CN105043391B - A kind of creation method, air navigation aid and the device of multi-story structure plane map - Google Patents
A kind of creation method, air navigation aid and the device of multi-story structure plane map Download PDFInfo
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- CN105043391B CN105043391B CN201510375281.3A CN201510375281A CN105043391B CN 105043391 B CN105043391 B CN 105043391B CN 201510375281 A CN201510375281 A CN 201510375281A CN 105043391 B CN105043391 B CN 105043391B
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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
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
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Abstract
The embodiment of the invention discloses a kind of creation method, air navigation aid and the devices of multi-story structure plane map.The creation method of the multi-story structure plane map includes：Foundation floor and at least one auxiliary floor are determined from least two layers of building, wherein the auxiliary floor is at least one floor in the building in addition to the foundation floor；Using the original map of the foundation floor as the central figure of the building plane map；According to sequence from the inside to the outside, the original map of the auxiliary floor is mapped to the ring-like pattern for surrounding the central figure one by one.By obtaining each floor corresponding mapping map in plane map in multi-story structure, the map for showing different floors in a sheet of planar map is realized, user experience is enriched.
Description
Technical field
The embodiment of the present invention belongs to indoor navigation technical field, is related to a kind of establishment side of multi-story structure plane map
Method, air navigation aid and device.
Background technology
Today of internet fast development, the ground based on LBS (Location Based Service are based on location-based service)
Figure and navigation become the service that people are increasingly dependent on.But the hair of the map displaying and airmanship inside multi-story structure
Exhibition but falls behind outdoor map displaying and navigation significantly.This is mainly due to indoor situations more complicated, map displaying and navigation
The reasons such as granularity requirements are thinner cause.
The displaying of existing interior of building map and air navigation aid, substantially with outdoor map displaying and airmanship class
Seemingly：After determining the specific floor of building that user is currently located, show that the plane map of current floor (can not see other floors
Map), while being navigated based on current plane map.When user's floor changes, need to carry out plane map
Switching.
In said program, the cartographic information of different floors cannot be shown simultaneously, and can only be user inside a certain floor
Navigation, cannot achieve the indoor navigation across floor.
Invention content
The purpose of the embodiment of the present invention is to propose a kind of creation method, air navigation aid and the dress of multi-story structure plane map
It sets, to show the map of different floors in a sheet of planar map, and realizes the indoor navigation across floor.
On the one hand, an embodiment of the present invention provides a kind of creation methods of multi-story structure plane map, including：
Foundation floor and at least one auxiliary floor are determined from least two layers of building, wherein the auxiliary floor is
At least one floor in the building in addition to the foundation floor；
Using the original map of the foundation floor as the central figure of the building plane map；
According to sequence from the inside to the outside, the original map of the auxiliary floor is mapped to one by one and surrounds the central figure
Ring-like pattern.
On the other hand, an embodiment of the present invention provides a kind of indoor navigation method, based on being carried in any embodiment of the present invention
The plane map that the creation method of the multi-story structure plane map of confession obtains, this method include：
Indoor path planning request is obtained, the interior path planning request, which is included in starting mapping map, plays point
It sets and is terminating the final position in mapping map；
The indoor path planning request is planned according to the plane map.
In another aspect, an embodiment of the present invention provides a kind of creating devices of multi-story structure plane map, including：
Floor determination unit, for determining foundation floor and at least one auxiliary floor from least two layers of building,
In, the auxiliary floor is at least one floor in the building in addition to the foundation floor；
Foundation floor map unit, for using the original map of the foundation floor as the building plane map
Central figure；
Floor map unit is assisted, is used for according to sequence from the inside to the outside, one by one by the original map of the auxiliary floor
It is mapped to the ring-like pattern for surrounding the central figure.
In another aspect, an embodiment of the present invention provides a kind of indoor navigation device, based on being carried in any embodiment of the present invention
The plane map that the creating device of the multi-story structure plane map of confession obtains, the device include：
Acquisition request unit, for obtaining indoor path planning request, the interior path planning request is included in starting
It maps the start position in map and is terminating the final position in mapping map；
Planning unit is asked, for being planned the indoor path planning request according to the plane map.
Creation method, air navigation aid and the device of multi-story structure plane map provided in an embodiment of the present invention, by obtaining
Each floor corresponding mapping map in plane map in multi-story structure is obtained, realizes and is shown not in a sheet of planar map
With the map of floor, the indoor navigation across floor is also achieved, user experience is enriched.
Description of the drawings
Fig. 1 a are a kind of flow signal of the creation method for multi-story structure plane map that the embodiment of the present invention one provides
Figure；
Fig. 1 b are a kind of schematic diagram for multi-story structure plane map that the embodiment of the present invention one provides；
Fig. 2 a are a kind of flow diagram of indoor navigation method provided by Embodiment 2 of the present invention；
Fig. 2 b are a kind of displaying schematic diagram of indoor navigation result provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structural representation of the creating device for multi-story structure plane map that the embodiment of the present invention three provides
Figure；
Fig. 4 is a kind of structural schematic diagram for indoor navigation side's device that the embodiment of the present invention four provides.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 a are a kind of flow signal of the creation method for multi-story structure plane map that the embodiment of the present invention one provides
Figure.The present embodiment is applicable to the case where user wants while obtaining the cartographic information inside multi-story structure.This method can be by
Client executing.Referring to Fig. 1 a, the creation method of multi-story structure plane map provided in this embodiment specifically includes following behaviour
Make：
Operation 11 determines foundation floor and at least one auxiliary floor from least two layers of building, wherein the auxiliary
Floor is at least one floor in addition to the foundation floor in the building.
Optionally, this operation includes：The first layer of the building is determined as foundation floor, by the foundation floor it
Upper adjacent at least one layer is determined as assisting floor；Or the floor where user is determined as to the basic building in the building
At least one layer adjacent on the foundation floor is determined as assisting floor by layer；Or by one under the floor where user
Layer is determined as the foundation floor in the building, and at least one layer adjacent on the foundation floor is determined as to assist building
Layer；Or the selection instruction according to the user, foundation floor and at least one auxiliary are determined from least two layers building
Floor.
Operate 12, using the original map of the foundation floor as the central figure of the building plane map.
It operates 13, according to sequence from the inside to the outside, the original map of the auxiliary floor is mapped to one by one described in encirclement
The ring-like pattern of central figure.
Illustratively, when the first layer of building is basic floor, and the second layer and third layer are auxiliary floor, by second
The original map of layer is mapped to the ring-like pattern for surrounding central figure, then the original map of third layer is mapped to including Centered Graphs
The corresponding mapping map of the ring-like pattern of shape, i.e. third layer surrounds the corresponding mapping map of the adjacent second layer.
Optionally, the original map of the auxiliary floor is mapped to the ring-like pattern for surrounding the central figure, specifically
Including：In the original map for calculating the auxiliary floor, the relative position information between each position point and central point；According to described
Relative position information draws location point corresponding mapping point in the plane map, constitutes the ring-like pattern.
Illustratively, original map is abstracted into the geometric figure of rule, obtains the central point of geometric figure, and by geometry
Central point of the central point of figure as original map.Such as when geometric figure is round using the center of circle as in original map
Heart point, when geometric figure is rectangle, using diagonal line intersection point as the central point of original map.
It should be noted that when assisting the original map shape difference of floor larger, each original map can be carried out
Each original map is all abstracted into same geometry by normalized.The original map of every layer of building is processed into same
After geometric figure, need to only obtain the central point of any original map, you can will location point corresponding with the central point as other
The central point of original map.
Optionally, location point corresponding mapping in the plane map is drawn according to the relative position information
Point, constituting the ring-like pattern includes：In the original map of the auxiliary floor, the opposite of each position point and central point is obtained
Direction, the relative direction as the corresponding mapping point of the location point and the central point of the central figure；According to following formula meter
Calculate the relative distance D of the corresponding mapping point of the location point and the central point of the central figure：D=(m-n) h+d, wherein d is
The location point with auxiliary floor original map central point between at a distance from, m be the auxiliary floor the number of plies, n be the foundation floor
The number of plies, h be in the relative direction frame of central figure at a distance from the central point of the central figure.
With reference to figure 1b, as follows with the building of total n-layer, and first layer is basic floor, and each floor on first layer is
The creation method of the building plane map is illustrated for auxiliary floor.
First, the mapping of first layer map：Using the original map of first layer as the central figure of building plane map,
Correspondingly using the central point of first layer original map as the central point of building plane map.
Secondly, the mapping of second layer map：The original map of the second layer is mapped as to surround the cyclic annular figure of central figure
Shape.Specifically, in the original map of the second layer, the relative direction of each position point A and central point O2 is obtained as location point A
The relative direction of the central point O' of corresponding mapping point A' and central figure, such as location point A are located at 30 ° of sides of central point O2
To then the corresponding mapping point A' of location point A are located at 30 ° of directions of the central point O' of central figure.Also, according to following formula meter
Calculate the relative distance D of mapping point A' and central point O'：
D=h+d, wherein d be location point A between central point O2 at a distance from, h be in the relative direction Centered Graphs
The frame of shape is at a distance from the central point O' of the central figure.
That is, using the central point O2 of second layer original map as origin, 360 degree of scannings are carried out, in unspecified angle institute
The front map seen then accordingly is mapped to the outside of the first layer map of equal angular.After the completion of scanning, the second layer is formd
Map is mapped, central figure is equivalent to the corresponding mapping points of central point O2 at this time.
Then, n-th layer map maps.According to sequence from the inside to the outside, after mapping in layer, primitively by n-th layer
Figure is mapped as the ring-like pattern outside (n-1)th layer of mapping map.So far, n original map mapping is become to the ring of a total n-layer
Shape plane map.
It should be noted that in building plane map, for the Architectural Elements in the cyclic annular map of 2~n-layer,
It is not changed compared to original map size, but the amplification that the vector distance between element accordingly occurs.
The situation excessive to floor gives tacit consent to displaying user's designated floor if the map presentation device of user is screen constrained
The cartographic information of several (such as 3) layers of upper and lower r is shown temporarily by the Information hiding of other floors when user needs again.
The creation method of multi-story structure plane map provided in an embodiment of the present invention, by by the original of building complex
Map is cleverly mapped on a sheet of planar map so that user can more intuitive and convenient synchronization understand whole building
Association between the inner case and information and floor of object, so can according to the cartographic information of whole building carry out decision and
Navigation, that is, the method achieve the maps that different floors are shown in a sheet of planar map, enrich user experience.
Embodiment two
Fig. 2 a are a kind of flow diagram of indoor navigation method provided by Embodiment 2 of the present invention.The present embodiment is applicable
In user want inside multi-story structure carry out indoor navigation the case where.This method can be by client executing.Referring to Fig. 2 a, originally
The establishment side for the multi-story structure plane map that the indoor navigation method that embodiment provides is provided based on any embodiment of the present invention
The plane map that method obtains, the indoor navigation method specifically include following operation：
Operation 21 obtains indoor path planning request, and the interior path planning request is included in starting mapping map
Start position and terminate map map in final position.
Illustratively, in the corresponding predetermined registration operation of the indoor path planning of user's execution, starting mapping map and end are obtained
Only map map and start position and final position.For example, when user double-clicks any position of building plane map, it will
Mapping map belonging to the position, using the position as start position, is double-clicked in user and is built as starting mapping map again
When building a certain position of object plane map, map is mapped using the mapping map belonging to the position as termination, and the position is made
For final position.
Operation 22 plans the indoor path planning request according to the plane map.
Optionally, the indoor path planning request is planned according to the plane map, is specifically included：If institute
It is different from termination mapping map to state starting mapping map, then executes following operation：According to the start position and described
Starting mapping map determines the starting path of the boarding in the start position to the starting mapping map, and is mapped in starting
The display starting path in map；It determines and terminates in mapping map according to the final position and termination mapping map
Boarding position to terminal termination path, and show the termination path terminating in mapping map.
Optionally, the boarding includes boarding upstairs, boarding and two-way boarding downstairs.
As shown in Figure 2 b, when user needs to navigate to the final position B' of third layer from the start position B of first layer, really
Determine the boarding upstairs in start position B to central figure or the starting path R1 of two-way boarding C1, and is shown in central figure
Show the starting path R1, also determines in third layer mapping map corresponding boarding downstairs or two-way boarding C3 position B' to terminal
Termination path R2, and third layer mapping map in show the termination path R2.
It is identical as mapping map is terminated in starting mapping map, that is, when carrying out the indoor navigation of same layer, if starting mapping
Map is the central figure of building plane map, then identical as conventional planar air navigation aid, details are not described herein；If it is rise
The mapping map that begins is ring-like pattern, then using line segment determined by start position and final position as corresponding guidance path,
The overlapping part of middle guidance path and non-starting mapping map area, it is corresponding with the central point of floor where starting mapping map.
Specifically, being the boarding C3 of third layer in the start position of user, final position is the D3 location points of third layer as shown in Figure 2 b
When, the line segment where boarding C3 and D3 location point is determined as corresponding guidance path R3 at this time, wherein guidance path R3 and non-
The overlapping part EF of starting mapping map area is corresponding with the central point of third floor, i.e. line segment EF in guidance path R3 is corresponded to
In the central point of third floor.
It should be noted that the guidance path in the present embodiment is not limited to straight line, can also be other shapes such as curve
Formula.
Indoor navigation method provided in an embodiment of the present invention passes through the navigation feature based on building plane map, user
It can know the path of current floor and the path of other floors while intuitive and convenient.Map through the invention shows and leads
The combination of boat method, the experience promotion for carrying out LBS related applications indoors to user are with obvious effects.
Embodiment three
Fig. 3 is a kind of structural representation of the creating device for multi-story structure plane map that the embodiment of the present invention three provides
Figure.The present embodiment is applicable to the case where user wants while obtaining the cartographic information inside multi-story structure.It, should referring to Fig. 3
The creating device of multi-story structure plane map can be used as client, and concrete structure is as follows：
Floor determination unit 31, for determining foundation floor and at least one auxiliary floor from least two layers of building,
Wherein, the auxiliary floor is at least one floor in the building in addition to the foundation floor；
Foundation floor map unit 32, for using the original map of the foundation floor as the building plane map
Central figure；
Assist floor map unit 33, for according to sequence from the inside to the outside, by the original map of the auxiliary floor by
One is mapped to the ring-like pattern for surrounding the central figure.
Optionally, the auxiliary floor map unit 33 is specifically used for：
In the original map for calculating the auxiliary floor, the relative position information between each position point and central point；
Location point corresponding mapping point in the plane map is drawn according to the relative position information, constitutes institute
State ring-like pattern.
Optionally, the auxiliary floor map unit 33 is specifically used for：
In the original map of the auxiliary floor, the relative direction of each position point and central point is obtained, as the position
The relative direction of point corresponding mapping point and the central point of the central figure；
The relative distance of the corresponding mapping point of the location point and the central point of the central figure is calculated according to following formula
D：
D=(m-n) h+d, wherein d be the location point between auxiliary floor original map central point at a distance from, m is that this is auxiliary
Help the number of plies of floor, n is the number of plies of the foundation floor, h be in the relative direction frame of central figure with it is described in
The distance of the central point of heart figure.
Optionally, the floor determination unit 31 is specifically used for：
The first layer of the building is determined as foundation floor, really by least one layer adjacent on the foundation floor
It is set to auxiliary floor；Or
Floor where user is determined as the foundation floor in the building, it will be adjacent on the foundation floor
At least one layer is determined as assisting floor；Or
By one layer of foundation floor being determined as in the building under the floor where user, by the foundation floor
On adjacent at least one layer be determined as assisting floor；Or
According to the selection instruction of the user, foundation floor and at least one auxiliary is determined from least two layers building
Help floor.
The said goods can perform the multi-story structure plane earth by client executing that any embodiment of the present invention is provided
The creation method of figure has the corresponding function module of execution method and advantageous effect.
Example IV
Fig. 4 is a kind of structural schematic diagram for indoor navigation device that the embodiment of the present invention four provides.The present embodiment is applicable
In user want inside multi-story structure carry out indoor navigation the case where.Referring to Fig. 4, which is based on the present invention
The plane map that the creating device of the multi-story structure plane map provided in any embodiment obtains, and client is can be used as,
Its concrete structure is as follows：
Acquisition request unit 41, for obtaining indoor path planning request, the interior path planning request has been included in
Begin to map the start position in map and terminates the final position in mapping map；
Planning unit 42 is asked, for being planned the indoor path planning request according to the plane map.
Optionally, request planning unit 42 is specifically used for：
If the starting mapping map is different from termination mapping map, following operation is executed：
Determine that the start position to the starting maps ground according to the start position and starting mapping map
The starting path of boarding in figure, and show the starting path in starting mapping map；
Determine that termination maps the position to terminal of the boarding in map according to the final position and the mapping map that terminates
The termination path set, and show the termination path terminating in mapping map.
Optionally, the boarding includes boarding upstairs, boarding and two-way boarding downstairs.
The said goods can perform the indoor navigation method by client executing that any embodiment of the present invention is provided, and have
The corresponding function module of execution method and advantageous effect.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a kind of creation method of multi-story structure plane map, which is characterized in that including：
Foundation floor and at least one auxiliary floor are determined from least two layers of building, wherein the auxiliary floor is described
At least one floor in building in addition to the foundation floor；
Using the original map of the foundation floor as the central figure of the building plane map；
According to sequence from the inside to the outside, the original map of the auxiliary floor is mapped to the ring for surrounding the central figure one by one
Shape figure；
Wherein, the original map of the auxiliary floor is mapped to the ring-like pattern for surrounding the central figure, is specifically included：
In the original map for calculating the auxiliary floor, the relative position information between each position point and central point；
Location point corresponding mapping point in the plane map is drawn according to the relative position information, constitutes the ring
Shape figure.
2. according to the method described in claim 1, existing it is characterized in that, drawing the location point according to the relative position information
Corresponding mapping point in the plane map, constituting the ring-like pattern includes：
In the original map of the auxiliary floor, the relative direction of each position point and central point is obtained, as the location point pair
The relative direction of the mapping point answered and the central point of the central figure；
The relative distance D of the corresponding mapping point of the location point and the central point of the central figure is calculated according to following formula：
D=(m-n) h+d, wherein d be the location point with auxiliary floor original map central point between at a distance from, m be the auxiliary floor
The number of plies, n is the number of plies of the foundation floor, and h is the frame of central figure and the central figure in the relative direction
Central point distance.
3. according to the method described in claim 1, it is characterized in that, determining foundation floor and at least from least two layers of building
One auxiliary floor includes：
The first layer of the building is determined as foundation floor, at least one layer adjacent on the foundation floor is determined as
Assist floor；Or
Floor where user is determined as the foundation floor in the building, by the foundation floor it is adjacent at least
One layer is determined as assisting floor；Or
By one layer of foundation floor being determined as in the building under the floor where user, on the foundation floor
Adjacent at least one layer is determined as assisting floor；Or
According to the selection instruction of the user, foundation floor and at least one auxiliary building are determined from least two layers building
Layer.
4. a kind of indoor navigation method, the creation method based on any multi-story structure plane maps of claim 1-3
The plane map of acquisition, which is characterized in that this method includes：
Obtain indoor path planning request, the interior path planning request be included in the start position in starting mapping map with
And terminating the final position in mapping map；
The indoor path planning request is planned according to the plane map.
5. according to the method described in claim 4, it is characterized in that, being asked to the indoor path planning according to the plane map
It asks and is planned, specifically included：
If the starting mapping map is different from termination mapping map, following operation is executed：
Determine that the start position to the starting maps in map according to the start position and starting mapping map
Boarding starting path, and starting mapping map in show the starting path；
According to the final position and it is described terminate mapping map and determine terminate boarding in mapping map position to terminal
Path is terminated, and the termination path is shown terminating in mapping map.
6. according to the method described in claim 5, it is characterized in that, the boarding includes boarding upstairs, boarding and two-way downstairs
Boarding.
7. a kind of creating device of multi-story structure plane map, which is characterized in that including：
Floor determination unit, for determining foundation floor and at least one auxiliary floor from least two layers of building, wherein institute
It is at least one floor in the building in addition to the foundation floor to state auxiliary floor；
Foundation floor map unit, for using the original map of the foundation floor as the center of the building plane map
Figure；
Floor map unit is assisted, for according to sequence from the inside to the outside, the original map of the auxiliary floor to be mapped one by one
At the ring-like pattern for surrounding the central figure；
Wherein, the auxiliary floor map unit is specifically used for：
In the original map for calculating the auxiliary floor, the relative position information between each position point and central point；
Location point corresponding mapping point in the plane map is drawn according to the relative position information, constitutes the ring
Shape figure.
8. device according to claim 7, which is characterized in that the auxiliary floor map unit is specifically used for：
In the original map of the auxiliary floor, the relative direction of each position point and central point is obtained, as the location point pair
The relative direction of the mapping point answered and the central point of the central figure；
The relative distance D of the corresponding mapping point of the location point and the central point of the central figure is calculated according to following formula：
D=(m-n) h+d, wherein d be the location point with auxiliary floor original map central point between at a distance from, m be the auxiliary floor
The number of plies, n is the number of plies of the foundation floor, and h is the frame of central figure and the central figure in the relative direction
Central point distance.
9. device according to claim 7, which is characterized in that the floor determination unit is specifically used for：
The first layer of the building is determined as foundation floor, at least one layer adjacent on the foundation floor is determined as
Assist floor；Or
Floor where user is determined as the foundation floor in the building, by the foundation floor it is adjacent at least
One layer is determined as assisting floor；Or
By one layer of foundation floor being determined as in the building under the floor where user, on the foundation floor
Adjacent at least one layer is determined as assisting floor；Or
According to the selection instruction of the user, foundation floor and at least one auxiliary building are determined from least two layers building
Layer.
10. a kind of indoor navigation device, the creating device based on any multi-story structure plane maps of claim 7-9
The plane map of acquisition, which is characterized in that this method includes：
Acquisition request unit, for obtaining indoor path planning request, the interior path planning request is included in starting mapping
Start position in map and the final position in terminating mapping map；
Planning unit is asked, for being planned the indoor path planning request according to the plane map.
11. device according to claim 10, which is characterized in that request planning unit is specifically used for：
If the starting mapping map is different from termination mapping map, following operation is executed：
Determine that the start position to the starting maps in map according to the start position and starting mapping map
Boarding starting path, and starting mapping map in show the starting path；
According to the final position and it is described terminate mapping map and determine terminate boarding in mapping map position to terminal
Path is terminated, and the termination path is shown terminating in mapping map.
12. according to the devices described in claim 11, which is characterized in that the boarding includes boarding upstairs, boarding and double downstairs
To boarding.
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| CN105761610B (en) * | 2016-05-06 | 2018-09-25 | 柳州铁道职业技术学院 | A kind of indoor digital mapping teaching platform device |
| CN107632285B (en) * | 2017-09-19 | 2021-05-04 | 北京小米移动软件有限公司 | Map creating and modifying method and device |
| CN112013844B (en) * | 2019-05-31 | 2022-02-11 | 北京小米智能科技有限公司 | Method and device for establishing indoor environment map |
| CN110926461B (en) * | 2019-10-29 | 2022-04-12 | 北京全路通信信号研究设计院集团有限公司 | Indoor positioning method and system based on ultra wide band and navigation method and system |
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