CN105516929B - Establish method, indoor orientation method and the corresponding intrument of indoor map data - Google Patents
Establish method, indoor orientation method and the corresponding intrument of indoor map data Download PDFInfo
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Abstract
The present invention provides a kind of method for establishing house data, the method for indoor positioning and corresponding intruments, wherein the method for establishing indoor map data includes: the geomagnetic data for obtaining the acquisition collected each collection point in path according to the indoor map planned in advance；According to the geomagnetic data of each collection point, the earth magnetism fingerprint of each collection point is determined；According to the earth magnetism fingerprint of each collection point, the earth magnetism fingerprint of each mesh point divided in the indoor map is determined；It is stored using the location information of each mesh point and corresponding earth magnetism fingerprint as indoor map data.Indoor orientation method on this basis includes: the geomagnetic data for obtaining each collection point acquired in real time；According to the geomagnetic data of each collection point acquired in real time, corresponding earth magnetism fingerprint is determined；Determining earth magnetism fingerprint is matched with indoor map data, the location information of the mesh point obtained using matching obtains positioning result.It can reduce the collecting work amount of geomagnetic data through the invention.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of computer application, in particular to a method for establishing indoor map data, an indoor positioning method and a corresponding device.
[ background of the invention ]
With the rapid development of the mobile internet, the requirements of people for positioning and navigation are more and more common. Location-based services are also increasingly playing a role in people's life and production. GPS (global positioning system) has been successfully applied to positioning in an outdoor environment, but is not sufficient to locate an accurate position in a narrow indoor place due to low positioning accuracy of GPS. In urban environment, the positioning accuracy of the GPS is reduced due to the fact that signals transmitted by the GPS satellites are weak, building buildings are blocked and the like; and within the building, walls can obstruct the satellite signals, resulting in further increased positioning errors.
Indoor positioning technologies at present are mainly classified into two types: wireless positioning technology based on Bluetooth, WiFi, infrared and the like and inertial positioning technology based on inertial devices. With the popularization of MEMS (Micro-Electro-Mechanical System) inertial sensors, more and more electronic devices such as pedometers, mobile phones and smart watches have gyros, accelerometers and geomagnetic sensors to help people to collect motion information and local physical information, so that the MEMS inertial sensors are applied to indoor positioning.
At present, there is a method for performing indoor positioning by using geomagnetic data, but the existing method needs to collect and store geomagnetic data of all possible indoor position points in a map database in advance, and then, during positioning, match the geomagnetic data collected during positioning with the geomagnetic data in the map database, so as to obtain matched position points as positioning results. However, in the existing method, geomagnetic data of all possible position points needs to be acquired in an acquisition process, and the acquisition workload is huge.
[ summary of the invention ]
In view of this, the present invention provides a method for establishing indoor map data, an indoor positioning method and a corresponding apparatus, so as to reduce the acquisition workload of geomagnetic data.
The specific technical scheme is as follows:
the invention provides a method for establishing indoor map data, which comprises the following steps:
acquiring geomagnetic data of each acquisition point acquired according to an acquisition path of a pre-planned indoor map;
determining geomagnetic fingerprints of the acquisition points according to the geomagnetic data of the acquisition points;
determining geomagnetic fingerprints of grid points obtained by dividing the indoor map according to the geomagnetic fingerprints of the acquisition points;
and storing the position information of each grid point and the corresponding geomagnetic fingerprint as indoor map data.
According to a preferred embodiment of the present invention, the collection path of the pre-planned indoor map envelops an area in the indoor map where a person can stand.
According to a preferred embodiment of the present invention, the acquiring geomagnetic data at each of the acquisition points includes:
recording the number of steps on each acquisition path on the indoor map and geomagnetic data acquired in each step;
and respectively determining the position information of each acquisition point and corresponding geomagnetic data according to the step number on each acquisition path.
According to a preferred embodiment of the present invention, when geomagnetic data corresponding to each acquisition point is specified, if a plurality of pieces of geomagnetic data are acquired at a certain acquisition point, geomagnetic data obtained by averaging the plurality of pieces of geomagnetic data are used as geomagnetic data corresponding to the acquisition point.
According to a preferred embodiment of the present invention, determining the geomagnetic fingerprint of each acquisition point according to the geomagnetic data of each acquisition point includes:
taking the geomagnetic data of each acquisition point as a geomagnetic fingerprint of each acquisition point; or,
and projecting the geomagnetic data acquired at each acquisition point to the horizontal plane and the vertical direction according to the roll angle and the pitch angle to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a geomagnetic fingerprint corresponding to each acquisition point.
According to a preferred embodiment of the present invention, the determining, according to the geomagnetic fingerprint of each acquisition point, the geomagnetic fingerprint of each grid point obtained by dividing the indoor map includes:
respectively projecting the grid points to each acquisition path enveloping the grid points, and performing weighting processing on the obtained geomagnetic fingerprints of the projection points to obtain the geomagnetic fingerprints of the grid points; or,
and if the distance between the acquisition point closest to the grid point and the grid point is less than or equal to a preset similar distance threshold, taking the geomagnetic fingerprint of the acquisition point closest to the grid point as the geomagnetic fingerprint of the grid point.
According to a preferred embodiment of the present invention, the projecting the grid points to the acquisition paths enveloping the grid points respectively comprises:
and respectively determining the acquisition points which are closest to the grid point on each acquisition path enveloping the grid point, and taking the determined acquisition points as projection points.
The invention also provides an indoor positioning method, which comprises the following steps:
acquiring geomagnetic data of each acquisition point acquired in real time;
determining corresponding geomagnetic fingerprints according to geomagnetic data of each acquisition point acquired in real time;
matching the determined geomagnetic fingerprint with indoor map data, and obtaining a positioning result by using position information of grid points obtained by matching;
the indoor map data is pre-established by the method for establishing the indoor map data.
According to a preferred embodiment of the present invention, the acquiring geomagnetic data at each acquisition point acquired in real time includes:
acquiring geomagnetic data of each acquisition point acquired in a step of Ns walking by a user, wherein Ns is a preset positive integer.
According to a preferred embodiment of the present invention, the determining the corresponding geomagnetic fingerprint according to the geomagnetic data collected in real time includes:
taking geomagnetic data acquired in real time as a geomagnetic fingerprint; or,
and projecting the geomagnetic data acquired in real time to the horizontal plane and the vertical direction according to the roll angle and the pitch angle respectively to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a corresponding geomagnetic fingerprint.
According to a preferred embodiment of the present invention, the matching the determined geomagnetic fingerprint with the indoor map data includes:
respectively determining K grid points which are closest to the geomagnetic fingerprints of the acquisition points in the indoor map data aiming at the acquisition points acquired in real time to form a candidate grid point set corresponding to the acquisition points, wherein K is a preset positive integer;
respectively determining a grid point from the candidate grid point set corresponding to each acquisition point, so that the sum of the distances between the determined grid points is minimum;
and taking the position information of one of the determined grid points as a positioning result.
According to a preferred embodiment of the present invention, the using the position information of one of the determined grid points as the positioning result includes:
and taking the corresponding grid point of the acquisition point at the latest moment in the real-time acquisition points in the determined grid points as a positioning result.
The present invention also provides an apparatus for creating indoor map data, the apparatus comprising:
the system comprises a first data acquisition unit, a second data acquisition unit and a processing unit, wherein the first data acquisition unit is used for acquiring geomagnetic data of each acquisition point acquired according to an acquisition path of a pre-planned indoor map;
the first fingerprint determining unit is used for determining the geomagnetic fingerprint of each acquisition point according to the geomagnetic data of each acquisition point;
the second fingerprint determining unit is used for determining the geomagnetic fingerprints of the grid points obtained by dividing the indoor map according to the geomagnetic fingerprints of the acquisition points;
and the data storage unit is used for storing the position information of each grid point and the corresponding geomagnetic fingerprint as indoor map data.
According to a preferred embodiment of the present invention, the collection path of the pre-planned indoor map envelops an area in the indoor map where a person can stand.
According to a preferred embodiment of the present invention, the first data obtaining unit is specifically configured to:
recording the number of steps on each acquisition path on the indoor map and geomagnetic data acquired in each step;
and respectively determining the position information of each acquisition point and corresponding geomagnetic data according to the step number on each acquisition path.
According to a preferred embodiment of the present invention, when geomagnetic data corresponding to each acquisition point is determined, if a plurality of pieces of geomagnetic data are acquired at a certain acquisition point, the first data acquisition unit uses geomagnetic data obtained by averaging the plurality of pieces of geomagnetic data as geomagnetic data corresponding to the acquisition point.
According to a preferred embodiment of the present invention, the first fingerprint determination unit is specifically configured to:
taking the geomagnetic data of each acquisition point as a geomagnetic fingerprint of each acquisition point; or,
and projecting the geomagnetic data acquired at each acquisition point to the horizontal plane and the vertical direction according to the roll angle and the pitch angle to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a geomagnetic fingerprint corresponding to each acquisition point.
According to a preferred embodiment of the present invention, the second fingerprint determining unit is specifically configured to:
respectively projecting the grid points to each acquisition path enveloping the grid points, and performing weighting processing on the obtained geomagnetic fingerprints of the projection points to obtain the geomagnetic fingerprints of the grid points; or,
and if the distance between the acquisition point closest to the grid point and the grid point is less than or equal to a preset similar distance threshold, taking the geomagnetic fingerprint of the acquisition point closest to the grid point as the geomagnetic fingerprint of the grid point.
According to a preferred embodiment of the present invention, when the second fingerprint determining unit projects the grid point to each acquisition path enveloping the grid point, specifically:
and respectively determining the acquisition points which are closest to the grid point on each acquisition path enveloping the grid point, and taking the determined acquisition points as projection points.
The invention also provides an indoor positioning device, which comprises:
the second data acquisition unit is used for acquiring geomagnetic data of each acquisition point acquired in real time;
the third fingerprint determining unit is used for determining corresponding geomagnetic fingerprints according to geomagnetic data of each acquisition point acquired in real time;
the positioning unit is used for matching the geomagnetic fingerprint determined by the third fingerprint determining unit with indoor map data and obtaining a positioning result by using position information of grid points obtained by matching;
wherein the indoor map data is previously established by the above apparatus for establishing indoor map data.
According to a preferred embodiment of the present invention, the second data obtaining unit is specifically configured to:
acquiring geomagnetic data of each acquisition point acquired in a step of Ns walking by a user, wherein Ns is a preset positive integer.
According to a preferred embodiment of the present invention, the third fingerprint determination unit is specifically configured to:
taking geomagnetic data acquired in real time as a geomagnetic fingerprint; or,
and projecting the geomagnetic data acquired in real time to the horizontal plane and the vertical direction according to the roll angle and the pitch angle respectively to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a corresponding geomagnetic fingerprint.
According to a preferred embodiment of the present invention, when matching the determined geomagnetic fingerprint with the indoor map data, the positioning unit specifically performs:
respectively determining K grid points which are closest to the geomagnetic fingerprints of the acquisition points in the indoor map data aiming at the acquisition points acquired in real time to form a candidate grid point set corresponding to the acquisition points, wherein K is a preset positive integer;
respectively determining a grid point from the candidate grid point set corresponding to each acquisition point, so that the sum of the distances between the determined grid points is minimum;
and taking the position information of one of the determined grid points as a positioning result.
According to a preferred embodiment of the present invention, when the positioning unit takes the position information of one of the determined grid points as the positioning result, the positioning unit specifically performs:
and taking the corresponding grid point of the acquisition point at the latest moment in the real-time acquisition points in the determined grid points as a positioning result.
According to the technical scheme, the geomagnetic fingerprints of the grid points obtained by dividing the indoor map are determined by utilizing the geomagnetic data of the acquisition points on the acquisition path, and the indoor map data is established by the geomagnetic fingerprints of the grid points. In the mode, a planned acquisition path does not need to penetrate through each possible position point, and only the acquisition path envelops the region where a person can stand in the indoor map, so that the acquisition workload of geomagnetic data is obviously reduced.
[ description of the drawings ]
Fig. 1 is a flowchart of a method for creating indoor map data according to an embodiment of the present invention;
FIG. 2a is a schematic diagram of an indoor map according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of an acquisition path planned in a prior art manner;
FIG. 2c is a schematic diagram of an acquisition path planned by the method of the embodiment of the present invention;
fig. 2d is a schematic diagram of a grid point according to an embodiment of the present invention;
fig. 3 is a schematic diagram of projection points corresponding to a grid point provided in an embodiment of the present invention;
fig. 4 is a flowchart of an indoor positioning method according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for matching indoor map data according to an embodiment of the present invention;
fig. 6 is a structural diagram of an apparatus for creating indoor map data according to an embodiment of the present invention;
fig. 7 is a structural diagram of an indoor positioning apparatus according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
The invention mainly comprises two stages: the stage of building indoor map data and the stage of utilizing indoor map data to make indoor positioning. The implementation methods of these two stages are described in detail below with reference to the embodiments.
Fig. 1 is a flowchart of a method for creating indoor map data according to an embodiment of the present invention, as shown in fig. 1, the method may include the following steps:
in 101, an acquisition path of an indoor map is planned in advance, and the indoor map is divided into grid points.
In the embodiment of the invention, acquisition paths penetrating all possible position points do not need to be planned, and only the acquisition paths need to envelop the area where people can stand, so that the acquisition workload of geomagnetic data can be reduced, and the effect is more remarkable particularly for the case of large indoor areas.
For an indoor map as shown in fig. 2a, it is assumed that the prior art approach requires the planned acquisition path to traverse as much as possible all possible location points, and thus the acquisition path needs to be very dense, as shown in fig. 2 b. If the method provided by the embodiment of the invention is adopted, only the area where the acquisition path envelops the person can stand needs to be designed, as shown in fig. 2 c. The arrow line segments in fig. 2b and 2c represent the acquisition paths.
When dividing the grid points, it can be set according to the actual requirement of positioning accuracy, and assuming that the indoor map as shown in fig. 2a has a length L and a width M, the indoor map can be divided intoAnd (3) a grid with the side length of l, wherein l is a preset positive integer. The corner points or center points of the grid are used as grid points, as shown in fig. 2 d.
At 102, geomagnetic data at each acquisition point acquired according to the acquisition path is acquired.
When carrying out earth magnetism data acquisition, marching along gathering the route by gathering personnel carry collection terminal, collection terminal can utilize the meter step procedure to count the step. The step-counting program acquisition terminal can judge the arrival of one step and acquire geomagnetic data when one step is identified (namely, between two steps). The geomagnetic data refers to geomagnetic values detected at the position of the acquisition point, and the geomagnetic data has a certain deviation angle, so the geomagnetic data can be reflected in the directions of an X axis, a Y axis and a Z axisThe above numerical value, for example, the geomagnetic data at the acquisition point i is (m)xi,myi,mzi)。
Through the collection along each collection path, the number of steps on each collection path on the indoor map and the geomagnetic data collected in each step can be recorded. And then determining the position information of each acquisition point and corresponding geomagnetic data according to the steps on each acquisition path. Since the length of each acquisition path is known (e.g., it can be measured and recorded in advance), the position information of each acquisition point can be determined according to the number of steps on each acquisition path. The position information of each acquisition point may be embodied in the form of position coordinates, and the specific coordinate form is not limited in the present invention, and may be, for example, a geographic coordinate (embodied as longitude and latitude) form.
In addition, when determining the geomagnetic data corresponding to each acquisition point, there may be a reason that a plurality of geomagnetic data are acquired at one acquisition point due to intersection of acquisition paths, and the like, and then the geomagnetic data obtained by averaging the acquired plurality of geomagnetic data may be used as the geomagnetic data corresponding to the acquisition point. For example, suppose that two pieces of geomagnetic data (m) are collected at a certain collection point px1p,my1p,mz1p) And (m)x2p,my2p,mz2p) Then, the geomagnetic data corresponding to the acquisition point p is (m)xp,myp,mzp) Wherein m isxp,myp,mzpAre respectively mx1pAverage of sum, my1pAnd my2pMean value of (1), mz1pAnd mz2pIs measured.
At 103, geomagnetic fingerprints of the acquisition points are determined according to the geomagnetic data of the acquisition points.
The geomagnetic fingerprint may be data representing characteristics of geomagnetic data, and in the embodiment of the present invention, the geomagnetic data of each acquisition point may be directly used as the geomagnetic fingerprint of each acquisition point. However, in order to reduce the requirement for the attitude of the positioning device during indoor positioning, in the embodiment of the present invention, the geomagnetic data collected at each collection point may be projected to the horizontal plane and the vertical direction according to the roll angle and the pitch angle of the collection device, so as to obtain the geomagnetic values in the horizontal direction and the geomagnetic values in the vertical direction to form the geomagnetic fingerprints corresponding to each collection point. The roll angle and the pitch angle of the acquisition equipment can be acquired in real time, and the specific acquisition mode can adopt the prior art and is not detailed here.
Geomagnetic value M in horizontal directionhAnd the geomagnetic value M in the vertical directionvThe following equations may be respectively used for calculation:
wherein M is the norm of geomagnetic vector, Mx,my,mzThe values of the geomagnetic data in the directions of the X axis, the Y axis and the Z axis are respectively, theta is a roll angle, and gamma is a pitch angle.
Of course, besides the above two determination methods of the geomagnetic fingerprint, other feature data may also be extracted as the geomagnetic fingerprint, which is not exhaustive here.
At 104, geomagnetic fingerprints at each grid point obtained by dividing the indoor map are determined according to the geomagnetic fingerprints at each acquisition point.
Because each acquisition point comes from the acquisition path, the number, the position and the like of the acquisition points on the acquisition path and the grid points are different. The grid points can more uniformly reflect the indoor position and the distribution condition of the geomagnetic data, and the position information of each grid point can be considered to be known, so in this step, the geomagnetic fingerprint of each grid point needs to be determined according to the geomagnetic fingerprint of each acquisition point.
If the position of the grid point is just coincident with the position of the acquisition point, the geomagnetic fingerprint of the acquisition point coincident with the grid point can be directly used as the geomagnetic fingerprint of the grid point. However, the probability is low, and in most cases, the position of the grid point is different from the position of the acquisition point, and for this case, the specific implementation manner of determining the geomagnetic fingerprint of the grid point may adopt, but is not limited to, the following two manners:
the first mode is as follows: and respectively projecting the grid points to each acquisition path enveloping the grid points, and performing weighting processing on the obtained geomagnetic fingerprints of the projection points to obtain the geomagnetic fingerprints of the grid points.
When determining the projection points, the acquisition points closest to the grid point on each acquisition path enveloping the grid point can be respectively determined, and the determined acquisition points are respectively used as the projection points. As shown in fig. 3, for acquisition path 1, u1 is the closest point on acquisition path 1 to grid point u, so u1 may be taken as the projected point of grid point u on acquisition path 1; for acquisition path 2, u2 is the closest point on acquisition path 2 to grid point u, so u2 may be the projected point of grid point u on acquisition path 2; for acquisition path 3, u3 is the closest point on acquisition path 3 to grid point u, so u3 may be taken as the projected point of grid point u on acquisition path 3.
After obtaining the three projected points u1, u2, and u3, the geomagnetic fingerprint of the three projected points u1, u2, and u3 (i.e., the acquisition points) may be weighted, for example, by weight calculation, to obtain the geomagnetic fingerprint of the grid point u.
Including a geomagnetic value M in a horizontal direction with geomagnetic datahAnd the geomagnetic value M in the vertical directionvFor example, geomagnetic data (M) at a certain grid point qqh,Mqv) Determined using the following formula:
wherein (M)hj,Mvj) Geomagnetic fingerprint of j-th projection point as grid point q, MjThe weight of the jth projection point of the grid point q is shown, and n is the number of projection points of the grid point q. Wherein, the setting of the weight value can adopt various modes, for example, the weight value can be uniformly obtained
Besides the above determination of the projection point, other determination methods may also be adopted, for example, a perpendicular line is drawn from the grid point to the acquisition path enveloping the grid point, and an intersection point (i.e., a foot) of the perpendicular line and the acquisition path is the projection point of the grid point on the acquisition path. When determining the geomagnetic fingerprint of the projection point, the geomagnetic fingerprint of the acquisition point close to the projection point on the acquisition path where the projection point is located may be determined by interpolation.
The second mode is as follows: and if the distance between the acquisition point closest to the grid point and the grid point is less than or equal to a preset similar distance threshold, taking the geomagnetic fingerprint of the acquisition point closest to the grid point as the geomagnetic fingerprint of the grid point.
The method is a relatively simple and rough method, that is, an acquisition point closest to the grid point is determined, if the distance between the acquisition point and the grid point is very close and is less than or equal to a preset close distance threshold, the geomagnetic fingerprint of the grid point and the geomagnetic fingerprint of the acquisition point can be considered to be similar, and the geomagnetic fingerprint of the acquisition point is taken as the geomagnetic fingerprint of the grid point.
The two modes can be used alternatively or cooperatively. However, the first approach is preferred for accuracy reasons, although other implementations are certainly not excluded.
At 105, the position information of each grid point and the corresponding geomagnetic fingerprint are stored as indoor map data.
The indoor map data may include, in addition to the position information of each grid point and the corresponding geomagnetic fingerprint, the position information of each acquisition point and the corresponding geomagnetic fingerprint.
The establishment of the indoor map data can be completed through the process, and the indoor map data can be preset in the positioning equipment for inquiry and use during indoor positioning. The indoor map data may be in the form of a packet included in the program. The mode of presetting the indoor map data in the positioning device may be preset when the positioning device leaves a factory, or may be acquired from a server through a mode of device upgrade, and the specific preset mode is not limited in the present invention. The procedure of indoor positioning is described below with reference to the flowchart shown in fig. 4.
Fig. 4 is a flowchart of an indoor positioning method according to an embodiment of the present invention, and as shown in fig. 4, the method may include the following steps:
in 401, geomagnetic data of each acquisition point acquired in real time is acquired.
The person walks in the regional scope of indoor map, and positioning device can utilize the program of counting steps to judge each step and gather each step and correspond the earth magnetism data of gathering the point. When a user actively triggers or is triggered by other application level events or system level events to generate a positioning instruction, the positioning equipment starts to acquire geomagnetic data of each acquisition point acquired in real time. Assuming that the matching length is Ns, Ns is a preset positive integer, and the larger Ns is set, the higher the positioning accuracy is, but the longer the waiting time is, so that the setting can be performed according to the actual positioning requirement, for example, 8 is taken. And the positioning equipment acquires geomagnetic data of each acquisition point acquired in the step of Ns where the user walks. For example, when positioning is initiated, step counting is started and geomagnetic data acquisition is performed, and when the number of steps taken by a person reaches Ns steps, real-time acquisition is completed.
Real time miningThe collected geomagnetic data of each collection point can also be represented as values of the geomagnetism in the directions of the X axis, the Y axis and the Z axis, for example, the geomagnetic data of the collection point l is (m)xl,myl,mzl)。
At 402, according to the geomagnetic data of each acquisition point acquired in real time, a corresponding geomagnetic fingerprint is determined.
The manner in which the geomagnetic fingerprint is determined in this step needs to be consistent with the manner in which the geomagnetic fingerprint is determined employed in step 103 when the indoor map data is created. Namely, but not limited to, the following two ways can be adopted:
in the first mode, geomagnetic data collected in real time is used as a geomagnetic fingerprint.
And in the second mode, the geomagnetic data acquired in real time is projected to the horizontal plane and the vertical direction according to the roll angle and the pitch angle respectively to obtain the geomagnetic values in the horizontal direction and the geomagnetic values in the vertical direction so as to form corresponding geomagnetic fingerprints. In this way, the determination method of the geomagnetic fingerprint may use equations (1) and (2) in the embodiment shown in fig. 1, and details thereof are not repeated herein.
In 403, the determined geomagnetic fingerprint is matched with the indoor map data, and a positioning result is obtained by using the position information of the grid point obtained by matching.
When matching is performed, in order to have higher positioning accuracy, a plurality of acquisition points acquired in real time may be provided, and therefore, when matching is performed with indoor map data, a set of matching strategies for the plurality of acquisition points is required. An implementation manner provided by the embodiment of the present invention can be shown in fig. 5, and includes the following steps:
in 501, K grid points closest to the geomagnetic fingerprint of each acquisition point in the indoor map data are determined for each acquisition point acquired in real time, and a candidate grid point set corresponding to each acquisition point is formed, where K is a preset positive integer.
When K grid points closest to the geomagnetic fingerprint of a certain acquisition point are determined, an Euclidean distance mode can be adopted, namely the Euclidean distance between the geomagnetic fingerprint of the acquisition point and the geomagnetic fingerprints of the grid points is calculated, the K grid points with the minimum Euclidean distance are found out, and a candidate grid point set corresponding to the acquisition point is formed.
As Ns real-time acquisition points exist, Ns candidate grid point sets are determined through the step, and each candidate grid point set comprises K grid points.
At 502, a grid point is determined from the set of candidate grid points corresponding to the acquisition points, such that the sum of distances between the determined grid points is minimized.
Namely find DijRespective grid points corresponding to the minimum:
(xi,yi) Respectively, the position coordinates of one mesh point determined from the ith set of candidate mesh points.
At 503, the position information of one of the determined grid points is used as the positioning result.
In step 502, Ns grid points are determined, and when positioning is performed, the position information of one of the grid points needs to be used as a positioning result. As a preferred embodiment, a mesh point corresponding to the acquisition point at the closest time among the acquisition points acquired in real time among the determined mesh points may be used as the positioning result. Since the Ns grid points are determined for the Ns real-time acquisition points respectively, and the Ns real-time acquisition points are acquired according to the time sequence, the grid point corresponding to the acquisition point at the latest moment is the positioning result.
The above is a detailed description of the method provided by the present invention, and the following is a detailed description of the apparatus provided by the present invention with reference to specific examples.
Fig. 6 is a block diagram of an apparatus for creating indoor map data according to an embodiment of the present invention, and as shown in fig. 6, the apparatus may include: the system comprises a first data acquisition unit 01, a first fingerprint determination unit 02, a second fingerprint determination unit 03 and a data storage unit 04, wherein the main functions of the components are as follows:
the first data obtaining unit 01 is responsible for obtaining geomagnetic data of each collecting point collected according to a collecting path of a pre-planned indoor map.
In the embodiment of the invention, acquisition paths penetrating all possible position points do not need to be planned, and only the acquisition paths need to envelop the area where people can stand, so that the acquisition workload of geomagnetic data can be reduced, and the effect is more remarkable particularly for the case of large indoor areas.
When dividing the grid points, it can be set according to the actual requirement of positioning accuracy, and assuming that the indoor map as shown in fig. 2a has a length L and a width M, the indoor map can be divided intoAnd (3) a grid with the side length of l, wherein l is a preset positive integer. The corner points or center points of the grid are used as grid points, as shown in fig. 2 d.
When carrying out earth magnetism data acquisition, marching along gathering the route by gathering personnel carry collection terminal, collection terminal can utilize the meter step procedure to count the step. The step-counting program acquisition terminal can judge the arrival of one step and acquire geomagnetic data when one step is identified (namely, between two steps). Through the acquisition along each acquisition path, the first data acquisition unit 01 can record the number of steps on each acquisition path on the indoor map and the geomagnetic data acquired in each step; and respectively determining the position information of each acquisition point and corresponding geomagnetic data according to the step number on each acquisition path. Since the length of each acquisition path is known (e.g., it can be measured and recorded in advance), the position information of each acquisition point can be determined according to the number of steps on each acquisition path. The position information of each acquisition point may be embodied in the form of position coordinates, and the specific coordinate form is not limited in the present invention, and may be, for example, a geographic coordinate (embodied as longitude and latitude) form.
In addition, when determining the geomagnetic data corresponding to each acquisition point, there may be a reason that a plurality of geomagnetic data are acquired at one acquisition point due to intersection of acquisition paths, and the like, and then the geomagnetic data obtained by averaging the acquired plurality of geomagnetic data may be used as the geomagnetic data corresponding to the acquisition point.
The first fingerprint determination unit 02 is responsible for determining the geomagnetic fingerprint of each acquisition point according to the geomagnetic data of each acquisition point. The geomagnetic fingerprint may be data representing characteristics of geomagnetic data, and in the embodiment of the present invention, the geomagnetic data of each acquisition point may be directly used as the geomagnetic fingerprint of each acquisition point. However, in order to reduce the requirement for the attitude of the positioning device during indoor positioning, in the embodiment of the present invention, the geomagnetic data collected at each collection point may be projected to the horizontal plane and the vertical direction according to the roll angle and the pitch angle, so as to obtain the geomagnetic value in the horizontal direction and the geomagnetic value in the vertical direction to form the geomagnetic fingerprint corresponding to each collection point.
The second fingerprint determining unit 03 is responsible for determining geomagnetic fingerprints at each grid point obtained by dividing the indoor map according to the geomagnetic fingerprints at each acquisition point.
If the position of the grid point is just coincident with the position of the acquisition point, the geomagnetic fingerprint of the acquisition point coincident with the grid point can be directly used as the geomagnetic fingerprint of the grid point. However, the probability is low, and in most cases, the position of the grid point is different from the position of the acquisition point, and for this case, the specific implementation manner of determining the geomagnetic fingerprint of the grid point may adopt, but is not limited to, the following two manners:
the first mode is as follows: and respectively projecting the grid points to each acquisition path enveloping the grid points, and performing weighting processing on the obtained geomagnetic fingerprints of the projection points to obtain the geomagnetic fingerprints of the grid points. When determining the projection points, the acquisition points closest to the grid point on each acquisition path enveloping the grid point can be respectively determined, and the determined acquisition points are respectively used as the projection points.
The second mode is as follows: and if the distance between the acquisition point closest to the grid point and the grid point is less than or equal to a preset similar distance threshold, taking the geomagnetic fingerprint of the acquisition point closest to the grid point as the geomagnetic fingerprint of the grid point.
The two modes can be used alternatively or cooperatively. However, the first approach is preferred for accuracy reasons, although other implementations are certainly not excluded.
The data storage section 04 stores the position information of each grid point and the corresponding geomagnetic fingerprint as indoor map data. The indoor map data may include, in addition to the position information of each grid point and the corresponding geomagnetic fingerprint, the position information of each acquisition point and the corresponding geomagnetic fingerprint.
Fig. 7 is a structural diagram of an indoor positioning apparatus according to an embodiment of the present invention, and as shown in fig. 7, the apparatus includes: the second data acquisition unit 11, the third fingerprint determination unit 12 and the positioning unit 13, the main functions of each component unit are as follows:
the second data acquisition unit 11 is responsible for acquiring geomagnetic data of each acquisition point acquired in real time. When the user actively triggers or generates a positioning instruction by triggering other application-level events or system-level events, the second data obtaining unit 11 starts to obtain the geomagnetic data of each collecting point collected in the step Ns of walking by the user, where Ns is a matching length, and a preset positive integer, for example, 8, is taken.
The third fingerprint determination unit 12 is responsible for determining a corresponding geomagnetic fingerprint according to geomagnetic data of each acquisition point acquired in real time. Specifically, the mode for determining the geomagnetic fingerprint adopted by the third fingerprint determining unit 12 is the same as the mode adopted by the first fingerprint determining unit 02, and the geomagnetic data acquired in real time can be used as the geomagnetic fingerprint; or projecting the geomagnetic data acquired in real time to the horizontal plane and the vertical direction according to the roll angle and the pitch angle respectively to obtain the geomagnetic values in the horizontal direction and the geomagnetic values in the vertical direction so as to form corresponding geomagnetic fingerprints.
The positioning unit 13 is responsible for matching the geomagnetic fingerprint determined by the third fingerprint determining unit 12 with the indoor map data, and obtaining a positioning result by using the position information of the grid point obtained by matching.
Specifically, the positioning unit 13 may determine, for each acquisition point acquired in real time, K grid points that are closest to the geomagnetic fingerprint of each acquisition point in the indoor map data, to form a candidate grid point set corresponding to each acquisition point, where K is a preset positive integer. And then respectively determining one grid point from the candidate grid point set corresponding to each acquisition point, so that the sum of the distances between the determined grid points is minimum. And finally, taking the position information of one of the determined grid points as a positioning result.
When the position information of one of the determined grid points is used as the positioning result, the positioning unit 13 may use, as the positioning result, a grid point corresponding to the closest acquisition point among the acquisition points acquired in real time in the determined grid points.
The positioning method and the positioning device provided by the invention can be suitable for scenes such as large business supermarkets, large exhibitions, large gymnasiums, mines and the like which are inconvenient to use GPS, wifi positioning, base station positioning and the like.
As can be seen from the above description, the method and apparatus provided by the present invention can have the following advantages:
1) the invention utilizes the geomagnetic data of each acquisition point on the acquisition path to determine the geomagnetic fingerprint of each grid point obtained by dividing the indoor map, and establishes the indoor map data by the geomagnetic fingerprint of each grid point. In the mode, a planned acquisition path does not need to penetrate through each possible position point, and only the acquisition path envelops the region where a person can stand in the indoor map, so that the acquisition workload of geomagnetic data is obviously reduced.
2) The invention takes the projection values of the geomagnetic data in the horizontal direction and the vertical direction as the geomagnetic fingerprints, so that the high requirements on the equipment posture are reduced no matter during acquisition or positioning.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (22)
1. A method of creating indoor map data, the method comprising:
acquiring geomagnetic data of each acquisition point acquired according to an acquisition path of a pre-planned indoor map;
determining geomagnetic fingerprints of the acquisition points according to the geomagnetic data of the acquisition points;
determining geomagnetic fingerprints of grid points obtained by dividing the indoor map according to the geomagnetic fingerprints of the acquisition points;
storing the position information of each grid point and the corresponding geomagnetic fingerprint as indoor map data;
determining the geomagnetic fingerprint of each grid point obtained by dividing the indoor map according to the geomagnetic fingerprint of each acquisition point comprises:
respectively projecting the grid points to each acquisition path enveloping the grid points, and performing weighting processing on the obtained geomagnetic fingerprints of the projection points to obtain the geomagnetic fingerprints of the grid points; or,
and if the distance between the acquisition point closest to the grid point and the grid point is less than or equal to a preset similar distance threshold, taking the geomagnetic fingerprint of the acquisition point closest to the grid point as the geomagnetic fingerprint of the grid point.
2. The method of claim 1, wherein the collection path of the pre-planned indoor map envelopes an area in the indoor map where a person can stand.
3. The method of claim 1, wherein obtaining geomagnetic data at each of the collection points comprises:
recording the number of steps on each acquisition path on the indoor map and geomagnetic data acquired in each step;
and respectively determining the position information of each acquisition point and corresponding geomagnetic data according to the step number on each acquisition path.
4. The method according to claim 3, wherein when the geomagnetic data corresponding to each acquisition point is determined, if a plurality of pieces of geomagnetic data are acquired at a certain acquisition point, the geomagnetic data obtained by averaging the plurality of pieces of geomagnetic data are used as the geomagnetic data corresponding to the acquisition point.
5. The method of claim 1, wherein determining the geomagnetic fingerprint of each acquisition point according to the geomagnetic data of each acquisition point comprises:
taking the geomagnetic data of each acquisition point as a geomagnetic fingerprint of each acquisition point; or,
and projecting the geomagnetic data acquired at each acquisition point to the horizontal plane and the vertical direction according to the roll angle and the pitch angle to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a geomagnetic fingerprint corresponding to each acquisition point.
6. The method of claim 1, wherein projecting the grid points to respective acquisition paths that envelop the grid points comprises:
and respectively determining the acquisition points which are closest to the grid point on each acquisition path enveloping the grid point, and taking the determined acquisition points as projection points.
7. A method of indoor positioning, the method comprising:
acquiring geomagnetic data of each acquisition point acquired in real time;
determining corresponding geomagnetic fingerprints according to geomagnetic data of each acquisition point acquired in real time;
matching the determined geomagnetic fingerprint with indoor map data, and obtaining a positioning result by using position information of grid points obtained by matching;
wherein the indoor map data is pre-established by the method of any one of claims 1 to 6.
8. The method of claim 7, wherein the acquiring geomagnetic data at each acquisition point acquired in real time comprises:
acquiring geomagnetic data of each acquisition point acquired in a step of Ns walking by a user, wherein Ns is a preset positive integer.
9. The method of claim 7, wherein determining the corresponding geomagnetic fingerprint according to the geomagnetic data collected in real time comprises:
taking geomagnetic data acquired in real time as a geomagnetic fingerprint; or,
and projecting the geomagnetic data acquired in real time to the horizontal plane and the vertical direction according to the roll angle and the pitch angle respectively to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a corresponding geomagnetic fingerprint.
10. The method of claim 8, wherein the matching the determined geomagnetic fingerprint with the indoor map data comprises:
respectively determining K grid points which are closest to the geomagnetic fingerprints of the acquisition points in the indoor map data aiming at the acquisition points acquired in real time to form a candidate grid point set corresponding to the acquisition points, wherein K is a preset positive integer;
respectively determining a grid point from the candidate grid point set corresponding to each acquisition point, so that the sum of the distances between the determined grid points is minimum;
and taking the position information of one of the determined grid points as a positioning result.
11. The method according to claim 10, wherein said using the position information of one of the determined grid points as a positioning result comprises:
and taking the corresponding grid point of the acquisition point at the latest moment in the real-time acquisition points in the determined grid points as a positioning result.
12. An apparatus for creating indoor map data, the apparatus comprising:
the system comprises a first data acquisition unit, a second data acquisition unit and a processing unit, wherein the first data acquisition unit is used for acquiring geomagnetic data of each acquisition point acquired according to an acquisition path of a pre-planned indoor map;
the first fingerprint determining unit is used for determining the geomagnetic fingerprint of each acquisition point according to the geomagnetic data of each acquisition point;
the second fingerprint determining unit is used for determining the geomagnetic fingerprints of the grid points obtained by dividing the indoor map according to the geomagnetic fingerprints of the acquisition points;
a data storage unit for storing the position information of each grid point and the corresponding geomagnetic fingerprint as indoor map data;
the second fingerprint determining unit is specifically configured to:
respectively projecting the grid points to each acquisition path enveloping the grid points, and performing weighting processing on the obtained geomagnetic fingerprints of the projection points to obtain the geomagnetic fingerprints of the grid points; or,
and if the distance between the acquisition point closest to the grid point and the grid point is less than or equal to a preset similar distance threshold, taking the geomagnetic fingerprint of the acquisition point closest to the grid point as the geomagnetic fingerprint of the grid point.
13. The apparatus of claim 12, wherein the collection path of the pre-planned indoor map envelopes an area in the indoor map where a person can stand.
14. The apparatus according to claim 12, wherein the first data obtaining unit is specifically configured to:
recording the number of steps on each acquisition path on the indoor map and geomagnetic data acquired in each step;
and respectively determining the position information of each acquisition point and corresponding geomagnetic data according to the step number on each acquisition path.
15. The apparatus according to claim 14, wherein the first data acquiring unit is configured to, when geomagnetic data corresponding to each acquisition point is determined, acquire a plurality of pieces of geomagnetic data at a certain acquisition point, average the plurality of pieces of geomagnetic data to obtain geomagnetic data as the geomagnetic data corresponding to the acquisition point.
16. The apparatus according to claim 12, wherein the first fingerprint determination unit is specifically configured to:
taking the geomagnetic data of each acquisition point as a geomagnetic fingerprint of each acquisition point; or,
and projecting the geomagnetic data acquired at each acquisition point to the horizontal plane and the vertical direction according to the roll angle and the pitch angle to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a geomagnetic fingerprint corresponding to each acquisition point.
17. The apparatus according to claim 12, wherein the second fingerprint determining unit, when projecting the grid points to each acquisition path enveloping the grid point, specifically performs:
and respectively determining the acquisition points which are closest to the grid point on each acquisition path enveloping the grid point, and taking the determined acquisition points as projection points.
18. An apparatus for indoor positioning, the apparatus comprising:
the second data acquisition unit is used for acquiring geomagnetic data of each acquisition point acquired in real time;
the third fingerprint determining unit is used for determining corresponding geomagnetic fingerprints according to geomagnetic data of each acquisition point acquired in real time;
the positioning unit is used for matching the geomagnetic fingerprint determined by the third fingerprint determining unit with indoor map data and obtaining a positioning result by using position information of grid points obtained by matching;
wherein the indoor map data is pre-established by the apparatus of any one of claims 12 to 17.
19. The apparatus of claim 18, wherein the second data obtaining unit is specifically configured to:
acquiring geomagnetic data of each acquisition point acquired in a step of Ns walking by a user, wherein Ns is a preset positive integer.
20. The apparatus according to claim 18, wherein the third fingerprint determination unit is specifically configured to:
taking geomagnetic data acquired in real time as a geomagnetic fingerprint; or,
and projecting the geomagnetic data acquired in real time to the horizontal plane and the vertical direction according to the roll angle and the pitch angle respectively to obtain a horizontal geomagnetic value and a vertical geomagnetic value so as to form a corresponding geomagnetic fingerprint.
21. The apparatus according to claim 20, wherein the positioning unit, when matching the determined geomagnetic fingerprint with the indoor map data, specifically performs:
respectively determining K grid points which are closest to the geomagnetic fingerprints of the acquisition points in the indoor map data aiming at the acquisition points acquired in real time to form a candidate grid point set corresponding to the acquisition points, wherein K is a preset positive integer;
respectively determining a grid point from the candidate grid point set corresponding to each acquisition point, so that the sum of the distances between the determined grid points is minimum;
and taking the position information of one of the determined grid points as a positioning result.
22. The apparatus according to claim 21, wherein said positioning unit, when taking the position information of one of the determined grid points as the positioning result, specifically performs:
and taking the corresponding grid point of the acquisition point at the latest moment in the real-time acquisition points in the determined grid points as a positioning result.
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| CN105910601B (en) * | 2016-05-31 | 2019-01-18 | 天津大学 | A kind of indoor ground magnetic positioning method based on Hidden Markov Model |
| CN106370189B (en) * | 2016-12-02 | 2020-03-24 | 华中科技大学 | Indoor navigation device and method based on multi-sensor fusion |
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| CN106705958A (en) * | 2016-12-30 | 2017-05-24 | 中国科学院深圳先进技术研究院 | Indoor positioning method and device based on geomagnetic field |
| CN106767772B (en) * | 2017-01-10 | 2020-07-24 | 赵佳 | Method and device for constructing geomagnetic fingerprint distribution map and positioning method and device |
| CN107543541B (en) * | 2017-08-25 | 2019-11-08 | 北京麦钉艾特科技有限公司 | A kind of ground magnetic positioning method of suitable indoor free movement carrier |
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| CN111867053A (en) * | 2020-05-07 | 2020-10-30 | 北京嘀嘀无限科技发展有限公司 | Positioning method and system |
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