CN105188131A - Grid-based indoor area location and navigation method - Google Patents
Grid-based indoor area location and navigation method Download PDFInfo
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- CN105188131A CN105188131A CN201510456547.7A CN201510456547A CN105188131A CN 105188131 A CN105188131 A CN 105188131A CN 201510456547 A CN201510456547 A CN 201510456547A CN 105188131 A CN105188131 A CN 105188131A
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- 238000000034 method Methods 0.000 title abstract description 12
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims description 4
- 238000012732 spatial analysis Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- VYMDGNCVAMGZFE-UHFFFAOYSA-N phenylbutazonum Chemical compound O=C1C(CCCC)C(=O)N(C=2C=CC=CC=2)N1C1=CC=CC=C1 VYMDGNCVAMGZFE-UHFFFAOYSA-N 0.000 claims description 2
- 238000013439 planning Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000009826 distribution Methods 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 238000013316 zoning Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a grid-based indoor area location and navigation method. The method comprises the following sequential steps: analyzing an indoor terrain, primarily dividing an indoor area into a plurality of areas and deploying one or more location devices in each area; acquiring signal fingerprint information within the areas after the deployment is completed or in the deployment process, and adjusting the devices and the deployment positions of the devices and re-adjusting and dividing the areas through the obtained signal fingerprint information; after relatively fixed various location areas are formed, setting an unique ID value for each area and optionally binding each area with acquired signal fingerprint features; constructing a location platform; and constructing an electronic map application platform. The grid-based indoor area location and navigation method is capable of saving the investment needed to realize indoor location; meanwhile, in indoor path planning and navigation, the previous path analysis and navigation mode is changed and only path navigation between two planes from grid area to area needs to be realized; as a result, a navigation algorithm is simplified and the efficiency is improved.
Description
Technical field
The present invention relates to the method for indoor positioning, navigation and displaying, belong to the Design and analysis methods in indoor positioning, indoor path computing planning application field.
Background technology
In indoor location service application, relate generally to the aspects such as indoor positioning, positioning result displaying, indoor path planning and navigation, in current all kinds of position application and system, often higher to positioning accuracy request, little with good grounds indoor location application characteristic makes more easy-to-use location and the solution of related application.Indoor positioning can Free Acquisition locating information by satellite unlike outdoor GPS application, the platform building the required framing signal in location is often needed to realize location, as laid the signal systems such as Wi-Fi, Rfid, bluetooth, therefore the complexity building this locating platform not only determines user and drops into, and determines difficulty and the feasibility of indoor location service industry large-scale promotion and application.
In current indoor location application, multiple location technology is had to indoor positioning technologies, as Wi-Fi, bluetooth, Rfid etc., location technology is relative maturity, in indoor positioning application, generally still continuing to use traditional point represents the position needing locating terminal, requires that positioning precision is higher, often needs closeer data-collecting module based layout to reach positioning accuracy request.But these indoor positioning application at present have ignored the specific feature of indoor location service, in indoor environment, we generally only need to arrive appointed area and can be easy to find target, such as in the application of parking lot, we only need arrive just to be easy to from the place that vehicle is not far to see or remote control to car; As long as no blocking in market, farly the businessman etc. that will find just can be seen; Therefore, in indoor location application, majority of case does not need to locate relatively accurately
Summary of the invention
The present invention is directed to this defect of current indoor positioning, propose a kind of new method of indoor macrolattice zone location, only by terminal positioning to region, with the form of area surface position result show.
The object of the invention is to be achieved through the following technical solutions:
Based on room area location and the air navigation aid of grid, in turn include the following steps:
S1, analyzes indoor landform, and room area Preliminary division is become multiple region, affixes one's name to one or more positioning equipment at each intra-zone;
S2, in the received signals fingerprint information of having disposed or in deployment in pickup area, is divided by the adjustment again in the received signals fingerprint information that obtains adjustment equipment, deployed with devices position and region, to obtain more excellent signal thus to produce better locating effect.
S3, after forming relatively-stationary each locating area, each region is equipped with unique ID value, and each region can be bound with the received signals fingerprint feature collected.
S4, build locating platform, the signal fed back according to positioning equipment or the positioning equipment relevant location information collected by locating information collecting terminal carry out calculating and can comparing with the received signals fingerprint feature of region, and locating platform calculates the ID value providing positioning equipment region.
S5, builds electronic chart application platform, for locating platform and positioning equipment application person provide visual, spatial analysis and topological criteria analysis platform.
Compared with prior art, the embodiment of the present invention at least has the following advantages:
Greatly save based on the room area location of grid and air navigation aid the input realized needed for indoor positioning in the embodiment of the present invention, on indoor path planning and navigation, change path analysis and the navigation mode of original point-to-point simultaneously, only need realize net region to region two faces between path navigation, enormously simplify navigation algorithm, improve efficiency.Simultaneously this form can not affect the user awareness of user when indoor location service does not need especially accurate location requirement, can greatly simplify indoor location service platform construction, obtain promotion and application widely.
Accompanying drawing explanation
Fig. 1 the present invention is based on the room area location of grid and air navigation aid is applied to the structural representation in parking lot.
Embodiment
Below in conjunction with Fig. 1 and embodiment, the invention will be further described, and following examples are descriptive, are not determinate, can not limit protection scope of the present invention with this.
1, indoor landform is analyzed, in conjunction with selected by locate mode (Wi-Fi, Rfid, bluetooth or mixed positioning etc.) and choose the parameter characteristic of positioning equipment 1 (terminal), planning apparatus deployment scheme; The deployment of equipment meets zone location, and that therefore can dispose is relatively sparse, and deployment scheme can be carried out planning by user according to the structures such as functional areas, indoor landform partition, application demand feature, actual location fingerprint signal feature etc. and be disposed.The distribution of parking stall, parking garage is generally and distributes near indoor road, and therefore positioning equipment 1 can be disposed near indoor road; If relative dense deployment can be carried out in the place that positioning accuracy request is higher.
2, in the received signals fingerprint information of having disposed or in deployment in pickup area, as each device signal, signal strength signal intensity etc. that can receive, these fingerprint feature information can be incorporated in locating platform for the location to terminal.Adjustment equipment, deployed with devices position and Region dividing, to obtain more excellent signal to produce better locating effect.
3, after forming relatively-stationary each locating area, each region is equipped with unique ID value, and each region can be bound with the received signals fingerprint feature collected.
4, locating platform is built, carry out calculating according to locating terminal inverse signal or the terminal relevant location information collected by locating information collecting terminal and can compare with region fingerprint characteristic, locating platform calculates and provides the ID value of terminal region and assist location object information of being correlated with.
5, electronic chart application platform is built, for back-stage management and terminal applies person provide visual and spatial analysis and topological criteria analysis platform.
6, wherein positioning result displaying can utilize this patent feature to carry out face displaying, and the point reaching positioning precision also can represent accurate location with point.Path can be shown with linear formula or to add hand designations in region, face, and position fixing process track can be shown with the region of change, and the point reaching positioning precision equally also can represent with point.These application forms not only can realize the good user awareness bandwagon effect such as understandable location, path, navigation, track, make indoor location service system whole implementation simultaneously and drop into difficulty to decline to a great extent.
Adopt indoor electronic map to carry out accessory exhibition in the present embodiment, indoor electronic map can be indoor GIS platform (being called for short indoor GIS), also can be utilize the graph technologies such as picture to show.
During for indoor positioning demand, the realization of navigation system can be divided into following steps, one is that indoor environment is divided into region, the definition in this region can be according to indoor geographical configuration, functional requirement, existing framing signal distributions etc. require to carry out to preset, also can be according to the automatic result of calculation zoning of program, region adopts electronic chart to mark and draw, region should meet user in actual applications as far as possible can find each target in region more easily in this region, special in parking lot, lay near positioning equipment 1 is along the line along indoor vehicle travel, such design and parking space function feature, layout rule matches, can be simpler and easy, effectively meet location, parking lot and location-based service application, two is selection and deployment of locate mode, locate mode can adopt the location technologies such as existing Wi-Fi, Rfid, bluetooth, or adopt the mixed positioning of multinomial technology, position the deployment of equipment 1 at the scene, carry out collection and the test of received signals fingerprint feature during deployment, ensure that Received signal strength covers desired zone and can have and more obviously identify and define, location fingerprint signal characteristic and locating platform can be integrated to carry out positional information comparison when locating.Two steps there is no dividing of priority, first can plan that positioning equipment 1 is disposed in region again, also first can dispose positioning equipment 1 again according to the received signals fingerprint situation zoning of deployment facility, and order can be put upside down or intert in actual implementation process and carry out.Wherein the shape of region representation can be set to any geometric surface figure according to the actual requirements with feature.
When actual requirement is located, the terminal positional information collect locating information acquisition equipment or positioning equipment 1 relevant information collected by terminal pass to the enterprising line position computing of backstage locating platform, comparison process, calculate the region belonging to it, and can show on electronic chart, be supplied to related needs person and show.In actual applications, user area locating information is shown with the form in face, the region at prompting user his place current, instead of marks in dots.
When user requires to carry out path planning or navigation, routing algorithm can adopt any feasible routing algorithm, also can directly call in the path between prior generated each region, here terminus can be formed by the point chosen in the point on road in the particle of area surface, face or face, path has the form of the icon of direction signs to be described with line or belt, in navigation procedure, real time position shows region residing for the current process of user.Room area is little, and road is relatively simply fixing, and in indoor application, which can have well meet Consumer's Experience completely.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claims.
Claims (1)
1., based on room area location and the air navigation aid of grid, it is characterized in that, in turn include the following steps:
S1, analyzes indoor landform, and room area Preliminary division is become multiple region, affixes one's name to one or more positioning equipment at each intra-zone;
S2, in the received signals fingerprint information of having disposed or in deployment in pickup area, is divided by the adjustment again in the received signals fingerprint information that obtains adjustment equipment, deployed with devices position and region, to obtain more excellent signal thus to produce better locating effect;
S3, after forming relatively-stationary each locating area, each region is equipped with unique ID value, and each region can be bound with the received signals fingerprint feature collected;
S4, build locating platform, the signal fed back according to positioning equipment or the positioning equipment relevant location information collected by locating information collecting terminal carry out calculating and compare with the received signals fingerprint feature of region, and locating platform calculates the ID value providing positioning equipment region;
S5, builds electronic chart application platform, for locating platform and positioning equipment application person provide visual, spatial analysis and topological criteria analysis platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510456547.7A CN105188131A (en) | 2015-07-30 | 2015-07-30 | Grid-based indoor area location and navigation method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105491512A (en) * | 2016-01-18 | 2016-04-13 | 福建师范大学 | Mobile phone indoor positioning method based on Bluetooth |
| CN105717939A (en) * | 2016-01-20 | 2016-06-29 | 李万鸿 | Informatization and networking implementation method of road pavement supporting automobile unmanned automatic driving |
| CN106802411A (en) * | 2016-12-26 | 2017-06-06 | 纵横壹旅游科技（成都）有限公司 | A kind of local area localization method and system |
| CN107084729A (en) * | 2017-05-03 | 2017-08-22 | 北京都在哪网讯科技有限公司 | Air navigation aid and device |
| CN108830403A (en) * | 2018-05-23 | 2018-11-16 | 广西中烟工业有限责任公司 | The tobacco retail customer calculated based on commercial value visits path visual analysis method |
| CN109141446A (en) * | 2018-07-04 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | For obtaining the method, apparatus, equipment and computer readable storage medium of map |
| CN109459024A (en) * | 2018-10-31 | 2019-03-12 | 武汉大学 | The building of indoor navigation data model and path planning algorithm under different behavior patterns |
| CN109640251A (en) * | 2018-12-10 | 2019-04-16 | 北京众行智能科技有限公司 | A kind of indoor localization method and device |
| CN111552752A (en) * | 2020-04-23 | 2020-08-18 | 峥峰集团股份有限公司 | Urban public safety and emergency aid method and system based on Internet of things technology |
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| WO2012139250A1 (en) * | 2011-04-13 | 2012-10-18 | Telefonaktiebolaget L M Ericsson (Publ) | Positioning in a cellular communication network |
| CN103476115A (en) * | 2013-09-22 | 2013-12-25 | 中国地质大学（武汉） | Method for WiFi fingerprint positioning based on AP set similarity |
| CN103747524A (en) * | 2014-01-17 | 2014-04-23 | 西南交通大学 | Android terminal indoor positioning method based on cloud platform |
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| CN102170697A (en) * | 2011-04-06 | 2011-08-31 | 北京邮电大学 | Indoor positioning method and device |
| WO2012139250A1 (en) * | 2011-04-13 | 2012-10-18 | Telefonaktiebolaget L M Ericsson (Publ) | Positioning in a cellular communication network |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105491512A (en) * | 2016-01-18 | 2016-04-13 | 福建师范大学 | Mobile phone indoor positioning method based on Bluetooth |
| CN105717939A (en) * | 2016-01-20 | 2016-06-29 | 李万鸿 | Informatization and networking implementation method of road pavement supporting automobile unmanned automatic driving |
| CN106802411A (en) * | 2016-12-26 | 2017-06-06 | 纵横壹旅游科技（成都）有限公司 | A kind of local area localization method and system |
| CN107084729A (en) * | 2017-05-03 | 2017-08-22 | 北京都在哪网讯科技有限公司 | Air navigation aid and device |
| CN108830403A (en) * | 2018-05-23 | 2018-11-16 | 广西中烟工业有限责任公司 | The tobacco retail customer calculated based on commercial value visits path visual analysis method |
| CN108830403B (en) * | 2018-05-23 | 2022-03-22 | 广西中烟工业有限责任公司 | Visual analysis method for tobacco retail customer visiting path based on commercial value calculation |
| CN109141446B (en) * | 2018-07-04 | 2021-11-12 | 阿波罗智能技术(北京)有限公司 | Method, apparatus, device and computer-readable storage medium for obtaining map |
| CN109141446A (en) * | 2018-07-04 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | For obtaining the method, apparatus, equipment and computer readable storage medium of map |
| US11243086B2 (en) | 2018-07-04 | 2022-02-08 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method, device and apparatus for acquiring map, and computer readable storage medium |
| CN109459024A (en) * | 2018-10-31 | 2019-03-12 | 武汉大学 | The building of indoor navigation data model and path planning algorithm under different behavior patterns |
| CN109640251B (en) * | 2018-12-10 | 2021-02-05 | 北京众行智能科技有限公司 | Indoor positioning method and device |
| CN109640251A (en) * | 2018-12-10 | 2019-04-16 | 北京众行智能科技有限公司 | A kind of indoor localization method and device |
| CN111552752A (en) * | 2020-04-23 | 2020-08-18 | 峥峰集团股份有限公司 | Urban public safety and emergency aid method and system based on Internet of things technology |
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Effective date of registration: 20180214 Address after: 200233 Guiping Road, Xuhui District, Shanghai, room 402, room 418 Applicant after: Shanghai sattur computer Polytron Technologies Inc Address before: 201199 Shanghai city Minhang District humin road 6666 Lane 2, room 602 Applicant before: Zhang Xin |
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Application publication date: 20151223 |