CN105973236A - Indoor positioning or navigation method and device, and map database generation method - Google Patents
Indoor positioning or navigation method and device, and map database generation method Download PDFInfo
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- CN105973236A CN105973236A CN201610266877.4A CN201610266877A CN105973236A CN 105973236 A CN105973236 A CN 105973236A CN 201610266877 A CN201610266877 A CN 201610266877A CN 105973236 A CN105973236 A CN 105973236A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
The embodiment provides an indoor positioning or navigation method and device, and a map database generation method, and relates to the communication technical field. The method includes the steps: acquiring real-time image information of a position of a user; identifying a preset identification contained in the real-time image information; based on the preset identification, searching in a map database, to obtain position information corresponding to the preset identification, wherein in the map database, the preset identification and the position information are in one-to-one correspondence; and according to the position information, generating user current position information. According to the indoor positioning or navigation method and device, and the map database generation method provided by the embodiment of the invention, positioning is accurate, the operations are simple and easy, maintenance is almost not required, and the method can be used even if other environments are updated as long as the preset identification exists; at the same time, the work of data acquisition during construction of the map database is greatly reduced, and occupied storage space after the map database is constructed and the calculation amount during matching of the map database are also greatly reduced.
Description
Technical field
The present embodiments relate to communication technical field, particularly relate to a kind of indoor positioning or air navigation aid,
Device and map datum library generating method.
Background technology
When careat more greatly, more complicated time, people typically require and carry out location by alignment system and lead
Boat.The Position Fixing Navigation Systems such as GPS, Galileo, the Big Dipper rely on geo-synchronous orbit satellite to carry out mostly
Target positions.Owing to barrier blocks, indoor satellite signal decay is relatively big, so satellite is not suitable for
Indoor positioning is navigated.The most conventional indoor positioning air navigation aid mainly includes following several:
Localization method based on Wifi: utilize the wifi of user mobile phone diverse location in public
The strong and weak computed user locations of signal；Shortcoming needs to build wifi fingerprint base, and (each position connects
The signal intensity of all wifi is recorded), by strong for the wifi signal of current location when of location
Degree mates with wifi fingerprint base, obtains in wifi fingerprint base corresponding with described wifi signal intensity
Positional information, in the method, the collection of wifi fingerprint base is more time-consuming, and needs during environmental renewal
Rebuild wifi fingerprint base；
Localization method based on bluetooth: positioning principle is substantially similar with localization method based on wifi；Lack
Point is to need to affix one's name to substantial amounts of bluetooth equipment in environmental interior, and needs to supply these bluetooth equipments for a long time
Electricity or safeguard；
SLAM (consecutive tracking and navigation): first pass through visual apparatus and set up scene map and (comprise
The image that per moment gathers), by the side carrying out with scene map mating by the image currently collected
Method determines current location；Shortcoming is, if scene internal information less (such as scene is white wall),
It is difficult to that the match is successful, and gathers map and compare consuming time and memory space, also can with map match
Expend very much and calculate resource；
Inertial navigation: utilize IMU (Measuring Object three-axis attitude angle or angular speed and the acceleration of mobile phone
The device of degree) speed, distance and direction that user moves can be obtained accurately；Shortcoming is to need essence
True knows initial position, and not bad for short-range navigation, long-range navigation then can produce cumulative error.
Summary of the invention
The embodiment of the present invention provides a kind of indoor positioning or air navigation aid, device and map data base to generate
Method, in order to solve in prior art the complicated and root for the collecting method of the data base of location navigation
Need the defect of Resurvey according to environmental change, also solve in prior art simultaneously and need to arrange and safeguard
The defect of large number quipments.
The embodiment of the present invention provides a kind of indoor orientation method, including:
Obtain the real-time image information of user position；
Identify the default mark comprised in described real-time image information；
Based on described default mark, searching map data base, to obtain the position corresponding with described default mark
Confidence ceases, wherein, in described map data base, and described default mark and described positional information one a pair
Should；
According to described positional information, generate the current location information of described user.
Embodiments provide a kind of indoor navigation method, including:
Obtain the real-time image information of user position；
Identify the default mark comprised in described real-time image information；
Based on described default mark, searching map data base, to obtain the position corresponding with described default mark
Confidence ceases, wherein, in described map data base, and described default mark and described positional information one a pair
Should；
According to described positional information, generate the current location information of described user；
Obtain the destination locations information of described user；
According to described destination locations information and described current location information, generate at least one navigation way；
Select navigation way described in；
Navigate according to the described navigation way selected.
The embodiment of the present invention provides a kind of indoor positioning device, including:
Acquisition module, for obtaining the real-time image information of user position；
Processing module, for identifying the default mark comprised in described real-time image information, based on described pre-
Bidding is known, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module, for according to described positional information, generates the current location information of described user.
The embodiment of the present invention provides a kind of indoor navigation device, including:
Acquisition module, for obtaining the real-time image information of user position；
Processing module, for identifying the default mark comprised in described real-time image information, based on described pre-
Bidding is known, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module, for according to described positional information, generates the current location information of described user；
Described acquisition module, is additionally operable to obtain the destination locations information of described user；
Described generation module, is additionally operable to according to described destination locations information and described current location information,
Generate at least one navigation way；
Select module, for selecting navigation way described in；
Navigation module, for navigating according to the described navigation way selected.
The embodiment of the present invention provides a kind of generation method of map data base, including:
Laying one in indoor at a certain distance and preset mark, described default mark is different；
Determine the 3D coordinate of the location point of each described default mark correspondence；
3D coordinate according to each described location point is modeled, and generates containing each described location point corresponding
The map data base of described default mark.
The indoor positioning of embodiment of the present invention offer or air navigation aid, device and map data base generation side
Method, is carried out with map data base by the default mark included by the real-time image information of user position
Comparison, obtains default mark and corresponding position thereof that the default mark with described real-time image information is mated
Information, realizes indoor positioning according to the mode of the current location information of the described positional information described user of generation,
The method accurate positioning, simple to operation and with little need for maintenance, exist as long as presetting mark, even if
Other environmental renewal remain on and can use, and meanwhile, the map data base used in the method can not wrap
Other scenes included in indoor scene in addition to described default mark and the location point of described default mark correspondence
The data message of other outer location points, greatly reduces data collection task when building map data base,
Also greatly reduce the memory space taken after described map data base is built into and mate described map datum
Amount of calculation during storehouse.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that under,
Accompanying drawing during face describes is some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The generation method schematic diagram of the map data base that Fig. 1 provides for the embodiment of the present invention；
The sample figure of the default mark that Fig. 2 provides for the embodiment of the present invention for the present invention；
Another sample figure of the default mark that Fig. 3 provides for the embodiment of the present invention for the present invention；
Fig. 4 is that the embodiment of the present invention 1 provides a kind of indoor orientation method flow chart；
A kind of indoor navigation method flow chart that Fig. 5 provides for the embodiment of the present invention 1；
A kind of indoor orientation method flow chart that Fig. 6 provides for the embodiment of the present invention 2；
The relative position information obtaining request user and targeted customer that Fig. 7 provides for the embodiment of the present invention 2
Method flow diagram；
The structural representation of the indoor positioning device that Fig. 8 provides for the embodiment of the present invention 3
The structural representation of the indoor navigation device that Fig. 9 provides for the embodiment of the present invention 4.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention,
Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
The generation method schematic diagram of the map data base that Fig. 1 provides for the embodiment of the present invention, as it is shown in figure 1,
Including:
Step 101: lay one in indoor at a certain distance and preset mark, each not phase of described default mark
With；
Specifically, described default mark is different, for unique mark, a described default mark correspondence
One location point；Fig. 2 and Fig. 3 is the sample figure of described default mark, as in figure 2 it is shown, described pre-
Bidding is known can be similar to Quick Response Code, depicts only as it is shown on figure 3, described default mark can also be inside
The rectangle block diagram of the character of, the style of described default mark is not done any restriction by the present invention；Described pre-
Laying distance (distances of adjacent two described default marks) that bidding is known can be the same or different,
Concrete distance can determine according to factors such as the size of the interior space, general layouts, obtains for the ease of user and contains
Having the real-time image information of described default mark, described laying distance is unsuitable excessive, and paving location is preferred
Being easy to user and obtain the position of described default mark, such as ground or metope, when described default mark is arranged
Time on metope, for ease of according to described default mark location, the most described default mark is on metope
Rational height is identical；Such as, indoor environment is that area is big, the simple underground parking of general layout, for ease of
The camera head of vehicle obtains described default mark, and described default mark is arranged on described underground parking
On metope, and height overhead is 0.8m, owing to the general layout of described underground parking is relatively simple,
Barrier is less, and laying distance can be more relatively large, such as can be for arranging an institute at interval of 50m
State and preset mark.
Step 102: determine the 3D coordinate of the location point of each described default mark correspondence；
Specifically, set up relative coordinate system, accurately measure each institute by laser or other sensing devices
State the 3D distance presetting each described location point corresponding to mark at solid space, so that it is determined that each institute rheme
Put relative 3D coordinate a little；
Step 103: be modeled according to the 3D coordinate of each described location point, generates containing each described position
The map data base of the described default mark that point is corresponding.
Specifically, according to the 3D coordinate of the location point of described default mark correspondence, raw by modeling technique
Becoming the map data base of similar whole indoor scene, described map data base includes each described default mark,
But other scenes that can not include in indoor scene in addition to described default mark and described default mark are right
The data message of other location points outside the location point answered, greatly reduces number when building map data base
According to collecting work, also greatly reduce the memory space and coupling taken after described map data base is built into
Amount of calculation during described map data base；Described map data base can be stored in server end, it is also possible to
Being stored in the memorizer of smart machine, the present invention does not limits.
Embodiment 1
Generation method based on the map data base described in Fig. 1, embodiments provides a kind of indoor
Localization method, as shown in Figure 4, including:
Step 201: obtain the real-time image information of user position；
Specifically, the real-time figure of user position can be obtained by the camera head that user carries with
As information, the mobile phone that the vehicle-mounted camera of the driven vehicle of described camera head such as user, user carry
First-class Deng the shooting of mobile terminal, the present invention does not limits；
Step 202: identify the default mark comprised in described real-time image information；
Specifically, the described real-time image information that user obtains includes and is disposed in the interior in scene extremely
Preset mark described in few one, comprise by carrying out described real time imaging processing in the described real time imaging of identification
Default mark, can be joined by Digital Image Processing (Digital Image Processing) technology and image
Described real time imaging is identified processing by accurate (Image registration) technology, and the present invention does not limits.
Step 203: based on described default mark, searching map data base, to obtain and described pre-bidding
Know corresponding positional information, wherein, in described map data base, described default mark and described position
Information one_to_one corresponding；
Specifically, described positional information includes the coordinate of location point corresponding to described default mark, described pre-
Bidding know towards etc. information, described map data base can include all described default marks and correspondence thereof
Positional information；
Step 204: according to described positional information, generate the current location information of described user.
Specifically, described current location information can include the substantially coordinate of described current location and user
Orientation information, according to the coordinate letter of the location point of the described default mark correspondence comprised in described positional information
Breath, it may be determined that the substantially coordinate of user position, according to the institute comprised in described real-time image information
State the orientation information of the described default mark comprised in the default Viewing-angle information identified and described positional information
Relativeness determines being approximately towards of user；It is possible to further comprise according to described real-time image information
The relativeness of actual size of size and described default mark of described default mark, and obtain institute
The focus information etc. of the camera head stating real-time image information further determines that user position is pre-with described
Bidding knows the distance of corresponding location point, thus obtains the precise position information of user position.
One application example of the indoor orientation method provided for the embodiment of the present invention below:
User loses one's bearings when driving vehicle in underground parking, and sending location to vehicle positioning system please
Asking, vehicle positioning system ejects user's acquisition please contain the institute of default mark in place according to described Location Request
Putting the prompting of real-time image information, user obtains user position according to prompting by vehicle-mounted camera
Real-time image information is also uploaded to vehicle positioning system, and vehicle positioning system receives described real-time image information
And described real-time image information is uploaded to server, server receives described real-time image information to institute
State the default mark comprised in real-time image information to be identified, based on described default mark, searching map
Data base, to obtain the positional information corresponding with described default mark, and generates according to described positional information
The current location information of described user, it is vehicle-mounted fixed that the current location information of described user is sent to by server
Position system, is showed user by vehicle positioning system, and exhibition method can include showing that user is entirely
Location point in the vertical view scene in lower parking lot and towards mark.
The indoor orientation method that the embodiment of the present invention provides, by believing the real time imaging of user position
The default mark that breath includes is compared with map data base, and acquisition is preset with described real-time image information
The default mark of mark coupling and the positional information of correspondence thereof, generate described user according to described positional information
The mode of current location information realize indoor positioning, the method accurate positioning, simple to operation and almost
Need not safeguard, existing as long as presetting mark, can use even if other environmental renewal remain on, meanwhile,
In the method use map data base can not include in indoor scene in addition to described default mark other
The data message of other location points outside the location point of scene and described default mark correspondence, greatly reduces
Build data collection task during map data base, also greatly reduce described map data base and be built into
After the memory space that takies and amount of calculation when mating described map data base.
Further, the indoor orientation method provided based on the embodiment of the present invention, see Fig. 5, the present invention
Embodiment additionally provides a kind of indoor navigation method, including:
Step 301: obtain destination locations information and the current location information of described user；
Specifically, the destination information of described user can be manually entered the energy such as destination's coordinate by user
Directly determine that the form of the mark of destination locations information obtains；
Owing to can directly determine that mark such as destination's coordinate etc. of destination locations information is not easy to obtain, institute
The destination locations information stating user can also obtain by the way of obtaining the default mark that destination is corresponding,
Default mark corresponding to described destination includes the default mark that near destination, destination described in distance is nearest,
The method obtaining destination locations information by the default mark that destination is corresponding includes:
Obtain the default mark that customer objective ground is corresponding, by default mark corresponding for described destination and map
Data base compares, and obtains the default mark of corresponding with described destination default mark coupling and right
The positional information answered, according to described positional information, generates described destination locations information；
User can obtain the positional information of destination by the default mark that input destination is corresponding, obtains
Method simply and easily operates.
Obtaining the default mark that described destination is corresponding for convenience, described method also includes:
Described default mark includes presetting authentication code, obtains the default authentication code that customer objective ground is corresponding,
Corresponding relation according to described default authentication code Yu described default mark determines described default authentication code pair
The described default mark answered；Wherein, described default authentication code can include described default mark numbering,
The location name etc. that described default mark is corresponding, the present invention does not limits, and the code of described default mark is each
Differ；Table 1 is the mapping table of described default authentication code and described default mark, wherein table 1
In Arabic numerals only be used for represent preset mark, be not used to limit described default mark, such as table 1
Shown in, set up the mapping relations of described default authentication code and described default mark, according to described pre-bidding
Know code and determine, with the mapping relations of described default mark, the described pre-bidding that described default authentication code is corresponding
Knowing, described default authentication code can be stored in local storage with the mapping relations of described default mark
Can also be stored in server storage unit, the present invention does not limits.
By arranging default authentication code, make the user can be defeated without the default mark remembering each place corresponding
Enter the default mark that destination is corresponding, improve user experience.
Table 1 is preset authentication code and presets the mapping table of mark:
| Preset authentication code (location name) | Preset mark (numerically) |
| Market underground entrance | 1 |
| Parking lot A exports | 2 |
| Parking lot B exports | 3 |
| Subway underground entrance | 4 |
Step 302: according to described destination locations information and described current location information, generate at least one
Navigation way；
Specifically, changing coordinates that described current location information comprises and currently towards, with described current seat
Being designated as starting point, the coordinate that described destination locations information comprises is terminal, according to described currently towards, raw
Become at least one navigation way.
Step 303: select navigation way described in, the described navigation way according to selecting navigates.
Specifically, when described navigation way includes two or more, can allow user as required
Oneself selects navigation way, or is selected optimal navigation way according to traffic information etc. for user by server,
The present invention does not limits.
One application example of the indoor navigation method provided for the embodiment of the present invention below:
User drives vehicle and loses one's bearings when underground parking A entrance goes to market underground entrance, this
Time user send navigation requests to onboard navigation system, onboard navigation system ejects according to described navigation requests
User please obtain the prompting containing the position real-time image information presetting mark, user is logical according to prompting
Cross vehicle-mounted camera obtain the real-time image information of user position and be uploaded to onboard navigation system, car
Carry navigation system receive described real-time image information and described real-time image information is uploaded to server, clothes
The default mark comprised in described real-time image information is carried out after receiving described real-time image information by business device
Identify, based on described default mark, searching map data base, with obtain with described default identify corresponding
Positional information, and the current location information of described user is generated according to described positional information, server is by institute
The current location information stating user is sent to onboard navigation system, and onboard navigation system receives described user
Current location information after eject prompting user and input the input frame of destination locations, user is in described input
Inputting " market underground entrance " in frame, as shown in table 1, onboard navigation system is true according to market underground entrance
Underground entrance corresponding default in fixed described store is designated 1, and onboard navigation system obtains from map data base
Take and preset mark 1 and corresponding positional information thereof, according to described positional information, generating described destination
Positional information, then generates two according to the current location information of described user with described destination locations information
Bar navigation route, prompting user selects navigation way；User selects the navigation road oneself thought according to prompting
Line, the navigation way that onboard navigation system selects according to user navigates, and makes user find according to navigation
Market underground entrance.
The indoor navigation method that the embodiment of the present invention provides, by believing the real time imaging of user position
The default mark that breath includes is compared with map data base, and acquisition is preset with described real-time image information
The default mark of mark coupling and the positional information of correspondence thereof, generate described user according to described positional information
The mode of current location information realize indoor positioning, the method accurate positioning, simple to operation and almost
Need not safeguard, existing as long as presetting mark, can use even if other environmental renewal remain on, meanwhile,
In the method use map data base can not include in indoor scene in addition to described default mark other
The data message of other location points outside the location point of scene and described default mark correspondence, greatly reduces
Build data collection task during map data base, also greatly reduce described map data base and be built into
After the memory space that takies and amount of calculation when mating described map data base.
Embodiment 2
The indoor orientation method provided based on embodiment 1, it is another kind of indoor fixed to embodiments provide
Method for position, sees Fig. 6, and described method includes:
Step 401: obtain the positioning request information of request user, described positioning request information includes that request is used
Family mark and targeted customer's mark；
Specifically, described request user can send Location Request by network service to server, described
Request ID and described targeted customer mark can include the location system of the mobile terminal that user carries
System mark can also be the vehicle positioning system mark that user drives vehicle, and the present invention does not limits；
Step 402: obtain the relative position information of described request user and described targeted customer；
Specifically, the current location information of described request user and working as of described targeted customer it are determined by
Front position information, determines the relative position information of described request user and described targeted customer, wherein,
Can be by the current location information of following method acquisition described request user position:
Obtain the real-time image information of described request user position；Identify in described real-time image information
The default mark comprised, based on described default mark, searching map data base, presets with described to obtain
The positional information that mark is corresponding；According to described positional information, generate the present bit confidence of described request user
Breath, obtains the current location information of described targeted customer；
The current location information of described targeted customer can be by inputting the position coordinates of described targeted customer
Form obtains, and usual described position coordinates is not easy to determine, the present bit confidence of the most described targeted customer
Breath can also be obtained by said method, sees Fig. 7, now obtains described request user and described target
The method of the relative position information of user, specifically includes:
Step 402a: obtain the real-time image information of the position of described request user and described target
The real-time image information of the position of user, the real-time image information of the position of described request user
Comprising first and preset mark, the real-time image information of the position of described targeted customer comprises second to be preset
Mark；
Step 402b: preset based on described first and identify and the described second default mark, searching map data base,
With obtain preset with described first primary importance information corresponding to mark and default with described second identify corresponding
Second position information；
Step 402c: generate the current location information of described request user, root according to described primary importance information
The current location information of described targeted customer is generated according to described second position information；
Step 402d: according to current location information and the present bit of described targeted customer of described request user
Confidence breath generates the relative position information of described targeted customer and described request user.
Step 403: described relative position information is sent to the request user that described request ID is corresponding
And/or described targeted customer identifies the targeted customer of correspondence.
One application example of the indoor orientation method provided for the embodiment of the present invention below:
User A leaves for meeting room meeting client B, client B from his office and is unfamiliar with user A public affairs
Geographical environment within Si, lost in the way go to meeting room；User A allows client B wait in original place,
User A sends Location Request by server to client B, and client's B answering server sends the user of coming
The Location Request of A, after server receives the response of client B, determining to user A and client B respectively
Position system sends the instruction obtaining position real-time image information；User A is taken the photograph by mobile phone according to instruction
As head obtains the real-time image information of user A position, described real-time image information comprises first to be preset
Mark, the alignment system of user A will include that the described first described real-time image information presetting mark sends
To server, client B obtains the real-time image information of client B position according to instruction, described in real time
Image information comprises second and presets mark, and the alignment system of client B will include that described second presets mark
Described real-time image information is sent to server；After server receives described real-time image information, respectively
Described first default mark and described second are preset mark be identified, preset mark based on described first
Preset mark, searching map data base with described second, obtain pre-with what the described first default mark was mated
Bidding know and the primary importance information of correspondence and preset with described second the default mark mated of mark and
The second position information of its correspondence；Server generates the present bit of user A according to described primary importance information
Confidence ceases, and generates the current location information of client B according to described second position information, then according to user
It is relative with client B that the current location information of A and the current location information of client B generate described user A
Positional information；Described relative position information is sent to the alignment system of user A, user's A root by server
Determine the position of user B according to described relative position, thus quickly find client B.
The indoor orientation method that the embodiment of the present invention provides is except possessing the indoor orientation method that embodiment 1 provides
Technique effect outside, the embodiment of the present invention provide indoor orientation method according to ID by described relatively
Positional information is sent to Location Request user corresponding to described ID and/or targeted customer, so that described
Location Request user and/or targeted customer determine the general orientation of the other side according to described relative position information, just
It is quickly found out the other side in Location Request user and/or targeted customer.
Embodiment 3
See Fig. 8, embodiments provide a kind of indoor positioning device, including:
Acquisition module 10, for obtaining the real-time image information of user position, described real time imaging is believed
Breath includes presetting mark；
Processing module 20, for identifying the default mark comprised in described real-time image information；Based on described
Preset and identify, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module 30, for according to described positional information, generates the current location information of described user.
The indoor positioning device that the embodiment of the present invention provides, by believing the real time imaging of user position
The default mark that breath includes is compared with map data base, and acquisition is preset with described real-time image information
The default mark of mark coupling and the positional information of correspondence thereof, generate described user according to described positional information
The mode of current location information realize indoor positioning, the method accurate positioning, simple to operation and almost
Need not safeguard, existing as long as presetting mark, can use even if other environmental renewal remain on, meanwhile,
In the method use map data base can not include in indoor scene in addition to described default mark other
The data message of other location points outside the location point of scene and described default mark correspondence, greatly reduces
Build data collection task during map data base, also greatly reduce described map data base and be built into
After the memory space that takies and amount of calculation when mating described map data base.
Further, described user includes asking user and targeted customer:
Acquisition module 10, for obtaining the real-time image information of described request user position, described reality
Time image information include preset mark；
Processing module 20, for identifying the default mark comprised in described real-time image information；Based on described
Preset and identify, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module 30, for according to described positional information, generating the present bit confidence of described request user
Breath；
Acquisition module 10, is additionally operable to obtain the current location information of described targeted customer；
Processing module 20, is additionally operable to the current location information according to described request user and described targeted customer
Current location information determine the relative position information of described request user and described targeted customer.
By providing described request user to provide guide-localization with the relative position information of described targeted customer,
It is easy to Location Request user and/or targeted customer is quickly found out the other side.
Further, acquisition module 10, for obtaining the real time imaging of the position of described request user
The real-time image information of the position of information and described targeted customer, the institute of described request user is in place
The real-time image information put comprises first and presets mark, the real time imaging of the position of described targeted customer
Information comprises second and presets mark；
Processing module 20, presets mark, search ground for presetting mark and described second based on described first
Chart database, presets, to obtain, the corresponding primary importance information and second pre-with described of identifying with described first
Bidding knows corresponding second position information；
Generation module 30, for generating the current location of described request user according to described primary importance information
Information, generates the current location information of described targeted customer according to described second position information；And according to
The described current location information of request user and the current location information of described targeted customer generate described target
User and the described relative position information asking user.
User can obtain the positional information of destination by the default mark that input destination is corresponding, obtains
Method simply and easily operates.
Further, acquisition module 10, it is additionally operable to obtain the positioning request information of request user, described fixed
Position solicited message includes asking ID and targeted customer's mark；
Described device also includes sending module 40, for described relative position information is sent to described request
Described request user and/or described targeted customer that ID is corresponding identify corresponding described targeted customer.
According to ID, described relative position information is sent to the Location Request that described ID is corresponding
User and/or targeted customer, so that described Location Request user and/or targeted customer are according to described relative position
Information determines the general orientation of the other side.
The indoor positioning device that the embodiment of the present invention provides is for realizing what embodiment 1 and embodiment 2 provided
Indoor orientation method.
Embodiment 4
See Fig. 9, embodiments provide a kind of indoor navigation device, including:
Acquisition module 10 ', for obtaining the real-time image information of user position, described real time imaging is believed
Breath includes presetting mark；
Processing module 20 ', for identifying the default mark comprised in described real-time image information；Based on described
Preset and identify, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module 30 ', for according to described positional information, generates the current location information of described user；
Acquisition module 10 ', is additionally operable to obtain the destination locations information of described user；
Generation module 30 ', is additionally operable to according to described destination locations information and described current location information, raw
Become at least one navigation way；
Select module 40 ', for selecting navigation way described in；
Navigation module 50 ', for navigating according to the described navigation way selected.
The indoor navigation device that the embodiment of the present invention provides, by believing the real time imaging of user position
The default mark that breath includes is compared with map data base, and acquisition is preset with described real-time image information
The default mark of mark coupling and the positional information of correspondence thereof, generate described user according to described positional information
The mode of current location information realize indoor positioning, the method accurate positioning, simple to operation and almost
Need not safeguard, existing as long as presetting mark, can use even if other environmental renewal remain on, meanwhile,
In the method use map data base can not include in indoor scene in addition to described default mark other
The data message of other location points outside the location point of scene and described default mark correspondence, greatly reduces
Build data collection task during map data base, also greatly reduce described map data base and be built into
After the memory space that takies and amount of calculation when mating described map data base.
Further, acquisition module 10 ' is additionally operable to obtain the default mark that customer objective ground is corresponding；Process mould
Block 20 is additionally operable to identify the default mark that described customer objective ground is corresponding, corresponding based on described customer objective ground
Default mark, searching map data base, to obtain and default mark corresponding to described customer objective ground
Positional information；Generation module 30 is additionally operable to according to described positional information, generates described destination locations information.
User can obtain the positional information of destination by the default mark that input destination is corresponding, obtains
Method simply and easily operates.
Further, described default mark includes presetting authentication code, and acquisition module 10 ' is additionally operable to obtain and uses
The default authentication code that family destination is corresponding；Processing module 20 ' be additionally operable to according to described default authentication code with
The corresponding relation of described default mark determines the described default mark that described default authentication code is corresponding.
By arranging default authentication code, make the user can be defeated without the default mark remembering each place corresponding
Enter the default mark that destination is corresponding, improve user experience.
The indoor navigation device users that the embodiment of the present invention provides realizes the indoor navigation side that embodiment 1 provides
Method.For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention,
Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
Device embodiment described above is only schematically, wherein said illustrates as separating component
Unit can be or may not be physically separate, the parts shown as unit can be or
Person may not be physical location, i.e. may be located at a place, or can also be distributed to multiple network
On unit.Some or all of module therein can be selected according to the actual needs to realize the present embodiment
The purpose of scheme.Those of ordinary skill in the art are not in the case of paying performing creative labour, the most permissible
Understand and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive each reality
The mode of executing can add the mode of required general hardware platform by software and realize, naturally it is also possible to by firmly
Part.Based on such understanding, the portion that prior art is contributed by technique scheme the most in other words
Dividing and can embody with the form of software product, this computer software product can be stored in computer can
Read in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that one
Computer equipment (can be personal computer, server, or the network equipment etc.) performs each to be implemented
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, rather than to it
Limit；Although the present invention being described in detail with reference to previous embodiment, the ordinary skill of this area
Personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it, or
Person carries out equivalent to wherein portion of techniques feature；And these amendments or replacement, do not make corresponding skill
The essence of art scheme departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (15)
1. an indoor orientation method, it is characterised in that including:
Obtain the real-time image information of user position；
Identify the default mark comprised in described real-time image information；
Based on described default mark, searching map data base, to obtain the position corresponding with described default mark
Confidence ceases, wherein, in described map data base, and described default mark and described positional information one a pair
Should；
According to described positional information, generate the current location information of described user.
Method the most according to claim 1, it is characterised in that described user include ask user and
Targeted customer, described method also includes:
Obtain the real-time image information of described request user position；
Identify the default mark comprised in described real-time image information；
Based on described default mark, searching map data base, to obtain the position corresponding with described default mark
Confidence ceases, wherein, in described map data base, and described default mark and described positional information one a pair
Should；
According to described positional information, generate the current location information of described request user；
Obtain the current location information of described targeted customer；
Determine according to the described current location information of request user and the current location information of described targeted customer
Described request user and the relative position information of described targeted customer.
Method the most according to claim 2, it is characterised in that also include:
Obtain real-time image information and the place of described targeted customer of the position of described request user
The real-time image information of position, it is pre-that the real-time image information of the position of described request user comprises first
Bidding is known, and the real-time image information of the position of described targeted customer comprises second and presets mark；
Presetting mark and described second based on described first and preset mark, searching map data base, to obtain
Primary importance information corresponding to mark and corresponding with the described second default mark second is preset with described first
Positional information；
The current location information of described request user is generated, according to described the according to described primary importance information
Two positional informationes generate the current location information of described targeted customer；
Generate according to the described current location information of request user and the current location information of described targeted customer
Described targeted customer and the described relative position information asking user.
The most according to the method in claim 2 or 3, it is characterised in that also include:
Obtain request user positioning request information, described positioning request information include ask ID and
Targeted customer identifies；
Described relative position information is sent to described request ID corresponding described request user and/
Or described targeted customer identifies the described targeted customer of correspondence.
5. an indoor navigation method, it is characterised in that including:
Obtain the real-time image information of user position；
Identify the default mark comprised in described real-time image information；
Based on described default mark, searching map data base, to obtain the position corresponding with described default mark
Confidence ceases, wherein, in described map data base, and described default mark and described positional information one a pair
Should；
According to described positional information, generate the current location information of described user；
Obtain the destination locations information of described user；
According to described destination locations information and described current location information, generate at least one navigation way；
Select navigation way described in；
Navigate according to the described navigation way selected.
Method the most according to claim 5, it is characterised in that the purpose of the described user of described acquisition
Position information, including:
Obtain the default mark that customer objective ground is corresponding；
Identify the default mark that described customer objective ground is corresponding；
Based on the default mark that described customer objective ground is corresponding, searching map data base, to obtain with described
The positional information of the default mark that customer objective ground is corresponding；
According to described positional information, generate described destination locations information.
Method the most according to claim 6, it is characterised in that described default mark includes pre-bidding
Knowledge code, the default mark that described acquisition customer objective ground is corresponding, including:
Obtain the default authentication code that customer objective ground is corresponding；
Corresponding relation according to described default authentication code Yu described default mark determines described default mark generation
The described default mark that code is corresponding.
8. an indoor positioning device, it is characterised in that including:
Acquisition module, for obtaining the real-time image information of user position；
Processing module, for identifying the default mark comprised in described real-time image information, based on described pre-
Bidding is known, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module, for according to described positional information, generates the current location information of described user.
Indoor positioning device the most according to claim 8, it is characterised in that described user includes please
Ask user and targeted customer, also include:
Described acquisition module, for obtaining the real-time image information of described request user position；
Described processing module, for identifying the default mark comprised in described real-time image information, based on institute
State and preset mark, searching map data base, to obtain the positional information corresponding with described default mark, its
In, in described map data base, described default mark and described positional information one_to_one corresponding；
Described generation module, for according to described positional information, generating the current location of described request user
Information；
Described acquisition module, is additionally operable to obtain the current location information of described targeted customer；
Described processing module, is additionally operable to the current location information according to described request user and described target is used
The current location information at family determines the relative position information of described request user and described targeted customer.
Device the most according to claim 9, it is characterised in that also include:
Described acquisition module, for obtain described request user position real-time image information and
The real-time image information of the position of described targeted customer, the position of described request user real-time
Image information comprises first and presets mark, and the real-time image information of the position of described targeted customer comprises
Second presets mark；
Described processing module, presets mark, search for presetting mark and described second based on described first
Map data base, presets primary importance information corresponding to mark and with described second to obtain with described first
Preset the second position information that mark is corresponding；
Described generation module, for generating the present bit of described request user according to described primary importance information
Confidence ceases, and generates the current location information of described targeted customer according to described second position information；And root
Described mesh is generated according to the described current location information of request user and the current location information of described targeted customer
Mark user and the described relative position information asking user.
11. according to the device described in claim 9 or 10, it is characterised in that:
Described acquisition module, is additionally operable to obtain the positioning request information of request user, and described Location Request is believed
Breath includes asking ID and targeted customer's mark；
Sending module, for being sent to the institute that described request ID is corresponding by described relative position information
State request user and/or described targeted customer identifies corresponding described targeted customer.
12. 1 kinds of indoor navigation devices, it is characterised in that including:
Acquisition module, for obtaining the real-time image information of user position；
Processing module, for identifying the default mark comprised in described real-time image information, based on described pre-
Bidding is known, searching map data base, to obtain the positional information corresponding with described default mark, wherein,
In described map data base, described default mark and described positional information one_to_one corresponding；
Generation module, for according to described positional information, generates the current location information of described user；
Described acquisition module, is additionally operable to obtain the destination locations information of described user；
Described generation module, is additionally operable to according to described destination locations information and described current location information,
Generate at least one navigation way；
Select module, for selecting navigation way described in；
Navigation module, for navigating according to the described navigation way selected.
13. devices according to claim 12, it is characterised in that also include:
Described acquisition module, for obtaining the default mark that customer objective ground is corresponding；
Described processing module, for identifying the default mark that described customer objective ground is corresponding, based on described use
The default mark that family destination is corresponding, searching map data base, corresponding with described customer objective ground to obtain
The positional information of default mark；
Described generation module, for according to described positional information, generates described destination locations information.
14. devices according to claim 13, it is characterised in that described default mark includes presetting
Authentication code, described device also includes:
Described acquisition module, for obtaining the default authentication code that customer objective ground is corresponding；
Described processing module, for the corresponding relation according to described default authentication code Yu described default mark
Determine the described default mark that described default authentication code is corresponding.
The generation method of 15. 1 kinds of map data bases, it is characterised in that including:
Laying one in indoor at a certain distance and preset mark, described default mark is different；
Determine the 3D coordinate of the location point of each described default mark correspondence；
3D coordinate according to each described location point is modeled, and generates containing each described location point corresponding
The map data base of described default mark.
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