CN105333875B - A kind of indoor navigation and its device - Google Patents
A kind of indoor navigation and its device Download PDFInfo
- Publication number
- CN105333875B CN105333875B CN201510779452.9A CN201510779452A CN105333875B CN 105333875 B CN105333875 B CN 105333875B CN 201510779452 A CN201510779452 A CN 201510779452A CN 105333875 B CN105333875 B CN 105333875B
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- current geographic
- indoor navigation
- geographic position
- mobile terminal
- navigation map
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- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000010586 diagram Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H04W4/04—
Abstract
A kind of indoor navigation method of offer of the embodiment of the present invention and its device, wherein method include the following steps：When receiving the enabled instruction for indoor navigation, the current geographic position and the indoor navigation map belonging to the current geographic position that obtain mobile terminal；It shows the indoor navigation map belonging to the current geographic position and the current geographic position, and marks navigational arrows on the current geographic position, the instruction direction of the navigational arrows and the position relation of preset direction are kept fixed；When detecting that the direction of motion of the mobile terminal deviates the instruction direction of the navigational arrows, the indoor navigation map belonging to the current geographic position is deflected.The embodiment of the present invention can reduce the probability of indoor navigation misleading, the accuracy of indoor navigation be improved, to promote user experience.
Description
Technical field
The present invention relates to indoor navigation technical fields, and in particular to a kind of indoor navigation method and its device.
Background technology
In order to facilitate mobile terminal user in building, such as megastore, library, hospital etc. can be quick
Destination locations are found, the indoor navigation technology applied to mobile terminal is come into being.Indoor navigation is to allow place oneself in the midst of megastore
In consumer remain to determine the position of oneself using accurate positioning function and find the ground wanted to go to even if in building
Side.User can easily find the specified place of some heavy constructions, such as toilet, elevator and specified businessman using indoor navigation
Deng.
But during using indoor navigation, user may arbitrarily deflect mobile terminal, shown by mobile terminal
Indoor navigation map on navigational arrows can also be deflected with the deflection of mobile terminal, to mislead user deviate it is correct
Direction of travel reduces the accuracy of indoor navigation.
Invention content
A kind of indoor navigation method of offer of the embodiment of the present invention and its device, can reduce the probability of indoor navigation misleading,
The accuracy for improving indoor navigation, to promote user experience.
First aspect of the embodiment of the present invention provides a kind of indoor navigation method, it may include：
When receiving the enabled instruction for indoor navigation, obtains the current geographic position of mobile terminal and described work as
Indoor navigation map belonging to preceding geographical location；
Show the indoor navigation map belonging to the current geographic position and the current geographic position, and described current
Navigational arrows, the instruction direction of the navigational arrows and the position relation of preset direction are marked to be kept fixed on geographical location；
When detecting that the direction of motion of the mobile terminal deviates the instruction direction of the navigational arrows, work as described in deflection
Indoor navigation map belonging to preceding geographical location.
Second aspect of the embodiment of the present invention provides a kind of indoor navigation device, it may include：
Acquiring unit, for when receiving the enabled instruction for indoor navigation, obtaining the current geographic of mobile terminal
Indoor navigation map belonging to position and the current geographic position；
Display unit, for showing the indoor navigation belonging to the current geographic position and the current geographic position
Figure, and navigational arrows are marked on the current geographic position, the orientation in the instruction direction and preset direction of the navigational arrows
Relationship is kept fixed；
Deflection unit detects that the direction of motion of the mobile terminal deviates the instruction direction of the navigational arrows for working as
When, deflect the indoor navigation map belonging to the current geographic position.
In embodiments of the present invention, by when receiving the navigation starting instruction for indoor navigation, obtaining mobile whole
The current geographic position at end and the indoor navigation map belonging to current geographic position, and show current geographic position and current position
The indoor navigation map belonging to position is managed, while marking navigational arrows on current geographic position, the instruction direction of navigational arrows
It is kept fixed with the position relation of preset direction, when the instruction direction for the direction of motion deviation navigational arrows for detecting mobile terminal
When, the indoor navigation map belonging to current geographic position is deflected, during realization is navigated indoors, when mobile whole
When the deflection of end, indoor navigation map is deflected to adapt to the deflection of mobile terminal, to reduce the probability of indoor navigation misleading, is improved
The accuracy of indoor navigation, further promotes user experience.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow diagram of indoor navigation method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another indoor navigation method provided in an embodiment of the present invention；
Fig. 3 a are a kind of schematic diagram of navigational arrows provided in an embodiment of the present invention；
Fig. 3 b are the schematic diagram of another navigational arrows provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of indoor navigation device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another indoor navigation device provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of indoor navigation method and its device, can be applied to using indoor navigation apply into
In the scene of row navigation, for example, indoor navigation device when receiving the enabled instruction for indoor navigation, obtains mobile terminal
Current geographic position and the current geographic position belonging to indoor navigation map；Described in the indoor navigation device is shown
Indoor navigation map belonging to current geographic position and the current geographic position, and mark and lead on the current geographic position
Navigate arrow, and the instruction direction of the navigational arrows and the position relation of preset direction are kept fixed；It is described mobile whole when detecting
When the direction of motion at end deviates the instruction direction of the navigational arrows, the indoor navigation device deflects the current geographic position
Affiliated indoor navigation map.The embodiment of the present invention is by when mobile terminal deflects, deflecting indoor navigation map to fit
The deflection for answering mobile terminal improves the accuracy of indoor navigation, is further promoted to lower the probability of indoor navigation misleading
User experience.
It is wearable that mobile terminal in the embodiment of the present invention can include but is not limited to mobile phone, PAD (tablet computer), intelligence
The electronic equipment with positioning, navigation feature such as equipment, and the mobile terminal can run indoor navigation application.It needs
Bright, the indoor navigation device in the embodiment of the present invention is located in the mobile terminal, optionally, the indoor navigation device
For part or all of the indoor navigation application on the mobile terminal.
It describes in detail to indoor navigation method provided in an embodiment of the present invention below in conjunction with attached drawing 1 and attached drawing 2.
Fig. 1 is referred to, is a kind of flow diagram of indoor navigation method provided in an embodiment of the present invention, this method can wrap
Include step S101- steps S103.
S101, when receiving the enabled instruction for indoor navigation, obtain mobile terminal current geographic position and
Indoor navigation map belonging to the current geographic position.
Specifically, indoor navigation device monitors whether to receive the enabled instruction for indoor navigation in real time, and optionally, institute
It is the touch control operation of indoor navigation to be directed to using the user of mobile terminal, such as user is aobvious to the mobile terminal to state enabled instruction
The clicking operation for showing the corresponding application icon of indoor navigation on interface, triggers the startup of indoor navigation.When the indoor navigation
When device receives the enabled instruction, start the indoor navigation, and obtain the current geographic position of the mobile terminal with
And the indoor navigation map belonging to the current geographic position.
Optionally, the indoor navigation device sends location information to server and obtains request, and the server is according to institute
It states location information acquisition request to position the current geographic position of the mobile terminal, and searches the current geographic position
Affiliated indoor navigation map.The indoor navigation device is when the wireless network connection function of the mobile terminal starts, certainly
Server described in trend sends location information and obtains request, it should be noted that the wireless network of the mobile terminal connects at this time
Connection function need not connect wireless access point, only need to open wireless network connection function.The current geographic position institute
The indoor navigation map of category is the indoor environment map residing for the current geographic position, can be three-dimensional map, or
Plane map specifically shows form and does not limit herein.For example, the current geographic position of the mobile terminal is the four of certain market
Building moves brand A special counters, then the indoor navigation map belonging to the current geographic position may include and movement brand A special counter phases
Adjacent special counter mark, can also include the mark and four buildings all staircases, elevator, extra exit, toilets of four buildings all special counters
Mark, and the tagged geographical location of institute etc..The letter that the server can be scanned by the camera in indoor environment
Breath generates indoor navigation map, can also generate indoor navigation map by administrator's typing indoor environment layout information.
Optionally, the indoor navigation device sends location information to server and obtains request, and the server is according to institute
It states location information acquisition request to position the current geographic position of the mobile terminal, and feeds back working as the mobile terminal
Preceding geographical location.The indoor navigation device determines the mobile terminal affiliated indoor ring according to the current geographic position
Then border, such as some market, certain hospital detect whether the indoor navigation map datum packet for storing the indoor environment, if
The indoor navigation map datum packet for storing the indoor environment, then lead the current geographic position and the interior of the indoor environment
Boat map datum packet is matched, and determines the indoor navigation map belonging to the current geographic position；If not storing the interior ring
The indoor navigation map datum packet in border, then to the indoor navigation belonging to current geographic position described in the server acquisition request
Figure.
S102 shows the indoor navigation map belonging to the current geographic position and the current geographic position, and in institute
It states and marks navigational arrows on current geographic position, the instruction direction of the navigational arrows and the position relation of preset direction keep solid
It is fixed.
Specifically, the indoor navigation device is by the current geographic position of the mobile terminal got and described current
Indoor navigation map denotation belonging to geographical location is on the display interface of the mobile terminal, while in the current geographic position
Set label navigational arrows.Wherein, the instruction direction of the navigational arrows and the position relation of preset direction are kept fixed.It is optional
, the preset direction is determined by the screen orientation of the mobile terminal, if the screen orientation is transverse screen, the default side
To perpendicular to the screen orientation；If the screen orientation is vertical screen, the preset direction is parallel to the screen orientation.Please
Referring to the schematic diagram of navigational arrows shown in Fig. 3 a and Fig. 3 b, it should be noted that Fig. 3 a and Fig. 3 b do not show described current
Indoor navigation map belonging to geographical location, but display interface includes the room belonging to the current geographic position in actually using
Interior navigation map.Fig. 3 a are the screen orientation of the mobile terminal when being vertical screen, the direction indicated by the navigational arrows, Fig. 3 a
In circle stain be the mobile terminal current geographic position, arrow shown in triangle is the navigational arrows, it is seen that
Direction at this time indicated by arrow shown in triangle is parallel with screen orientation, and is directed toward the upper end of screen orientation.Fig. 3 b are institute
When the screen orientation for stating mobile terminal is transverse screen, the direction indicated by the navigational arrows, the circle stain in Fig. 3 b is the shifting
The current geographic position of terminal is moved, arrow is the navigational arrows shown in triangle, it is seen that arrow shown in triangle at this time
Direction indicated by head is vertical with screen orientation, and is directed toward the upper end of screen orientation.It is also presented in Fig. 3 a to the left and to right avertence
Turn the mobile terminal of certain angle, but the direction pointed by arrow shown in triangle does not change, as long as
The screen orientation of the mobile terminal is vertical screen, and the instruction direction of the navigational arrows is parallel with screen orientation, similarly corresponding diagram
3b, as long as the screen orientation of the mobile terminal is transverse screen, the instruction direction of the navigational arrows is vertical with screen orientation.It needs
Illustrate, the screen orientation of the mobile terminal is determined by the gravity sensor of the mobile terminal.The navigational arrows
Indicate that the position relation of direction and preset direction is kept fixed, i.e., the instruction direction of the described navigational arrows is not by the mobile terminal
The influence of deflection, and be directed toward always above the screen of the mobile terminal.In the prior art, either outdoor navigation or interior
Navigation, as long as the mobile terminal deflects, the navigational arrows will be with deflection, in this way the case where both deflecting
Under, user does not often know the direction advanced, therefore reduces the accuracy of navigation, and influences user experience.
S103, when detecting that the direction of motion of the mobile terminal deviates the instruction direction of the navigational arrows, deflection
Indoor navigation map belonging to the current geographic position.
Specifically, the indoor navigation device detects the traffic direction of the mobile terminal in real time during navigation
It is whether identical as the instruction direction of the navigational arrows, when the direction of motion deviation navigation arrows for detecting the mobile terminal
When the instruction direction of head, the indoor navigation map belonging to the current geographic position is deflected, to adapt to the inclined of the mobile terminal
Turn.Traffic direction, that is, user of the mobile terminal holds the direction of motion of the mobile terminal, the operation of the mobile terminal
The instruction direction whether direction deviates the navigational arrows can be detected as the gyroscope built in the mobile terminal, while the top
The angle and direction that the instruction direction for the direction of motion and the navigational arrows that spiral shell instrument can also detect the mobile terminal is deviateed.
When detecting that the traffic direction of the mobile terminal deviates the instruction direction of the navigational arrows, the gyroscope detection is obtained
Data and determine that the direction of motion of the mobile terminal deviates the instruction direction of the navigational arrows according to the data that get
Deviation angle and offset direction, the current geographic position institute is then deflected according to the deviation angle and the offset direction
The indoor navigation map of category so that indoor navigation map belonging to the current geographic position with indicated by the navigational arrows
Direction matches, and user is avoided can not offer an explanation direction of advance in the case where deflecting the mobile terminal.Due to the indoor navigation
The indoor navigation map of device includes the marks such as businessman, shop, staircase, elevator, therefore in the process of mobile terminal deflection
In, deflecting the indoor navigation map belonging to the current geographic position can facilitate user to determine direction of advance, and have a clear understanding of
The environment of surrounding.
In embodiments of the present invention, by when receiving the navigation starting instruction for indoor navigation, obtaining mobile whole
The current geographic position at end and the indoor navigation map belonging to current geographic position, and show current geographic position and current position
The indoor navigation map belonging to position is managed, while marking navigational arrows on current geographic position, the instruction direction of navigational arrows
It is kept fixed with the position relation of preset direction, when the instruction direction for the direction of motion deviation navigational arrows for detecting mobile terminal
When, the indoor navigation map belonging to current geographic position is deflected, during realization is navigated indoors, when mobile whole
When the deflection of end, indoor navigation map is deflected to adapt to the deflection of mobile terminal, to reduce the probability of indoor navigation misleading, is improved
The accuracy of indoor navigation, further promotes user experience.
Fig. 2 is referred to, for the flow diagram of another indoor navigation method provided in an embodiment of the present invention, this method can
Including step S201- steps S208.
S201 sends location information acquisition to server and asks when receiving the navigation starting instruction for indoor navigation
It asks.
Specifically, indoor navigation device monitors whether to receive the enabled instruction for indoor navigation in real time, and optionally, institute
It is the touch control operation of indoor navigation to be directed to using the user of mobile terminal, such as user is aobvious to the mobile terminal to state enabled instruction
The clicking operation for showing the corresponding application icon of indoor navigation on interface, triggers the startup of indoor navigation.When the indoor navigation
When device receives the enabled instruction, start the indoor navigation, and send location information to server and obtain request, it is described
Location information obtains request for asking the server to position the current geographic position of the mobile terminal, and searches
Indoor navigation map belonging to the current geographic position.Although the mobile terminal carries locator, be not used into
Row indoor positioning, therefore the indoor navigation device needs to obtain the current geographic position of the mobile terminal to the server
It sets.The indoor navigation device is sent out when the wireless network connection function of the mobile terminal starts from server described in trend
Location information is sent to obtain request, it should be noted that the wireless network connection function of the mobile terminal need not connect at this time
Upper wireless access point only need to open wireless network connection function.
S202, receive the server respond the location information obtain request and the mobile terminal that feeds back it is current
Indoor navigation map belonging to geographical location and the current geographic position.
It responds the location information specifically, the indoor navigation device receives the server and obtains request and feed back
Indoor navigation map belonging to the current geographic position of the mobile terminal and the current geographic position.The current geographic
Indoor navigation map belonging to position is the indoor environment map residing for the current geographic position, can be three-dimensional map,
It can be plane map, specifically show form and do not limit herein.For example, the current geographic position of the mobile terminal is certain quotient
The movement brand A special counters of tetra- building, Chang, then the indoor navigation map belonging to the current geographic position may include and movement brand A
The adjacent special counter mark of special counter, can also include four buildings all special counters mark and four buildings all staircases, elevator, extra exit,
Mark of toilet, and the tagged geographical location of institute etc..The server can be swept by the camera in indoor environment
The information retouched generates indoor navigation map, can also generate indoor navigation map by administrator's typing indoor environment layout information.
S203 shows the indoor navigation map belonging to the current geographic position and the current geographic position, and in institute
It states and marks navigational arrows on current geographic position.
Specifically, the indoor navigation device is by the current geographic position of the mobile terminal got and described current
Indoor navigation map denotation belonging to geographical location is on the display interface of the mobile terminal, while in the current geographic position
Set label navigational arrows.Wherein, the instruction direction of the navigational arrows and the position relation of preset direction are kept fixed.It is optional
, the preset direction is determined by the screen orientation of the mobile terminal, if the screen orientation is transverse screen, the default side
To perpendicular to the screen orientation；If the screen orientation is vertical screen, the preset direction is parallel to the screen orientation.Please
Referring to the schematic diagram of navigational arrows shown in Fig. 3 a and Fig. 3 b, it should be noted that Fig. 3 a and Fig. 3 b do not show described current
Indoor navigation map belonging to geographical location, but display interface includes the room belonging to the current geographic position in actually using
Interior navigation map.Fig. 3 a are the screen orientation of the mobile terminal when being vertical screen, the direction indicated by the navigational arrows, Fig. 3 a
In circle stain be the mobile terminal current geographic position, arrow shown in triangle is the navigational arrows, it is seen that
Direction at this time indicated by arrow shown in triangle is parallel with screen orientation, and is directed toward the upper end of screen orientation.Fig. 3 b are institute
When the screen orientation for stating mobile terminal is transverse screen, the direction indicated by the navigational arrows, the circle stain in Fig. 3 b is the shifting
The current geographic position of terminal is moved, arrow is the navigational arrows shown in triangle, it is seen that arrow shown in triangle at this time
Direction indicated by head is vertical with screen orientation, and is directed toward the upper end of screen orientation.It is also presented in Fig. 3 a to the left and to right avertence
Turn the mobile terminal of certain angle, but the direction pointed by arrow shown in triangle does not change, as long as
The screen orientation of the mobile terminal is vertical screen, and the instruction direction of the navigational arrows is parallel with screen orientation, similarly corresponding diagram
3b, as long as the screen orientation of the mobile terminal is transverse screen, the instruction direction of the navigational arrows is vertical with screen orientation.It needs
Illustrate, the screen orientation of the mobile terminal is determined by the gravity sensor of the mobile terminal.The navigational arrows
Indicate that the position relation of direction and preset direction is kept fixed, i.e., the instruction direction of the described navigational arrows is not by the mobile terminal
The influence of deflection, and be directed toward always above the screen of the mobile terminal.In the prior art, either outdoor navigation or interior
Navigation, as long as the mobile terminal deflects, the navigational arrows will be with deflection, in this way the case where both deflecting
Under, user does not often know the direction advanced, therefore reduces the accuracy of navigation, and influences user experience.
Whether S204, the direction of motion for detecting the mobile terminal are identical as the instruction direction of the navigational arrows.
Specifically, since the instruction direction of the navigational arrows and the position relation of the preset direction are kept fixed, it can
With understanding, the instruction direction of the navigational arrows is constant, therefore the indoor navigation device by detecting institute in real time
Whether the traffic direction for stating mobile terminal is identical as the instruction direction of the navigational arrows to judge whether the mobile terminal is sent out
Go out deflection.Optionally, gyroscope, gyroscope are called angular-rate sensor built in the mobile terminal, for measuring deflection, tilting
When rotational angular velocity.Data that the indoor navigation device is acquired according to the gyroscope detect the fortune of the mobile terminal
Whether line direction is identical as the instruction direction of the navigational arrows.When the result of detection is no, step S204 is continued to execute；When
The result of detection is when being, to execute step S205.
S205, determine the direction of motion of the mobile terminal deviate the navigational arrows instruction direction deviation angle and
Offset direction.
Specifically, the indoor navigation device determines the movement of the mobile terminal according to the data that the gyroscope acquires
Deviate the deviation angle and offset direction in the instruction direction of the navigational arrows in direction.
S206 deflects the indoor navigation belonging to the current geographic position according to the deviation angle and the offset direction
Map.
Specifically, the indoor navigation device deflects the current geographic according to the deflection angle and the deflection direction
Indoor navigation map belonging to position.During deflecting the indoor navigation map belonging to the current geographic position, with institute
Centered on stating current geographic position, using the direction opposite with the offset direction as rotation direction, with the deviation angle phase
Same angle is that rotational angle deflects the indoor navigation map belonging to the current geographic position, so that the current geographic
Indoor navigation map belonging to position is matched with the direction indicated by the navigational arrows, and user is avoided to deflect the movement eventually
Direction of advance can not be offered an explanation in the case of end.Since the indoor navigation map of the indoor navigation device includes businessman, shop, helps
The marks such as ladder, elevator, therefore during the mobile terminal deflects, deflect the interior belonging to the current geographic position and lead
Boat map can facilitate user to determine direction of advance, and have a clear understanding of the environment of surrounding.
S207 obtains the geographical location of the destination and described if the enabled instruction carries the information of destination
Indoor navigation map belonging to the geographical location of destination.
Specifically, the indoor navigation device judges whether the enabled instruction carries the information of destination, the purpose
The information on ground can be the name identification of the destination of user's navigation application input indoors.If the enabled instruction carries purpose
The information on ground then obtains the indoor navigation map belonging to the geographical location on the target ground and the geographical location of the destination.
Optionally, the indoor navigation device obtains the geographical location of the destination and the purpose to the server
Indoor navigation map belonging to the geographical location on ground.
Optionally, the current geographic position that the indoor navigation device is downloaded by the information of the destination and before
The indoor navigation map datum packet of affiliated indoor environment is matched, and determines the geographical location of the destination and the purpose
Indoor navigation map belonging to the geographical location on ground.
S208, indoor navigation map, the purpose belonging to the current geographic position, the current geographic position
Indoor navigation map belonging to the geographical location of the geographical location on ground and the destination is planned from the current geographic position
To at least one path in the geographical location of the destination.
Specifically, room of the indoor navigation device belonging to the current geographic position, the current geographic position
Indoor navigation map planning belonging to the geographical location of interior navigation map, the geographical location of the destination and the destination
From the current geographic position at least one path in the geographical location of the destination.Optionally, the indoor navigation dress
It sets and at least one path is marked, such as the path that walking step number is minimum, the minimum path of barrier takes most short
Path etc..
In embodiments of the present invention, by when receiving the navigation starting instruction for indoor navigation, obtaining mobile whole
The current geographic position at end and the indoor navigation map belonging to current geographic position, and show current geographic position and current position
The indoor navigation map belonging to position is managed, while marking navigational arrows on current geographic position, the instruction direction of navigational arrows
It is kept fixed with the position relation of preset direction, when the instruction direction for the direction of motion deviation navigational arrows for detecting mobile terminal
When, the indoor navigation map belonging to current geographic position is deflected, during realization is navigated indoors, when mobile whole
When the deflection of end, indoor navigation map is deflected to adapt to the deflection of mobile terminal, to reduce the probability of indoor navigation misleading, is improved
The accuracy of indoor navigation, further promotes user experience.
It describes in detail to indoor navigation device provided in an embodiment of the present invention below in conjunction with attached drawing 4 and attached drawing 5.It needs
It is noted that attached drawing 4 and attached sufferer shown in fig. 5 search device, for executing Fig. 1 of the present invention and embodiment illustrated in fig. 2
Method illustrates only for convenience of description and does not disclose, please join with the relevant part of the embodiment of the present invention, particular technique details
According to Fig. 1 of the present invention and embodiment shown in Fig. 2.
Fig. 4 is referred to, is a kind of structural schematic diagram of indoor navigation device provided by the invention；The indoor navigation device 10
It may include：Acquiring unit 101, display unit 102 and deflection unit 103.Wherein, the acquiring unit 101 includes transmission unit
1011 and receiving unit 1012.
Acquiring unit 101, for when receiving the enabled instruction for indoor navigation, obtaining the current position of mobile terminal
Manage the indoor navigation map belonging to position and the current geographic position.
In the specific implementation, when receiving the enabled instruction for indoor navigation, the acquiring unit 101 obtains mobile whole
Indoor navigation map belonging to the current geographic position at end and the current geographic position.Specifically, the acquiring unit 101
Including transmission unit 1011 and receiving unit 1012.
Transmission unit 1011, for when receiving the navigation starting instruction for indoor navigation, position to be sent to server
Information acquisition request is set, the location information obtains request for asking current geographic of the server to the mobile terminal
Position is positioned, and searches the indoor navigation map belonging to the current geographic position.
In the specific implementation, when receiving the enabled instruction, the indoor navigation device 10 starts the indoor navigation,
Transmission unit 1011 sends location information to server and obtains request, and the location information obtains request for asking the service
Device positions the current geographic position of the mobile terminal, and with searching the indoor navigation belonging to the current geographic position
Figure.Although the mobile terminal carries locator, it is not used to carry out indoor positioning, therefore the transmission unit 1011 needs
The location information acquisition instruction is sent to the server, to obtain the current geographic position of the mobile terminal.It is described
For indoor navigation device 10 when the wireless network connection function of the mobile terminal starts, the transmission unit 1011 is from trend institute
It states server and sends location information acquisition request, it should be noted that the wireless network connection function of the mobile terminal at this time
Wireless access point need not be connected, only need to open wireless network connection function.
Receiving unit 1012 responds the location information acquisition request and the shifting of feedback for receiving the server
The current geographic position and the indoor navigation map belonging to the current geographic position of dynamic terminal.
It responds the location information in the specific implementation, the receiving unit 1012 receives the server and obtains request and anti-
The current geographic position and the indoor navigation map belonging to the current geographic position of the mobile terminal of feedback.It is described current
Indoor navigation map belonging to geographical location is the indoor environment map residing for the current geographic position, can be dimensionally
Figure, or plane map specifically shows form and do not limit herein.For example, the current geographic position of the mobile terminal
Brand A special counters are moved for four buildings of certain market, then the indoor navigation map belonging to the current geographic position may include and transport
The adjacent special counter mark of dynamic brand A special counters, can also include the mark and four buildings all staircases, elevator, peaces of four buildings all special counters
It exports entirely, the mark of toilet, and tagged geographical location of institute etc..The server can pass through taking the photograph in indoor environment
The information scanned as head generates indoor navigation map, can also generate indoor navigation by administrator's typing indoor environment layout information
Map.
Display unit 102, for showing the indoor navigation belonging to the current geographic position and the current geographic position
Map, and navigational arrows are marked on the current geographic position, the side in the instruction direction and preset direction of the navigational arrows
Position relationship is kept fixed.
In the specific implementation, the display unit 102 is by the current geographic position of the mobile terminal got and described
Indoor navigation map denotation belonging to current geographic position is on the display interface of the mobile terminal, while in the current position
Reason marks navigational arrows on position.Wherein, the instruction direction of the navigational arrows and the position relation of preset direction are kept fixed.
Optionally, the preset direction is determined by the screen orientation of the mobile terminal, described pre- if the screen orientation is transverse screen
Set direction is perpendicular to the screen orientation；If the screen orientation is vertical screen, the preset direction is parallel to the screen side
To.Refer to the schematic diagram of navigational arrows shown in Fig. 3 a and Fig. 3 b, it should be noted that Fig. 3 a and Fig. 3 b do not show described
Indoor navigation map belonging to current geographic position, but display interface includes belonging to the current geographic position in actually using
Indoor navigation map.Fig. 3 a are the screen orientation of the mobile terminal when being vertical screen, the direction indicated by the navigational arrows,
Circle stain in Fig. 3 a is the current geographic position of the mobile terminal, and arrow is the navigational arrows shown in triangle,
It can be seen that the direction at this time indicated by arrow shown in triangle is parallel with screen orientation, and it is directed toward the upper end of screen orientation.Fig. 3 b
When screen orientation for the mobile terminal is transverse screen, the direction indicated by the navigational arrows, the circle stain in Fig. 3 b is institute
The current geographic position of mobile terminal is stated, arrow is the navigational arrows shown in triangle, it is seen that at this time shown in triangle
Arrow indicated by direction it is vertical with screen orientation, and be directed toward the upper end of screen orientation.Also presented in Fig. 3 a to the left and to
Right avertence turns the mobile terminal of certain angle, but the direction pointed by arrow shown in triangle does not change,
As long as the screen orientation of the mobile terminal is vertical screen, the instruction direction of the navigational arrows is parallel with screen orientation, similarly right
Fig. 3 b are answered, as long as the screen orientation of the mobile terminal is transverse screen, the instruction direction of the navigational arrows is vertical with screen orientation.
It should be noted that the screen orientation of the mobile terminal is determined by the gravity sensor of the mobile terminal.The navigation arrows
The instruction direction of head and the position relation of preset direction are kept fixed, i.e., the instruction direction of the described navigational arrows is not by the movement
The influence of terminal deflection, and be directed toward always above the screen of the mobile terminal.In the prior art, either outdoor navigation is still
Indoor navigation, as long as the mobile terminal deflects, both the navigational arrows will deflect in this way with deflection
In the case of, user does not often know the direction advanced, therefore reduces the accuracy of navigation, and influences user experience.
Deflection unit 103 detects that the direction of motion of the mobile terminal deviates the instruction of the navigational arrows for working as
When direction, the indoor navigation map belonging to the current geographic position is deflected.
In the specific implementation, the indoor navigation device 10 detects the fortune of the mobile terminal in real time during navigation
Whether line direction identical as the instruction direction of the navigational arrows, when detect the mobile terminal the direction of motion deviate described in
When the instruction direction of navigational arrows, the deflection unit 103 deflects the indoor navigation map belonging to the current geographic position, with
Adapt to the deflection of the mobile terminal.Traffic direction, that is, user of the mobile terminal holds the movement side of the mobile terminal
The instruction direction for whether deviateing the navigational arrows to the traffic direction of, the mobile terminal can be as built in the mobile terminal
Gyroscope detects, while the gyroscope can also detect the instruction of the direction of motion and the navigational arrows of the mobile terminal
The angle and direction that direction is deviateed.When detecting that the traffic direction of the mobile terminal deviates the instruction direction of the navigational arrows
When, the deflection unit 103 obtains the data of the gyroscope detection and determines the mobile terminal according to the data got
The direction of motion deviate the navigational arrows instruction direction deviation angle and offset direction, then according to the deviation angle
The indoor navigation map belonging to the current geographic position is deflected with the offset direction, so that belonging to the current geographic position
Indoor navigation map matched with the direction indicated by the navigational arrows, avoid user the case where deflecting the mobile terminal
It is lower can not offer an explanation direction of advance.Since the indoor navigation map of the indoor navigation device 10 includes businessman, shop, staircase, electricity
The marks such as ladder, therefore during the mobile terminal deflects, with deflecting the indoor navigation belonging to the current geographic position
Figure can facilitate user to determine direction of advance, and have a clear understanding of the environment of surrounding.
In embodiments of the present invention, by when receiving the navigation starting instruction for indoor navigation, obtaining mobile whole
The current geographic position at end and the indoor navigation map belonging to current geographic position, and show current geographic position and current position
The indoor navigation map belonging to position is managed, while marking navigational arrows on current geographic position, the instruction direction of navigational arrows
It is kept fixed with the position relation of preset direction, when the instruction direction for the direction of motion deviation navigational arrows for detecting mobile terminal
When, the indoor navigation map belonging to current geographic position is deflected, during realization is navigated indoors, when mobile whole
When the deflection of end, indoor navigation map is deflected to adapt to the deflection of mobile terminal, to reduce the probability of indoor navigation misleading, is improved
The accuracy of indoor navigation, further promotes user experience.
Fig. 5 is referred to, for the structural schematic diagram of another indoor navigation device provided in an embodiment of the present invention, which leads
Boat device 20 include：Acquiring unit 201, display unit 202, deflection unit 203 and planning unit 204.Wherein, acquiring unit
201, the specific implementation of display unit 202 and deflection unit 203 can be found in acquiring unit 101 in embodiment illustrated in fig. 4,
Display unit 102 and deflection unit 103, details are not described herein.
Acquiring unit 201, for when receiving the enabled instruction for indoor navigation, obtaining the current position of mobile terminal
Manage the indoor navigation map belonging to position and the current geographic position.
Display unit 202, for showing the indoor navigation belonging to the current geographic position and the current geographic position
Map, and navigational arrows are marked on the current geographic position, the side in the instruction direction and preset direction of the navigational arrows
Position relationship is kept fixed.
Deflection unit 203 detects that the direction of motion of the mobile terminal deviates the instruction of the navigational arrows for working as
When direction, the indoor navigation map belonging to the current geographic position is deflected.
The acquiring unit 201 obtains the destination if being additionally operable to the information that the enabled instruction carries destination
Geographical location and the destination geographical location belonging to indoor navigation map.
In the specific implementation, the indoor navigation device 20 judges whether the enabled instruction carries the information of destination, institute
The information for stating destination can be the name identification of the destination of user's navigation application input indoors.If the enabled instruction is taken
Information with destination, then the acquiring unit 201 obtain the geographical position in the geographical location and the destination on the target ground
Set affiliated indoor navigation map.
Optionally, the acquiring unit 201 obtains the geographical location of the destination and the purpose to the server
Indoor navigation map belonging to the geographical location on ground.
Optionally, the current geographic position that the acquiring unit 201 is downloaded by the information of the destination and before
The indoor navigation map datum packet of affiliated indoor environment is matched, and determines the geographical location of the destination and the purpose
Indoor navigation map belonging to the geographical location on ground.
Planning unit 204, for the indoor navigation belonging to the current geographic position, the current geographic position
Indoor navigation map planning belonging to figure, the geographical location of the destination and the geographical location of the destination is worked as from described
At least one path of the preceding geographical location to the geographical location of the destination.
In the specific implementation, the planning unit 204 is according to belonging to the current geographic position, the current geographic position
Indoor navigation map rule belonging to the geographical location of indoor navigation map, the geographical location of the destination and the destination
It draws from the current geographic position at least one path in the geographical location of the destination.Optionally, the planning unit
204 pairs of at least one paths are marked, such as the path that walking step number is minimum, the minimum path of barrier, take most
Short path etc..
In embodiments of the present invention, by when receiving the navigation starting instruction for indoor navigation, obtaining mobile whole
The current geographic position at end and the indoor navigation map belonging to current geographic position, and show current geographic position and current position
The indoor navigation map belonging to position is managed, while marking navigational arrows on current geographic position, the instruction direction of navigational arrows
It is kept fixed with the position relation of preset direction, when the instruction direction for the direction of motion deviation navigational arrows for detecting mobile terminal
When, the indoor navigation map belonging to current geographic position is deflected, during realization is navigated indoors, when mobile whole
When the deflection of end, indoor navigation map is deflected to adapt to the deflection of mobile terminal, to reduce the probability of indoor navigation misleading, is improved
The accuracy of indoor navigation, further promotes user experience.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (2)
1. a kind of indoor navigation method, which is characterized in that including：
When the wireless network connection function of mobile terminal starts, sends location information from trend server and obtain request, it is described
Location information obtains request for asking the server to position the current geographic position of the mobile terminal；
It receives the server and responds the location information acquisition request and the current geographic position of the mobile terminal of feedback,
The mobile terminal affiliated indoor environment is determined according to the current geographic position, detects whether to store the indoor environment
Indoor navigation map datum packet, if storing the indoor navigation map datum packet of the indoor environment, by the current geographic position
It sets and is matched with the indoor navigation map datum packet of the indoor environment, determine the indoor navigation belonging to the current geographic position
Map；If not storing the indoor navigation map datum packet of the indoor environment, to current position described in the server acquisition request
Manage the indoor navigation map belonging to position；Indoor navigation map belonging to the current geographic position is the current geographic position
Residing indoor environment map；
Show the indoor navigation map belonging to the current geographic position and the current geographic position, and in the current geographic
Navigational arrows are marked on position, the instruction direction of the navigational arrows and the position relation of preset direction are kept fixed, described pre-
Set direction determines by the screen orientation of the mobile terminal, if the screen orientation is transverse screen, the preset direction perpendicular to
The screen orientation；If the screen orientation is vertical screen, the preset direction is parallel to the screen orientation；
When the direction of motion deviation navigational arrows for detecting the mobile terminal as the gyroscope built in the mobile terminal
Instruction direction when, the direction of motion of the mobile terminal and the instruction direction of the navigational arrows are detected by the gyroscope
Deviation angle and offset direction deflect the room belonging to the current geographic position according to the deviation angle and the offset direction
Interior navigation map.
2. a kind of indoor navigation device, which is characterized in that including：
Acquiring unit, for when the wireless network connection function of mobile terminal starts, location information to be sent from trend server
Obtain request, the location information obtain request for ask the server to the current geographic position of the mobile terminal into
Row positioning, and search the indoor navigation map belonging to the current geographic position；It receives the server and responds the position letter
Breath obtains request and the current geographic position of the mobile terminal of feedback, and the movement is determined according to the current geographic position
Indoor environment belonging to terminal detects whether the indoor navigation map datum packet for storing the indoor environment, if storing the room
The indoor navigation map datum packet of interior environment, then by the indoor navigation map datum of the current geographic position and the indoor environment
Packet is matched, and determines the indoor navigation map belonging to the current geographic position；If the interior for not storing the indoor environment is led
Navigate map datum packet, then to the indoor navigation map belonging to current geographic position described in the server acquisition request；It is described to work as
Indoor navigation map belonging to preceding geographical location is the indoor environment map residing for the current geographic position；
Display unit, for showing the indoor navigation map belonging to the current geographic position and the current geographic position, and
Navigational arrows, the instruction direction of the navigational arrows and the position relation of preset direction are marked to protect on the current geographic position
Fixation is held, the preset direction is determined by the screen orientation of the mobile terminal, described pre- if the screen orientation is transverse screen
Set direction is perpendicular to the screen orientation；If the screen orientation is vertical screen, the preset direction is parallel to the screen side
To；
Deflection unit, for detecting that the direction of motion of the mobile terminal deviates institute as the gyroscope built in the mobile terminal
When stating the instruction direction of navigational arrows, the direction of motion of the mobile terminal and the navigational arrows are detected by the gyroscope
The deviation angle and offset direction for indicating direction deflect the current geographic position according to the deviation angle and the offset direction
Set affiliated indoor navigation map.
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| CN201510779452.9A CN105333875B (en) | 2015-11-12 | 2015-11-12 | A kind of indoor navigation and its device |
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| CN201510779452.9A CN105333875B (en) | 2015-11-12 | 2015-11-12 | A kind of indoor navigation and its device |
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| CN105333875B true CN105333875B (en) | 2018-09-04 |
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| CN105844576B (en) * | 2016-05-30 | 2021-11-30 | 华北理工大学 | Ibeacon-based book self-help guiding and borrowing system and method |
| CN107014368A (en) * | 2017-03-30 | 2017-08-04 | 上海斐讯数据通信技术有限公司 | Passive type intelligent interaction direction board indicating means and its system |
| CN107687854A (en) * | 2017-07-20 | 2018-02-13 | 努比亚技术有限公司 | A kind of indoor navigation method, terminal and computer-readable recording medium |
| CN109579826B (en) * | 2018-12-06 | 2020-12-15 | 珠海市一微半导体有限公司 | Direction display control method, device and chip of robot navigation map |
| CN111609859A (en) * | 2020-06-22 | 2020-09-01 | 滴图(北京)科技有限公司 | Navigation information display method and device, storage medium and electronic equipment |
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| CN101162152A (en) * | 2006-12-06 | 2008-04-16 | 厦门雅迅网络股份有限公司 | Processing method for realizing map displaying in networking vehicle mounted guidance terminal |
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| CN104359474A (en) * | 2014-10-27 | 2015-02-18 | 同辉佳视（北京）信息技术股份有限公司 | Rapid way finding positioning method and shopping guide machine |
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| US9052199B2 (en) * | 2013-03-15 | 2015-06-09 | Google Inc. | System and method for indicating user location and facing direction on a digital map |
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| CN101162152A (en) * | 2006-12-06 | 2008-04-16 | 厦门雅迅网络股份有限公司 | Processing method for realizing map displaying in networking vehicle mounted guidance terminal |
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| CN103097861A (en) * | 2010-10-05 | 2013-05-08 | 三菱电机株式会社 | Navigation device and portable information terminal |
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