track in same track line segment is regarded as size;
Multiple track line segment and multiple track line segment cluster are formed effective movement locus, for each track line segment is represented in the mode of the sub-line segment cluster of multiple track, and the total length of the sub-line segment of multiple track, the run duration of this track line segment and the motion encoded of this track line segment on the termination POI position of the initial POI position of the cluster of the sub-line segment of multiple track on each track line segment, this track line segment, this track line segment, this track line segment, this track line segment are set up corresponding relation, simultaneously using this corresponding relation as effective exercise track stored in server.
Further, server generates guidance path according to the navigation requests of the coarse grained location of navigation user in indoor and outdoor three-dimensional map and navigation user and sends to navigation user to comprise:
Retrieve according in the effective exercise track that the initial point position in the navigation requests of navigation user and terminating point position store in server;
When existence one comprises the effective exercise track of initial point position and terminating point position simultaneously, effective exercise track is sent to navigation user as guidance path;
When having many and comprise the effective exercise track of initial point position and terminating point position simultaneously, to the consuming time and travel distance of every bar effective exercise trajectory calculation motion, select the motion effective exercise track minimum with travel distance integrated value consuming time and send to navigation user as guidance path;
When there is not the effective exercise track comprising initial point position and terminating point position simultaneously, but there are many when comprising the effective exercise track of initial point position and terminating point position respectively, select the combination of two movement locus of initial point position place effective exercise track and place, terminating point position effective exercise track, the combination of two movement locus is sent to navigation user as guidance path, when there is the combination of multiple two movement locus, the combination selecting two movement locus minimum with travel distance integrated value consuming time that move sends to navigation user as guidance path,
When do not exist comprise initial point position and terminating point position simultaneously effective exercise track, there is not the effective exercise track comprising initial point position and terminating point position respectively yet time, near initial point position and terminating point position, search for nearest POI position respectively, and carry out retrieving and generating guidance path in the effective exercise track stored in server as initial point position and terminating point position according to nearest two the POI positions of initial point position and terminating point position;
Wherein, when navigation user is not moved according to guidance path or when behind the destination that navigation user arrival guidance path indicates, navigation user is considered as track contributor and continues to gather individual sports track, extract effective exercise track and store this effective exercise track.
As can be seen from above, technical scheme provided by the invention extracts effective exercise track and according to effective exercise track for navigation user provides the technical scheme of guidance path by using from the individual sports track collected, solve the problem that the individual sports track collected cannot be directly used in navigation user, make indoor and outdoor combine navigation work to be accomplished, fill up the technological gap of this area.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram of a kind of associating of the indoor and outdoor based on the trajectory extraction air navigation aid according to the embodiment of the present invention;
Fig. 2 is the part indoor and outdoor three-dimensional map near the subway station of Xidan, Beijing;
Fig. 3 is the method flow diagram extracting effective exercise track in a kind of associating of the indoor and outdoor based on the trajectory extraction air navigation aid according to the embodiment of the present invention from individual sports track;
Fig. 4 is the detection frequency comparison diagram of underground ticket checking mouth position and normal walking position in a kind of associating of the indoor and outdoor based on the trajectory extraction air navigation aid according to the embodiment of the present invention;
Fig. 5 is the walking point comparison diagram of a pair similar sub-line segment in two different line segments in a kind of associating of the indoor and outdoor based on the trajectory extraction air navigation aid according to the embodiment of the present invention;
Fig. 6 is three different effective exercise tracks in a kind of indoor and outdoor based on the trajectory extraction associating air navigation aid according to the embodiment of the present invention;
Fig. 7 is the structural drawing of a kind of indoor and outdoor common navigation system based on trajectory extraction according to the embodiment of the present invention.
Embodiment
Clearly understand for making the object, technical solutions and advantages of the present invention, below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention carry out further clear, complete, describe in detail, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of protection of the invention.
According to embodiments of the invention, provide a kind of indoor and outdoor based on trajectory extraction associating air navigation aid.
As shown in Figure 1, a kind of associating of the indoor and outdoor based on the trajectory extraction air navigation aid provided according to embodiments of the invention comprises:
Step S101, obtains indoor and outdoor three-dimensional map, and the multiple POI positions in indoor and outdoor three-dimensional map;
Step S103, detects track contributor and the coarse grained location of navigation user in indoor and outdoor three-dimensional map;
Step S105, the individual sports track of acquisition trajectories contributor;
Step S107, according to the coarse grained location of track contributor in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, extracts effective exercise track, and stores effective movement locus from individual sports track;
Step S109, receives the navigation requests of navigation user, and generates guidance path according to the navigation requests of the coarse grained location of navigation user in indoor and outdoor three-dimensional map and navigation user and send to navigation user.
Wherein, according to the coarse grained location of track contributor in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from individual sports track, for the track line segment that multiple terminus is POI position will be extracted in each individual sports track, be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, and multiple track line segment and multiple track line segment cluster are formed effective movement locus.
And, the track line segment that multiple terminus is POI position will be extracted in each individual sports track, multiple different types of POI position is detected for the characteristic kinematic pattern that embodies at particular location according to individual sports track, individual sports track is multiple track line segment according to multiple different types of POI location resolution and extracts, wherein, multiple different types of POI position comprises: gate position, turning position, entrance.
And, be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, for being the sub-line segment of track that multiple terminus is walking point according to multiple walking points of each track contributor by each track line segment Further Division, it is identical that the sub-line segment of each track in same track line segment is regarded as size.
Simultaneously, multiple track line segment and multiple track line segment cluster are formed effective movement locus, for each track line segment is represented in the mode of the sub-line segment cluster of multiple track, and the total length of the sub-line segment of multiple track, the run duration of this track line segment and the motion encoded of this track line segment on the termination POI position of the initial POI position of the cluster of the sub-line segment of multiple track on each track line segment, this track line segment, this track line segment, this track line segment, this track line segment are set up corresponding relation, simultaneously using this corresponding relation as effective exercise track stored in server.
In addition, generating guidance path according to the navigation requests of the coarse grained location of navigation user in indoor and outdoor three-dimensional map and navigation user sends to navigation user to comprise:
Retrieve according in the effective exercise track that the initial point position in the navigation requests of navigation user and terminating point position store in server;
When existence one comprises the effective exercise track of initial point position and terminating point position simultaneously, effective exercise track is sent to navigation user as guidance path;
When having many and comprise the effective exercise track of initial point position and terminating point position simultaneously, to the consuming time and travel distance of every bar effective exercise trajectory calculation motion, select the motion effective exercise track minimum with travel distance integrated value consuming time and send to navigation user as guidance path;
When there is not the effective exercise track comprising initial point position and terminating point position simultaneously, but there are many when comprising the effective exercise track of initial point position and terminating point position respectively, select the combination of two movement locus of initial point position place effective exercise track and place, terminating point position effective exercise track, the combination of two movement locus is sent to navigation user as guidance path, when there is the combination of multiple two movement locus, the combination selecting two movement locus minimum with travel distance integrated value consuming time that move sends to navigation user as guidance path,
When do not exist comprise initial point position and terminating point position simultaneously effective exercise track, there is not the effective exercise track comprising initial point position and terminating point position respectively yet time, near initial point position and terminating point position, search for nearest POI position respectively, and carry out retrieving and generating guidance path in the effective exercise track stored in server as initial point position and terminating point position according to nearest two the POI positions of initial point position and terminating point position.
And, when navigation user is not moved according to guidance path or when behind the destination that navigation user arrival guidance path indicates, navigation user is considered as track contributor and continues to gather individual sports track, extract effective exercise track and store this effective exercise track.
Technical characteristic of the present invention is set forth further below according to specific embodiment.
An embodiment of the associating of the indoor and outdoor based on trajectory extraction air navigation aid of the present invention is in subway transportation system.Associating indoor and outdoor navigation under other scenes is also available, as shopping center.In the present embodiment, outdoor three-dimensional map is the three-dimensional map in city, subway place, indoor three-dimensional map be each subway station station in three-dimensional map, outdoor three-dimensional map is connected by subway gateway with multiple indoor three-dimensional map.
Shown in Fig. 2 is part indoor and outdoor three-dimensional map near the subway station of Xidan, Beijing.As shown in Figure 2, track contributor subway under S point, mobile device starts record its track and upload onto the server, share to navigation user afterwards.Track contributor walk along blue solid lines, takes advantage of escalator, through gate, walks out subway station, arrive destination N from outlet B.Along with the increase of the quantity of participant, have many tracks between S and N and contribute out.
A navigation user, such as, external passenger, subway under the S point, wants to arrive N point.Server can recommend his this blue solid lines path, meets the demand of passenger navigates.When user is by the track walking recommended, system will detect POI (Point Of Interest, the vital point) run trace of position to navigation user and calibrate.POI position refers to the critical positions that the navigation user such as such as subway gateway, staircase gateway, ticket checking gate as a rule have to pass through.
If navigation user arrives destination and do not close our system, it goes to forward again other destination, such as shopping center P.System will gather the blue dashed trace of navigation user, uploads onto the server, and shares from S point to N point to the track of P point again.So, wanting afterwards goes to P point passenger from S point, can navigate along this bar navigation track, and does not need spended time oneself to go to plan guidance path.Clearly, this paths is optimum guidance path not necessarily, so when other track contributor directly arrives P point from S point, is uploaded by track, and server will recommend optimum path to be shared with navigation user from all paths.When navigation user is got off from the T point figure, want to arrive N point, clearly, this does not have a track for it, and so first navigation user will navigate to from its nearest point by system, such as S point, then by blue solid lines path navigation to N point.
Passenger can collect from subway station to path, outdoor destination as above-mentioned track contributor, is shared with other users.The track shared will provide navigation Service further.Subway station has a large amount of passengers usual every day, and especially in China, therefore, it is feasible for gathering a large amount of tracks.
Having oneself excites the user of character to be very willing to the track of oneself to share to other users, therefore, all there is the higher track of a quality for any pair starting point.But we know, random, the low precision that a large amount of real motion tracks directly shared by track contributor are, directly can not be supplied to navigation user.We must extract effective movement locus further, and the associating indoor and outdoor navigation Service enable provides navigation Service.In fact, comprising many POI positions at the indoor and outdoor surroundings of subway system can be used for calibrating those rambling individual tracks---as subway gateway, staircase gateway, ticket checking gate etc.---.In addition, we also need server to be that navigation user returns a representational effective exercise track.For this reason, we have proposed a method of trajectory clustering to find those similar tracks.
Shown in Fig. 3 is the method flow diagram extracting effective exercise track from individual sports track, and as shown in Figure 3, the method is made up of three phases: first, from each track, extract line segment; Then, dividing line segment is sub-line segment; Finally, line segment cluster.
Given n bar individual sports track T, T={ γ
1, γ
2..., γ
n, wherein i=1,2 ..., n.Track is represented as the space-time set of a sequence, namely
wherein, wherein P represents the pick-up point of each step of walking.
First, individual sports track is divided into a series of track line segment.We define track line segment s
jfor [γ
i(t
j), γ
i(t
j+1)].The benefit of the division of track line segment finds the similar segment between different tracks.Hereinafter, we claim the walking path between two adjacent POI to be line segment, and the walking path between two non-adjacent POI is track.
Table 1 lists POI position common in subway station.At present, the reading of the sensor in mobile phone is enough to detect and comprises elevator, escalator, stair by these POI, and bus stop.The POI that in addition we be absorbed in detects, and comprises underground ticket checking mouth, turning point and gateway.
Table 1.The used POIs in IONavigation SyStem
Shown in Fig. 4 is the detection frequency comparison diagram of underground ticket checking mouth position and normal walking position.As shown in Figure 4, underground ticket checking mouth has unique frequency mode as POI position, and this makes it can have being distinguished of pin-point accuracy.Underground ticket checking mouth is the unique approach subway station, it is the place collected of a stream of people normally, user is when by underground ticket checking mouth, be usually expressed as to comprise and loiter, stop (inserting coins or swipe the card), then walk out fast (by underground ticket checking mouth within the limited gate opening time), final normal walking.Such walking frequency is different from normal walking mode, and is have high precision discrimination.
Turning point is also a POI position.Inertial navigation method positioning precision is lower, but its its other party of ratio of precision detecting turning point is higher.The built-in gyroscope of mobile phone can detect turning point, and when there being the angle accumulation of two to three steps to exceed certain threshold value, user shows as the behavior of turning.Therefore, we can distinguish the turning point of normal walking mode by arranging turning angle threshold.
As an important POI position, gateway is the switching point of an external environment indoor.Traditional method lot of energy based on GPS, and inaccurate.In this article, we have proposed a cluster detection method, it is at the sight lightweight of subway station, and precision is high.Our algorithm comprises two stages, comprises cluster and classification.First stage, we propose to use sensor reading (cell tower signal, earth magnetism etc.) density-based algorithms.Subordinate phase, because user moves towards subway station in subway station, we have proposed the position that a sorting algorithm based on timestamp determines entrance.
Given random and inaccurate individual sports track in a large number, we utilize trajectory clustering algorithm to extract representative track.The consequent track that represents reflects actual path accurately.The basic task of our method of trajectory clustering is that measurement is arbitrary to the similarity between track.
In execution trajectory clustering, we need to measure similarity to any pair of traces.The track of given a pair walking, we can use POI to carry out segmentation to its track.Each walking line segment is made up of walking point.Because line segment is disorderly and unsystematic, inaccurate, we get threshold value whole piece is walked line segment be divided into walking sub-line segment.In every sub-line segment, we calculate the distance of two corresponding walking points to measure the similarity of arbitrary antithetical phrase line segment.
Shown in Fig. 5 is the walking point comparison diagram of a pair similar sub-line segment in two different line segments.As shown in Figure 5, two the sub-line segments that there is walking point are equal at subregion P1 number.First we calculate the summation of two sub-line segments of distance at subregion P1, i.e. d_1+d_2+d_3+d_4.Then, we are added the similarity as line segment using the distance of all subregions, i.e. D=(d_1+d_2+d_3+d_4+d_5+d_6+d_7+d_8).Finally, we are using the similarity of the distance of all line segments addition as track.
It should be noted that the otherness of the step-length due to everyone, the quantity of the walking point of each line segment is different, such as P2 subregion in Figure 5.We filter the walking point having the many sub-line segments of walking point, and these points are covered by red fork in Figure 5.This process is carried out repeatedly, until the quantity of both sides walking point is equal.
Once the Similarity measures of two vestiges, we just can call density based peak algorithm and derive and represent track.
Method of trajectory clustering exports the representative track that a group has POI information.These tracks are stored in a database, and database has field " ID ", " POI_1 ", " POI_2 ", " distance ", " time " and " path code ", as shown in table 2.Path code is stored by integer (1 to N), instead of the physical coordinates sequence in path.
Table 2.An example of trace database tablse
| ID | POI 1 | POI 2 | Distance | Time | Route-code |
| 0 | A | C | 5m | 4s | 1 |
| 1 | B | C | 25m | 15s | 2 |
| 2 | C | D | 45m | 27s | 3 |
Navigation user is by inputting destination to server request guidance path.Destination coupling adopts Boyor-Moors string matching algorithm, when namely inputting the several key word in destination as user, can show storage relevant destination-address in the server, then have user to select.In addition, when track contributor walking is at the track that server does not store, reverse geographical position encoded technology can be utilized to obtain geographic position building name residing for it, and add in destination data storehouse, the service range of expanding system.
When navigation user enquiry navigation path, following three kinds of situations can be divided into discuss.
When having a lot of track from starting point to terminal, according to travel time (T (x)) and travel distance (D (x)), server can plan that best walking path recommends user.We construct a F (x), make F (x)=D (x)+T (x) minimum value be best walking path.We all calculate F (x) to each walking path, and that paths getting minimum value recommends user.Shown in Fig. 6 is three different effective exercise tracks, and as shown in Figure 6, RGB three effective exercise tracks all move near the M point subway in subway, and wherein red line segment is expert at, and to sail Distance geometry running time aspect comprehensively optimum.After navigation user is got off, first go to subway escalator.Then, user walks out subway station from escalator by gate outlet of going further.Finally, user navigates to destination by guidance path, McDonald.
When not having track from starting point to terminal, as shown in Figure 2, user is positioned at T point, wants bank N point.But all shared tracks are all less than the track being starting point with user's starting point.Server can recommend from the track initial point that navigation user current location is nearest be that starting point recommends user.
Starting and terminal point all has track, but time not on a track, as shown in Figure 2, track contributor goes to terminal N from position S begin column, and another track contributor goes to market P from Y starting point.If a new user wants access to arrive market N point from Y.Navigational system finds, does not have a shared vestige can recommend user to meet the navigation needs of user.A feasible way is that these two tracks are downloaded, and utilizes POI to be divided into line segment, is combined into a new track from Y to N and recommends user.Obviously, the track spliced so not necessarily optimal trajectory, we can be upgraded by other track contributor.
According to another embodiment of the present invention, a kind of indoor and outdoor common navigation system based on trajectory extraction is provided.
As shown in Figure 7, a kind of indoor and outdoor common navigation system based on trajectory extraction provided according to embodiments of the invention comprises:
Server 61, server 61 is wirelessly connected to the mobile device 64 of track contributor 62 and navigation user 63, for obtaining indoor and outdoor three-dimensional map, and the multiple POI positions in indoor and outdoor three-dimensional map, receive the individual sports track that mobile device 64 gathers, according to the coarse grained location of track contributor 62 in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from individual sports track, and store effective movement locus, and generate guidance path according to the navigation requests of the coarse grained location of navigation user 63 in indoor and outdoor three-dimensional map and navigation user 63 and send to navigation user 63,
Track contributor 62, track contributor 62 carries mobile device 64 and moves on indoor and outdoor three-dimensional map;
Navigation user 63, navigation user 63 sends navigation requests by mobile device 64 to server 61, and carries mobile device 64 and move on indoor and outdoor three-dimensional map;
Mobile device 64, mobile device 64 detects track contributor 62 or the coarse grained location of navigation user 63 in indoor and outdoor three-dimensional map, the individual sports track of acquisition trajectories contributor 62, individual sports track is sent to server 61, and simultaneously mobile device 64 is also for guidance path that the navigation requests from navigation user 63 to server 61 and reception server 61 that send send.
Wherein, server 61 is according to the coarse grained location of track contributor 62 in indoor and outdoor three-dimensional map and the multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from individual sports track, for the track line segment that multiple terminus is POI position will be extracted in each individual sports track, be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, and multiple track line segment and multiple track line segment cluster are formed effective movement locus;
The track line segment that multiple terminus is POI position will be extracted in each individual sports track, multiple different types of POI position is detected for the characteristic kinematic pattern that embodies at particular location according to individual sports track, individual sports track is multiple track line segment according to multiple different types of POI location resolution and extracts, wherein, multiple different types of POI position comprises: gate position, turning position, entrance;
Be the sub-line segment of track that multiple terminus is walking point by each track line segment Further Division, for being the sub-line segment of track that multiple terminus is walking point according to multiple walking points of each track contributor 62 by each track line segment Further Division, it is identical that the sub-line segment of each track in same track line segment is regarded as size;
Multiple track line segment and multiple track line segment cluster are formed effective movement locus, for each track line segment is represented in the mode of the sub-line segment cluster of multiple track, and the total length of the sub-line segment of multiple track, the run duration of this track line segment and the motion encoded of this track line segment on the termination POI position of the initial POI position of the cluster of the sub-line segment of multiple track on each track line segment, this track line segment, this track line segment, this track line segment, this track line segment are set up corresponding relation, simultaneously using this corresponding relation as effective exercise track stored in server 61.
Further, server 61 generates guidance path according to the navigation requests of the coarse grained location of navigation user 63 in indoor and outdoor three-dimensional map and navigation user 63 and sends to navigation user 63 to comprise:
Retrieve according in the effective exercise track that the initial point position in the navigation requests of navigation user 63 and terminating point position store in server 61;
When existence one comprises the effective exercise track of initial point position and terminating point position simultaneously, effective exercise track is sent to navigation user 63 as guidance path;
When having many and comprise the effective exercise track of initial point position and terminating point position simultaneously, to the consuming time and travel distance of every bar effective exercise trajectory calculation motion, select the motion effective exercise track minimum with travel distance integrated value consuming time and send to navigation user 63 as guidance path;
When there is not the effective exercise track comprising initial point position and terminating point position simultaneously, but there are many when comprising the effective exercise track of initial point position and terminating point position respectively, select the combination of two movement locus of initial point position place effective exercise track and place, terminating point position effective exercise track, the combination of two movement locus is sent to navigation user 63 as guidance path, when there is the combination of multiple two movement locus, the combination selecting two movement locus minimum with travel distance integrated value consuming time that move sends to navigation user 63 as guidance path,
When do not exist comprise initial point position and terminating point position simultaneously effective exercise track, there is not the effective exercise track comprising initial point position and terminating point position respectively yet time, near initial point position and terminating point position, search for nearest POI position respectively, and carry out retrieving and generating guidance path in the effective exercise track stored in server 61 as initial point position and terminating point position according to nearest two the POI positions of initial point position and terminating point position;
Wherein, when navigation user 63 is not moved according to guidance path or after navigation user 63 arrives the destination that guidance path indicates, navigation user 63 is considered as track contributor 62 and continues to gather individual sports track, extract effective exercise track and store this effective exercise track.
In sum, by means of technique scheme of the present invention, from the individual sports track collected, effective exercise track is extracted and according to effective exercise track for navigation user provides the technical scheme of guidance path by using, solve the problem that the individual sports track collected cannot be directly used in navigation user, make indoor and outdoor combine navigation work to be accomplished, fill up the technological gap of this area.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1., based on an indoor and outdoor associating air navigation aid for trajectory extraction, it is characterized in that, comprising:
Obtain indoor and outdoor three-dimensional map, and the multiple POI positions in described indoor and outdoor three-dimensional map;
Detect track contributor and the coarse grained location of navigation user in described indoor and outdoor three-dimensional map;
Gather the individual sports track of described track contributor;
According to the coarse grained location of track contributor in described indoor and outdoor three-dimensional map and the described multiple POI positions in indoor and outdoor three-dimensional map, from described individual sports track, extract effective exercise track, and store described effective exercise track;
Receive the navigation requests of described navigation user, and generate guidance path according to the navigation requests of the coarse grained location of described navigation user in described indoor and outdoor three-dimensional map and described navigation user and send to described navigation user.
2. a kind of associating of the indoor and outdoor based on trajectory extraction air navigation aid according to claim 1, it is characterized in that, described according to the coarse grained location of track contributor in described indoor and outdoor three-dimensional map and the described multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from described individual sports track, for extracting in each described individual sports track the track line segment that multiple terminus is POI position, be the sub-line segment of track that multiple terminus is walking point by described each track line segment Further Division, and described multiple track line segment and multiple track line segment cluster are formed effective movement locus.
3. a kind of associating of the indoor and outdoor based on trajectory extraction air navigation aid according to claim 2, it is characterized in that, the track line segment that multiple terminus is POI position is extracted by each described individual sports track, multiple different types of POI position is detected for the characteristic kinematic pattern that embodies at particular location according to described individual sports track, described individual sports track is multiple track line segment according to described multiple different types of POI location resolution and extracts, wherein, described multiple different types of POI position comprises: gate position, turning position, entrance.
4. a kind of associating of the indoor and outdoor based on trajectory extraction air navigation aid according to claim 3, it is characterized in that, be the sub-line segment of track that multiple terminus is walking point by described each track line segment Further Division, for being the sub-line segment of track that multiple terminus is walking point according to multiple walking points of described each track contributor by described each track line segment Further Division, it is identical that the sub-line segment of described each track in same track line segment is regarded as size.
5. a kind of associating of the indoor and outdoor based on trajectory extraction air navigation aid according to claim 3, it is characterized in that, described multiple track line segment and multiple track line segment cluster are formed effective movement locus, for described each track line segment is represented in the mode of the sub-line segment cluster of multiple track, and by described each track line segment, the cluster of the sub-line segment of described multiple track on this track line segment, the initial POI position of this track line segment, the termination POI position of this track line segment, the total length of the sub-line segment of described multiple track on this track line segment, run duration and the motion encoded of this track line segment of this track line segment set up corresponding relation, simultaneously using this corresponding relation as effective exercise track stored in server.
6. a kind of associating of the indoor and outdoor based on trajectory extraction air navigation aid according to claim 1, it is characterized in that, generate guidance path according to the navigation requests of the coarse grained location of described navigation user in described indoor and outdoor three-dimensional map and described navigation user and send to described navigation user to comprise:
Retrieve according in the effective exercise track that the initial point position in the navigation requests of described navigation user and terminating point position store in server;
When existence one comprises the effective exercise track of described initial point position and terminating point position simultaneously, described effective exercise track is sent to described navigation user as guidance path;
When having many and comprise the effective exercise track of described initial point position and terminating point position simultaneously, to the consuming time and travel distance of described every bar effective exercise trajectory calculation motion, select the motion effective exercise track minimum with travel distance integrated value consuming time and send to described navigation user as guidance path;
When there is not the effective exercise track comprising described initial point position and terminating point position simultaneously, but there are many when comprising the effective exercise track of described initial point position and terminating point position respectively, select the combination of two movement locus of described initial point position place effective exercise track and place, terminating point position effective exercise track, the combination of described two movement locus is sent to described navigation user as guidance path, when there is the combination of multiple described two movement locus, the combination selecting described two movement locus minimum with travel distance integrated value consuming time that move sends to described navigation user as guidance path,
When do not exist comprise described initial point position and terminating point position simultaneously effective exercise track, there is not the effective exercise track comprising described initial point position and terminating point position respectively yet time, near described initial point position and terminating point position, search for nearest POI position respectively, and carry out retrieving and generating guidance path in the effective exercise track stored in server as described initial point position and terminating point position according to nearest two the POI positions of described initial point position and terminating point position.
7. a kind of associating of the indoor and outdoor based on trajectory extraction air navigation aid according to claim 6, it is characterized in that, when described navigation user is not according to during the motion of described guidance path or after described navigation user arrives the destination that described guidance path indicates, described navigation user is considered as track contributor and continues to gather individual sports track, extraction effective exercise track store this effective exercise track.
8., based on an indoor and outdoor common navigation system for trajectory extraction, it is characterized in that, comprising:
Server, described server is wirelessly connected to the mobile device of track contributor and navigation user, for obtaining indoor and outdoor three-dimensional map, and the multiple POI positions in described indoor and outdoor three-dimensional map, receive the individual sports track that mobile device gathers, described server is according to the coarse grained location of track contributor in described indoor and outdoor three-dimensional map and the described multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from described individual sports track, and store described effective exercise track, described server generates guidance path according to the navigation requests of the coarse grained location of described navigation user in described indoor and outdoor three-dimensional map and described navigation user and sends to described navigation user.
Track contributor, described track contributor carries described mobile device and moves on indoor and outdoor three-dimensional map;
Navigation user, described navigation user sends navigation requests by described mobile device to described server, and carries described mobile device and move on indoor and outdoor three-dimensional map;
Mobile device, described mobile device detects described track contributor or the coarse grained location of navigation user in described indoor and outdoor three-dimensional map, gather the individual sports track of described track contributor, described individual sports track is sent to server, and described mobile device is also for sending the navigation requests of described navigation user and receiving the guidance path of described server transmission to described server simultaneously.
9. a kind of indoor and outdoor common navigation system based on trajectory extraction according to claim 8, it is characterized in that, described server is according to the coarse grained location of track contributor in described indoor and outdoor three-dimensional map and the described multiple POI positions in indoor and outdoor three-dimensional map, effective exercise track is extracted from described individual sports track, for extracting in each described individual sports track the track line segment that multiple terminus is POI position, be the sub-line segment of track that multiple terminus is walking point by described each track line segment Further Division, and described multiple track line segment and multiple track line segment cluster are formed effective movement locus,
The track line segment that multiple terminus is POI position is extracted by each described individual sports track, multiple different types of POI position is detected for the characteristic kinematic pattern that embodies at particular location according to described individual sports track, described individual sports track is multiple track line segment according to described multiple different types of POI location resolution and extracts, wherein, described multiple different types of POI position comprises: gate position, turning position, entrance;
Be the sub-line segment of track that multiple terminus is walking point by described each track line segment Further Division, for being the sub-line segment of track that multiple terminus is walking point according to multiple walking points of described each track contributor by described each track line segment Further Division, it is identical that the sub-line segment of described each track in same track line segment is regarded as size;
Described multiple track line segment and multiple track line segment cluster are formed effective movement locus, for described each track line segment is represented in the mode of the sub-line segment cluster of multiple track, and by described each track line segment, the cluster of the sub-line segment of described multiple track on this track line segment, the initial POI position of this track line segment, the termination POI position of this track line segment, the total length of the sub-line segment of described multiple track on this track line segment, run duration and the motion encoded of this track line segment of this track line segment set up corresponding relation, simultaneously using this corresponding relation as effective exercise track stored in server.
10. a kind of indoor and outdoor common navigation system based on trajectory extraction according to claim 9, it is characterized in that, described server generates guidance path according to the navigation requests of the coarse grained location of described navigation user in described indoor and outdoor three-dimensional map and described navigation user and sends to described navigation user to comprise:
Retrieve according in the effective exercise track that the initial point position in the navigation requests of described navigation user and terminating point position store in server;
When existence one comprises the effective exercise track of described initial point position and terminating point position simultaneously, described effective exercise track is sent to described navigation user as guidance path;
When having many and comprise the effective exercise track of described initial point position and terminating point position simultaneously, to the consuming time and travel distance of described every bar effective exercise trajectory calculation motion, select the motion effective exercise track minimum with travel distance integrated value consuming time and send to described navigation user as guidance path;
When there is not the effective exercise track comprising described initial point position and terminating point position simultaneously, but there are many when comprising the effective exercise track of described initial point position and terminating point position respectively, select the combination of two movement locus of described initial point position place effective exercise track and place, terminating point position effective exercise track, the combination of described two movement locus is sent to described navigation user as guidance path, when there is the combination of multiple described two movement locus, the combination selecting described two movement locus minimum with travel distance integrated value consuming time that move sends to described navigation user as guidance path,
When do not exist comprise described initial point position and terminating point position simultaneously effective exercise track, there is not the effective exercise track comprising described initial point position and terminating point position respectively yet time, near described initial point position and terminating point position, search for nearest POI position respectively, and carry out retrieving and generating guidance path in the effective exercise track stored in server as described initial point position and terminating point position according to nearest two the POI positions of described initial point position and terminating point position;
Wherein, when described navigation user is not according to during the motion of described guidance path or after described navigation user arrives the destination that described guidance path indicates, described navigation user is considered as track contributor and continues to gather individual sports track, extraction effective exercise track store this effective exercise track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510344838.7A CN104990551A (en) | 2015-06-19 | 2015-06-19 | Indoor and outdoor co-navigation method and system based on trajectory extraction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510344838.7A CN104990551A (en) | 2015-06-19 | 2015-06-19 | Indoor and outdoor co-navigation method and system based on trajectory extraction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104990551A true CN104990551A (en) | 2015-10-21 |
Family
ID=54302393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510344838.7A Pending CN104990551A (en) | 2015-06-19 | 2015-06-19 | Indoor and outdoor co-navigation method and system based on trajectory extraction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104990551A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106338292A (en) * | 2016-09-30 | 2017-01-18 | 百度在线网络技术（北京）有限公司 | Walking path processing method and device |
| CN106920387A (en) * | 2015-12-24 | 2017-07-04 | 阿里巴巴集团控股有限公司 | Obtain the method and device of route temperature in traffic route |
| CN106918825A (en) * | 2017-03-31 | 2017-07-04 | 咪咕互动娱乐有限公司 | A kind of connecting method of track, client |
| CN106988588A (en) * | 2016-12-12 | 2017-07-28 | 蔚来汽车有限公司 | Parking stall floor recognition methods based on two dimensional motion track |
| CN107092430A (en) * | 2016-02-18 | 2017-08-25 | 纬创资通（中山）有限公司 | Space drawing point system, the apparatus and system for carrying out space drawing score |
| CN107421527A (en) * | 2017-07-17 | 2017-12-01 | 中山大学 | A kind of indoor orientation method based on Magnetic Field and motion sensor |
| CN107860385A (en) * | 2017-09-20 | 2018-03-30 | 百度在线网络技术（北京）有限公司 | Offer method and device, server apparatus and the computer-readable recording medium of indoor navigation service |
| CN108519094A (en) * | 2018-02-11 | 2018-09-11 | 华为技术有限公司 | Local paths planning method and cloud processing end |
| CN109029476A (en) * | 2018-06-04 | 2018-12-18 | 北京京东金融科技控股有限公司 | A kind of method and apparatus for determining range coverage |
| CN109357684A (en) * | 2018-10-30 | 2019-02-19 | 浙江恒翔信息科技有限公司 | Mobile field personnel method and system |
| CN109668563A (en) * | 2017-10-16 | 2019-04-23 | 北京嘀嘀无限科技发展有限公司 | Processing method and processing device based on indoor track |
| CN109708646A (en) * | 2019-03-04 | 2019-05-03 | 深圳市丰巢科技有限公司 | A kind of express delivery cabinet finding method, device, equipment and storage medium |
| CN112268562A (en) * | 2020-10-23 | 2021-01-26 | 重庆越致科技有限公司 | Fusion data processing system based on automatic pedestrian trajectory navigation |
| CN113946867A (en) * | 2021-10-21 | 2022-01-18 | 福建工程学院 | Position privacy protection method based on space influence |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080201074A1 (en) * | 2007-02-15 | 2008-08-21 | Garmin Ltd. | System and method for creating and sharing navigation routes with electronic devices |
| CN102735257A (en) * | 2011-04-02 | 2012-10-17 | 深圳市赛格导航科技股份有限公司 | Navigation terminal, navigation method and navigation system |
| CN103900584A (en) * | 2012-12-25 | 2014-07-02 | 腾讯科技（深圳）有限公司 | Electronic map traffic route determination method and apparatus |
| CN104061927A (en) * | 2014-07-02 | 2014-09-24 | 百度在线网络技术（北京）有限公司 | Method and device for walking navigation |
| CN104159189A (en) * | 2013-05-15 | 2014-11-19 | 同济大学 | Resident trip information obtaining method based on intelligent mobile phone |
| CN104567855A (en) * | 2013-10-29 | 2015-04-29 | 西安景行数创信息科技有限公司 | Indoor navigation system with 3D virtual reality function |
-
2015
- 2015-06-19 CN CN201510344838.7A patent/CN104990551A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080201074A1 (en) * | 2007-02-15 | 2008-08-21 | Garmin Ltd. | System and method for creating and sharing navigation routes with electronic devices |
| CN102735257A (en) * | 2011-04-02 | 2012-10-17 | 深圳市赛格导航科技股份有限公司 | Navigation terminal, navigation method and navigation system |
| CN103900584A (en) * | 2012-12-25 | 2014-07-02 | 腾讯科技（深圳）有限公司 | Electronic map traffic route determination method and apparatus |
| CN104159189A (en) * | 2013-05-15 | 2014-11-19 | 同济大学 | Resident trip information obtaining method based on intelligent mobile phone |
| CN104567855A (en) * | 2013-10-29 | 2015-04-29 | 西安景行数创信息科技有限公司 | Indoor navigation system with 3D virtual reality function |
| CN104061927A (en) * | 2014-07-02 | 2014-09-24 | 百度在线网络技术（北京）有限公司 | Method and device for walking navigation |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106920387A (en) * | 2015-12-24 | 2017-07-04 | 阿里巴巴集团控股有限公司 | Obtain the method and device of route temperature in traffic route |
| US10775185B2 (en) | 2015-12-24 | 2020-09-15 | Alibaba Group Holding Limited | Method and apparatus for acquiring route popularity in road networks |
| CN106920387B (en) * | 2015-12-24 | 2020-06-09 | 阿里巴巴集团控股有限公司 | Method and device for acquiring route heat in traffic road |
| CN107092430A (en) * | 2016-02-18 | 2017-08-25 | 纬创资通（中山）有限公司 | Space drawing point system, the apparatus and system for carrying out space drawing score |
| CN107092430B (en) * | 2016-02-18 | 2020-03-24 | 纬创资通（中山）有限公司 | Space drawing scoring method, device and system for scoring space drawing |
| US10452149B2 (en) | 2016-02-18 | 2019-10-22 | Wistron Corporation | Method for grading spatial painting, apparatus and system for grading spatial painting |
| CN106338292A (en) * | 2016-09-30 | 2017-01-18 | 百度在线网络技术（北京）有限公司 | Walking path processing method and device |
| CN106988588B (en) * | 2016-12-12 | 2019-07-26 | 蔚来汽车有限公司 | Parking stall floor recognition methods based on two dimensional motion track |
| CN106988588A (en) * | 2016-12-12 | 2017-07-28 | 蔚来汽车有限公司 | Parking stall floor recognition methods based on two dimensional motion track |
| CN106918825A (en) * | 2017-03-31 | 2017-07-04 | 咪咕互动娱乐有限公司 | A kind of connecting method of track, client |
| CN107421527A (en) * | 2017-07-17 | 2017-12-01 | 中山大学 | A kind of indoor orientation method based on Magnetic Field and motion sensor |
| CN107860385A (en) * | 2017-09-20 | 2018-03-30 | 百度在线网络技术（北京）有限公司 | Offer method and device, server apparatus and the computer-readable recording medium of indoor navigation service |
| CN109668563A (en) * | 2017-10-16 | 2019-04-23 | 北京嘀嘀无限科技发展有限公司 | Processing method and processing device based on indoor track |
| CN109668563B (en) * | 2017-10-16 | 2021-06-01 | 北京嘀嘀无限科技发展有限公司 | Indoor-based track processing method and device |
| CN108519094A (en) * | 2018-02-11 | 2018-09-11 | 华为技术有限公司 | Local paths planning method and cloud processing end |
| CN109029476A (en) * | 2018-06-04 | 2018-12-18 | 北京京东金融科技控股有限公司 | A kind of method and apparatus for determining range coverage |
| CN109029476B (en) * | 2018-06-04 | 2020-06-23 | 京东数字科技控股有限公司 | Method and device for determining reachable region |
| CN109357684A (en) * | 2018-10-30 | 2019-02-19 | 浙江恒翔信息科技有限公司 | Mobile field personnel method and system |
| CN109708646A (en) * | 2019-03-04 | 2019-05-03 | 深圳市丰巢科技有限公司 | A kind of express delivery cabinet finding method, device, equipment and storage medium |
| CN109708646B (en) * | 2019-03-04 | 2022-10-14 | 深圳市丰巢科技有限公司 | Express cabinet searching method, device, equipment and storage medium |
| CN112268562A (en) * | 2020-10-23 | 2021-01-26 | 重庆越致科技有限公司 | Fusion data processing system based on automatic pedestrian trajectory navigation |
| CN113946867A (en) * | 2021-10-21 | 2022-01-18 | 福建工程学院 | Position privacy protection method based on space influence |
| CN113946867B (en) * | 2021-10-21 | 2024-05-31 | 福建工程学院 | Position privacy protection method based on space influence |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104990551A (en) | Indoor and outdoor co-navigation method and system based on trajectory extraction | |
| CN110047277B (en) | Urban road traffic jam ranking method and system based on signaling data | |
| Kasemsuppakorn et al. | A pedestrian network construction algorithm based on multiple GPS traces | |
| Ma et al. | Transit smart card data mining for passenger origin information extraction | |
| EP2172048B1 (en) | System and methods for determining location using cellular transition patterns | |
| US8781728B2 (en) | Travel history editing device | |
| CN105185105B (en) | Bus transfer identification method based on vehicle GPS and bus IC card data | |
| EP2462411B1 (en) | Method of verifying attribute information of a digital transport network database using interpolation and probe traces | |
| CN106197458A (en) | A kind of cellphone subscriber's trip mode recognition methods based on mobile phone signaling data and navigation route data | |
| US8335648B2 (en) | Route searching system, route searching server and route searching method | |
| CN106997666B (en) | Method for obtaining traffic flow speed by switching positions of mobile phone signaling data | |
| CN109598372A (en) | Travel plan planing method and shared traffic system based on the shared traffic of green | |
| CN105674995A (en) | Method for acquiring commuting route based on user's travel locus, and apparatus thereof | |
| Ganti et al. | Inferring human mobility patterns from taxicab location traces | |
| CN102564432B (en) | Road estimation device and the method being used for estimating road | |
| CN103593974A (en) | Bus passenger capacity collection method based on locating information | |
| CN102521973A (en) | Road matching method for mobile phone switching positioning | |
| US11704897B2 (en) | Lane count estimation | |
| CN112686466B (en) | Subway passenger path confirmation method and device | |
| US12007247B2 (en) | Creation and updating of maps in the off-street area | |
| KR100555105B1 (en) | Method and System for Providing Routing Information with Heterogeneous Public Transportation Vehicles | |
| CN110310477A (en) | Bus passenger flow detection method based on public transport GPS Yu mobile phone signaling data | |
| CN107978169A (en) | A kind of method of bus station positional deviation correction under the source to multi-source data | |
| CN104913782A (en) | Acquisition and positioning based indoor and outdoor combined navigation method and system | |
| CN107578619B (en) | Method for measuring public bicycle service range of subway station based on IC card data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151021 |