CN106154223A - Indoor navigation method and indoor navigation system - Google Patents

Indoor navigation method and indoor navigation system Download PDF

Info

Publication number
CN106154223A
CN106154223A CN201610701719.7A CN201610701719A CN106154223A CN 106154223 A CN106154223 A CN 106154223A CN 201610701719 A CN201610701719 A CN 201610701719A CN 106154223 A CN106154223 A CN 106154223A
Authority
CN
China
Prior art keywords
wireless signal
coordinates
information
signal transmitter
mark
Prior art date
Application number
CN201610701719.7A
Other languages
Chinese (zh)
Other versions
CN106154223B (en
Inventor
宣洋洋
卓佳鑫
谢菊芳
唐超
胡东
赵鑫
Original Assignee
西南大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 西南大学 filed Critical 西南大学
Priority to CN201610701719.7A priority Critical patent/CN106154223B/en
Publication of CN106154223A publication Critical patent/CN106154223A/en
Application granted granted Critical
Publication of CN106154223B publication Critical patent/CN106154223B/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

A kind of indoor navigation method of embodiment of the present invention offer and indoor navigation system.This indoor navigation method includes: obtain the wireless signal that multiple wireless signal transmitter is launched, and obtains reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark according to the intensity level of the multiple wireless signals obtained;Set reference zone according to described datum mark, search the mark of the wireless signal transmitter of predetermined number in described reference zone;The position coordinates of the mark correspondence of each described wireless signal transmitter searched is obtained according to the position correspondence table being obtained ahead of time;Position coordinates according to each described wireless signal transmitter searched and intensity corresponding to each described wireless signal obtain start position information;Obtain the position coordinates of commodity to be selected, using the position coordinates of acquired commodity to be selected as destination locations information;Guidance path is generated according to described start position information and described destination locations information.

Description

Indoor navigation method and indoor navigation system

Technical field

The present invention relates to wireless communication applications field, in particular to a kind of indoor navigation method and indoor navigation system System.

Background technology

Existing in the research of airmanship, mainly for outdoor navigation, and for indoor, in market, office building The navigation research in portion is the weakest.Existing outdoor navigation system typically realizes navigation by GPS principle.But, when with When family enters into indoor, the terminal of user cannot receive gps satellite signal, is therefore positioned the method realizing navigation by GPS Can not play a role.But existing indoor navigation technology still exists problems, such as, want to determine oneself institute user During position, place, owing to signal intensity during communication is unstable and multipath, the impact of produced measurement error through walls, it is fixed to cause Position is inaccurate, thus cause navigating inaccurate, navigation feature is the most inconvenient so that user can not accurately know oneself institute The position of the article needed or user need the position arrived.Therefore the demand of actual application cannot be met.

Summary of the invention

It is an object of the invention to provide a kind of indoor navigation method and indoor navigation system, it can improve above-mentioned asking Topic.

First aspect, the embodiment of the present invention provides a kind of indoor navigation method, and described method includes: obtain multiple wireless communication The wireless signal that number emitter is launched, obtains reference signal, by described base according to the intensity level of the multiple wireless signals obtained Wireless signal transmitter corresponding to calibration signal is as datum mark;Set reference zone according to described datum mark, search described reference The mark of the wireless signal transmitter of the predetermined number in region;Searched every is obtained according to the position correspondence table being obtained ahead of time The position coordinates of the mark correspondence of individual described wireless signal transmitter, wherein, described position correspondence table includes each described wireless The position coordinates that signal projector is corresponding;Position coordinates according to each described wireless signal transmitter searched and each The intensity that described wireless signal is corresponding obtains start position information;Obtain the position coordinates of commodity to be selected, acquired is treated The position coordinates of selected commodity is as destination locations information;According to described start position information and described destination locations information Generate guidance path.

Second aspect, the embodiment of the present invention provides a kind of indoor navigation system, and described system includes: acquiring unit, is used for Obtain the wireless signal that multiple wireless signal transmitter is launched, obtain benchmark according to the intensity level of the multiple wireless signals obtained Signal, using wireless signal transmitter corresponding for described reference signal as datum mark;Search unit, for according to described datum mark Set reference zone, search the mark of the wireless signal transmitter of predetermined number in described reference zone;Matching unit, is used for The position seat of the mark correspondence of each described wireless signal transmitter searched is obtained according to the position correspondence table being obtained ahead of time Mark, wherein, described position correspondence table includes the position coordinates that each described wireless signal transmitter is corresponding;Original position obtains single Unit, corresponding for position coordinates and each described wireless signal according to each described wireless signal transmitter searched Intensity obtains start position information;Indexing unit, for obtaining the position coordinates of commodity to be selected, by acquired business to be selected The position coordinates of product is as destination locations information;First signal generating unit, for according to described start position information and described mesh Position information generate guidance path.

A kind of indoor navigation method of embodiment of the present invention offer and indoor navigation system, by obtaining multiple wireless signals The wireless signal that emitter is launched, then obtains reference signal, by described according to the intensity level of the multiple wireless signals obtained Wireless signal transmitter corresponding to reference signal is as datum mark;And set reference zone according to described datum mark, search described After the mark of the wireless signal transmitter of the predetermined number in reference zone;Institute is obtained further according to the position correspondence table being obtained ahead of time The position coordinates of the mark correspondence of each described wireless signal transmitter searched, described position correspondence table includes each described nothing The position coordinates that line signal projector is corresponding;Position coordinates according to each described wireless signal transmitter searched and every The intensity that individual described wireless signal is corresponding obtains start position information;Obtain the position coordinates of commodity to be selected, by acquired The position coordinates of commodity to be selected is as destination locations information;Finally according to described start position information and described purpose status Confidence breath generates guidance path.By accurate location, so that the guidance path obtained is optimal path, allow a user to Enough arrive at rapidly according to this path.

Other features and advantages of the present invention will illustrate in description subsequently, and, partly become from description It is clear that or understand by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying of being write Structure specifically noted in bright book, claims and accompanying drawing realizes and obtains.

For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate Appended accompanying drawing, is described in detail below.

Accompanying drawing explanation

In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this A little accompanying drawings obtain other relevant accompanying drawings.

The application scenarios schematic diagram of the indoor navigation system that Fig. 1 provides for the embodiment of the present invention;

The method flow diagram of a kind of indoor navigation method that Fig. 2 provides for the embodiment of the present invention;

The method flow diagram of the another kind of indoor navigation method that Fig. 3 provides for the embodiment of the present invention;

The module frame chart of a kind of indoor navigation system that Fig. 4 provides for the embodiment of the present invention;

The module frame chart of the another kind of indoor navigation system that Fig. 5 provides for the embodiment of the present invention.

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 the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is The a part of embodiment of the present invention rather than whole embodiments.Generally implement with the present invention illustrated described in accompanying drawing herein The assembly of example can be arranged with various different configurations and design.

Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed below The scope of the present invention, but be merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, this area is common The every other embodiment that technical staff is obtained under not making creative work premise, broadly falls into the model of present invention protection Enclose.

It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.

In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertically ", Orientation or the position relationship of the instruction such as " level ", " interior ", " outward " are based on orientation shown in the drawings or position relationship, or should The orientation usually put during the use of invention product or position relationship, be for only for ease of the description present invention and simplify description, and not It is to indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, the most not It is understood that as limitation of the present invention.Describe additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing, and can not manage Solve as instruction or hint relative importance.

Additionally, the term such as term " level ", " vertically ", " pendency " is not offered as requiring parts abswolute level or pendency, and It is to be slightly tilted.As " level " only refers to for its direction relatively " vertically " more level, it it is not this structure of expression Must be perfectly level, but can be slightly tilted.

In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " arrange ", " install ", " being connected ", " connection " should be interpreted broadly, and connect for example, it may be fixing, it is also possible to be to removably connect, or one Body ground connects;Can be to be mechanically connected, it is also possible to be electrical connection;Can be to be joined directly together, it is also possible to indirect by intermediary It is connected, can be the connection of two element internals.For the ordinary skill in the art, can be with in concrete condition understanding State term concrete meaning in the present invention.

The application scenarios figure of the indoor navigation system that Fig. 1 provides for the embodiment of the present invention.This indoor navigation system 100 includes Radio-frequency (RF) tag 110, radio-frequency antenna 120, hub 130, read write line 140, terminal 170, server 150, router 160 and wireless Signal projector 180.

In the present embodiment, described radio-frequency (RF) tag 110 couples with described radio-frequency antenna 120, described radio-frequency antenna 120 and institute Stating read write line 140 to connect, described read write line 140 is connected with described server 150.

In the present embodiment, described radio-frequency (RF) tag 110 is for being placed on the fixing article of indoor, in order to surveyed during mensuration The information of article will not occur the phenomenon of entanglement.Wherein, each radio-frequency (RF) tag 110 has a fixing identification information.Example As, described radio-frequency (RF) tag 110 is attached on the shelf in supermarket, the type of goods that the most described shelf are put is consistent, different shelf On the radio-frequency (RF) tag 110 pasted the most different, the identification information of the radio-frequency (RF) tag 110 i.e. pasted on A shelf is A, it is also possible to for A The kind of information of the article put on shelf.The identification information of the radio-frequency (RF) tag 110 pasted on B shelf in sight is B, the most also It can be the kind of information of the article put on B shelf.Therefore, it can judge different by different radio-frequency (RF) tag 110 The particular location of article.When the carrier of the article or fixing described radio-frequency (RF) tag 110 that post radio-frequency (RF) tag 110 occurs position During change, radio-frequency (RF) tag 110 can be followed and be fixed the carrier of this radio-frequency (RF) tag 110 and move together.

In the present embodiment, described radio-frequency (RF) tag 110 can be RFID (Radio Frequency Identification) label.Wherein, RFID label tag refers to use the label of REID.

In the present embodiment, described radio-frequency antenna 120 is for gathering the information of described radio-frequency (RF) tag 110, described information bag Include identification information and the intensity level of radio-frequency (RF) tag 110 of radio-frequency (RF) tag 110.Wherein, different radio frequency is gathered by radio-frequency antenna The identification information of label 110 and the intensity level of radio-frequency (RF) tag 110, wherein, the intensity level of radio-frequency (RF) tag 110 passes through radio-frequency antenna The intensity of the signal of 120 collected radio-frequency (RF) tag 110 judges.Wherein, in the present embodiment, described radio-frequency (RF) tag 110 The intensity of signal RISS (Received Signal Strength Indication) can be used to represent radio-frequency (RF) tag The intensity of 110.I.e. by advance radio-frequency (RF) tag 110 being arranged on different carriers, so that each radio-frequency (RF) tag 110 is from radio frequency The distance of antenna 120 is different, thus causes the intensity of the signal of the radio-frequency (RF) tag 110 that radio-frequency antenna 120 receives different, Thus obtain the position of radio-frequency (RF) tag 110, and then obtain the position of the carrier of radio-frequency (RF) tag 110 correspondence.

In the present embodiment, described hub 130 is for providing the company between radio-frequency antenna 120 and described read write line 140 Connect medium, so that the identification information of radio-frequency (RF) tag 110 that described radio-frequency antenna 120 collects can be by this line concentration with intensity level Device 130 is sent to described read write line 140.Wherein, described hub 130 can be by providing the radio channel of 2.4G by radio frequency sky Identification information and the intensity level of each radio-frequency (RF) tag 110 that line 120 collects are transferred to read write line 140.The most described read write line Each radio-frequency (RF) tag 110 that the radio channel acquisition radio-frequency antenna 120 of 140 2.4G provided by hub 130 is collected Identification information and intensity level.Such as, by the 2.4G radio channel of hub 130 radio-frequency antenna 120 is collected each The ID of RFID label tag and RSSI value are transferred to read write line 140.

It should be noted that 2.4G is a kind of wireless technology, be due to its frequency range be in 2.400GHz Yu 2.4835GHz it Between.

In the present embodiment, described read write line 140 is for each radio-frequency (RF) tag collected by described radio-frequency antenna 120 The identification information of 110 and intensity level are sent to server 150, so that server 150 is by each radio frequency mark by hub 130 Sign identification information and the intensity level storage of 110.Such as, read write line 140 uses UDP's (User Datagram Protocol) Communication pattern and computer connect, and then transfer data to data base.So that terminal 170 can utilize HTTP (HyperText Transfer Protocol) network service is connected with data base, thus packet downloads to terminal 170.

In the present embodiment, described server 150 is for storing the mark letter of the radio-frequency (RF) tag 110 that read write line 140 sends Breath and intensity level.

In the present embodiment, described server 150 can be data base.Such as, radio-frequency (RF) tag read write line 140 sent The identification information of 110 and intensity level are stored in inside data base, so that user can be obtained by data base is stored in data base The identification information of the radio-frequency (RF) tag 110 of the inside and intensity level.

In the present embodiment, owing to the positional information of commodity changes not frequent, i.e. the positional information of radio-frequency (RF) tag 110 is also Will not be along with variation, so setting data storehouse or server 150 update primary information every day.

In the present embodiment, described router 160 is used for providing wireless signal, for terminal 170 with server 150 even Connect.

Described terminal 170 is for positioning and realizing navigation by location, and searching out user by navigation needs searching Article or position.Wherein, described terminal 170 is connected by described router 160 with described server 150, the most described end The wireless signal that end 170 is sent by described router 160 connects described server 150.Described terminal 170 and described wireless communication Number emitter 180 wireless connections.

In the present embodiment, described terminal 170 includes wireless senser, controller, display device, wireless connector sum According to memorizer.Described wireless senser and the wireless connections of described wireless signal transmitter 180, described display device, described wireless Sensor, described data storage and described wireless connector all couple with described controller, and described wireless connector is with described Server 150 is connected by described router 160, described wireless connector and the wireless connections of described router 160.The most described nothing The wireless signal that wiring connector is sent by described router 160 connects described server 150.

In the present embodiment, wireless senser can be WiFi (WirelessFidelity) sensor.

In the present embodiment, wireless signal transmitter 180 is used for providing wireless signal, so that terminal 170 can be according to adopting Collect to the intensity level of wireless signal judge that this terminal 170 is at indoor particular location.

In the present embodiment, wireless signal transmitter 180 can be AP (AccessPoint) emitter.

Refer to Fig. 2, a kind of indoor navigation method that the embodiment of the present invention provides, described method includes:

Step S201: obtain the wireless signal that multiple wireless signal transmitter is launched, according to the multiple wireless communication obtained Number intensity level obtain reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark.

Wherein, described reference signal refers to the wireless signal that the intensity level by getting for the first time is maximum, and should Wireless signal transmitter corresponding to wireless signal is as datum mark.

As a kind of embodiment, when user's handheld terminal enters and is previously provided with wireless signal transmitter indoor, When the terminal of user enters the range of receiving of the signal that wireless signal transmitter is launched, terminal can and wireless signal transmitter Setting up communication connection, terminal is able to receive that and has built up the wireless signal that the wireless signal transmitter of communication connection is launched.When with When the hand-held terminal in family enters in the signal cover of multiple wireless signal transmitter, just establish and multiple wireless signals The communication connection of emitter, thus, terminal is able to receive that the wireless signal that multiple wireless signal transmitter sends.And wireless communication The wireless signal that number emitter is launched includes the device id of this wireless signal transmitter, and therefore, terminal can will receive Each wireless signal is corresponding with the device id of the wireless signal transmitter sending this wireless signal.

Being provided with signal analysis software in terminal, this signal analysis software can analyze received each wireless signal Intensity, and be shown to user and check.As a kind of embodiment, being provided with application program in terminal, terminal is for answering by this It is connected with wireless signal transmitter by program, and each wireless signal received is carried out intensity analysis, and with the shape of form Formula demonstrates the device id of the intensity of the received wireless signal wireless signal transmitter corresponding with this wireless signal.Such as, Ground floor interface shows the intensity level of different wireless signals, clicks on some intensity level, eject second layer interface, at this On second layer interface, show the device id that the wireless signal of this intensity level is corresponding.It is of course also possible to be, same on an interface Time display device ID and signal intensity, it is also possible to be, according to signal intensity by height mode on earth by device id sequencing display.

Terminal sets up communication connection with wireless signal transmitter, shows that user is positioned near this wireless signal transmitter, and The intensity of the wireless signal of this received wireless signal transmitter can illustrate user and this wireless signal transmitter away from From, it is generally the case that it is believed that signal intensity is the highest the nearest with the distance of this wireless signal transmitter, thus, it becomes possible to really Determine the Position Approximate of user.

Using the wireless signal transmitter corresponding to wireless signal of a relatively high for wireless signal strength as datum mark, its In, datum mark can represent the approximate distance of terminal and this datum mark, and wherein, described approximate distance refers to can by this datum mark To determine a terminal scope coordinate from datum mark.

Step S202: set reference zone according to described datum mark, searches the nothing of predetermined number in described reference zone The mark of line signal projector.

Wherein, server memory contains position coordinates and the identification information of each emitter, and position coordinates is to adopt in advance Collection.Identification information refers to the device id corresponding to wireless signal transmitter.

As a kind of embodiment, according to datum mark and the area of reference zone, thus obtain each limit of reference zone The coordinate of the wireless signal transmitter on boundary's point, obtains all wireless signals being positioned at reference zone according to calculated coordinate Emitter.Such as, the coordinate of datum mark is (0,0), and the coordinate of boundary point is (2,0), the coordinate of wireless signal transmitter be (1, 0), according to each coordinate figure, show that this wireless signal transmitter is positioned at this reference zone.

As another kind of implementation, it is also possible to set reference zone according to described datum mark, this reference zone is according to pre- If rule is with datum mark as the center of circle, with preset length as radius, set border circular areas, then this border circular areas is described reference area Territory, is compared to the distance of this datum mark and the size of the radius of this reference zone by the wireless signal transmitter got Right, when the distance of wireless signal transmitter to this datum mark is less than radius, then this wireless signal transmitter is positioned at this reference area In territory, the most no longer this reference zone.Wherein, it is also possible to be centered by datum mark, with preset length as axle, set one Approximate region, described region can be rectangle, or other shapes.

Then look up the identification information of all wireless signal transmitters in described reference zone, by identification information to obtain Obtain the coordinate information of wireless signal transmitter corresponding to all wireless signal identification informations.

Step S203: obtain each described wireless signal transmitter searched according to the position correspondence table being obtained ahead of time The position coordinates that mark is corresponding, wherein, described position correspondence table includes that the position that each described wireless signal transmitter is corresponding is sat Mark.

Wherein, position correspondence table is to obtain from server in advance, stores each wireless signal and send out in the correspondence table of position The mark of emitter and the position coordinates of indoor, place.Position can be passed through by the identification information of each wireless signal transmitter Corresponding table finds the position coordinates of this wireless signal transmitter.

Step S204: according to the position coordinates of each described wireless signal transmitter searched and each described wireless The intensity that signal is corresponding obtains start position information.

Wherein, by position coordinates and each wireless signal transmitter of each described wireless signal transmitter of lookup The intensity of the signal launched, can obtain this signal projector distance to user by signal intensity, thus according to acquisition The coordinate of distance and each wireless signal transmitter obtains the coordinate of user, i.e. start position information.

As a kind of implementation, can by wireless signal strength obtain this wireless signal transmitter to user away from From, recycling triangulation location obtains the position coordinates of user, i.e. start position information.Wherein, the position coordinates of user refers to The position that terminal is current, is start position information.

It should be noted that triangulation location refers to: utilize the detector of 2 or more than 2 to detect at diverse location Target bearing, then uses triangle geometrical principle to determine position and the distance of target.The most in the present embodiment, by calculating eventually The distance of each wireless signal transmitter held in reference zone, then uses triangulation location to obtain the coordinate of terminal.Example As, in reference zone, there are three points, respectively A (2,2), B (0,1), C (-2 ,-2), datum mark is D (0,0), terminal Coordinate be (x, y).The terminal approximate distance to datum mark can be obtained by the intensity of the signal of datum mark, thus obtain terminal X value and the y value of coordinate, gone out the concrete coordinate of terminal the most again by triangle polyester fibre algorithmic technique, thus realization be accurately positioned Effect.

Step S205: obtain the position coordinates of commodity to be selected, using the position coordinates of acquired commodity to be selected as Destination locations information.

Wherein, the location coordinate information of all commodity in indoor by obtaining from server in advance, by wherein commodity Being chosen to be commodity to be selected, the position of these commodity is destination locations information.

As a kind of embodiment, when user enters market, automatically being obtained storage by the LAN in market has commodity The packet of coordinate information, when user need select from all commodity commodity buy time, can by terminal defeated Enter the identification information of these commodity, thus obtain the position coordinates of these commodity, then this position coordinates is destination locations information.

Step S206: generate guidance path according to described start position information and described destination locations information.

Wherein, guidance path refers to by the coordinate of original position Yu destination locations couples together the path formed. Wherein, according to the coordinate of original position and destination locations it is possible that mulitpath, then by mulitpath according to stroke Length sorts, and allows the user to select suitable path according to demand.And when forming path, can be by detecting this path Between whether have barrier, during if be detected that there is barrier, this path then can be arrived at by after original position cut-through thing again Destination locations.Wherein, whether detection barrier is by there is also between detection original position and the coordinate of destination locations Other objects, by judging that between original position and the coordinate of destination locations, the coordinate of other objects is the most on the path, Thus judge whether barrier.Such as, A is starting point, and position for the purpose of B is deposited on the path between A and B formed At large-scale shelf, then when at A on earth B, then need to walk around described shelf, thus arrive at B.So now Although guidance path be also at B at A, but the shelf between AB can be walked around between guidance path thus arrive at B.

As a kind of embodiment, guidance path is formed by the path between original position and the coordinate of destination locations. Wherein, described guidance path is a real-time route, such as, when position for the purpose of user selectes commodity, by carrying Take the information of radio-frequency (RF) tag at these commodity, it is thus achieved that the positional information of these commodity, the positional information of these commodity is mapped in electronics On map, then obtain the start position information of the current location information of user, i.e. user, adopt in the same way by start bit Confidence breath is mapped on electronic chart, thus by the original position on electronic chart and destination locations, determines guidance path. And during user's handheld terminal is from original position to destination locations, original position can be sent out along with the motion of user Raw change, be i.e. to be formed by multiple centre positions from primary original position to destination locations user, the most logical Cross multiple intermediate position points, then multiple intermediate position points lines are connected thus define original position and arrive destination locations Guidance path.

Refer to Fig. 3, the another kind of indoor navigation method that the embodiment of the present invention provides, described method includes:

Step S301: obtain the wireless signal that multiple wireless signal transmitter is launched, according to the multiple wireless communication obtained Number intensity level obtain reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark.

The detailed description of the invention of step S301 is referred to step S201 that Fig. 2 is corresponding, does not repeats them here.

Step S302: set reference zone according to described datum mark, searches the nothing of predetermined number in described reference zone The mark of line signal projector.

The detailed description of the invention of step S302 is referred to step S202 that Fig. 2 is corresponding, does not repeats them here.

Step S303: obtain each described wireless signal transmitter searched according to the position correspondence table being obtained ahead of time The position coordinates that mark is corresponding, wherein, described position correspondence table includes that the position that each described wireless signal transmitter is corresponding is sat Mark.

The detailed description of the invention of step S303 is referred to step S203 that Fig. 2 is corresponding, does not repeats them here.

Step S304: according to the position coordinates of each described wireless signal transmitter searched and each described wireless The intensity that signal is corresponding obtains start position information.

The detailed description of the invention of step S304 is referred to step S204 that Fig. 2 is corresponding, does not repeats them here.

Step S305: obtain the position coordinates of commodity to be selected, using the position coordinates of acquired commodity to be selected as Destination locations information.

The detailed description of the invention of step S305 is referred to step S205 that Fig. 2 is corresponding, does not repeats them here.

Step S306: generate guidance path according to described start position information and described destination locations information.

The detailed description of the invention of step S306 is referred to step S206 that Fig. 2 is corresponding, does not repeats them here.

Step S307: obtain the renewal instruction that server sends, described renewal instructs the commodity to be selected included after updating Position coordinates.

Wherein, only when changing until the position coordinates of selected commodity, server can be automatically by the coordinate after change Information is sent to terminal, allows the user to obtain the position coordinates of up-to-date selected commodity, enables a user to basis Up-to-date coordinate is quickly found the commodity of target location.For example, it is possible to be set as that every day updates primary information.

Step S308: position coordinates and described destination locations information according to the commodity to be selected after described renewal generate Described guidance path.

Wherein, after changing until the position coordinates of selected commodity, terminal is by the new commodity to be selected collected Position coordinates after, guidance path can be regenerated, allow the user to be quickly found purpose status according to this guidance path Put the commodity at place.

Refer to Fig. 4, a kind of indoor navigation system 400 that the embodiment of the present invention provides, described system is with terminal for performing Main body, described system includes: acquiring unit 410, lookup unit 420, matching unit 430, original position acquiring unit 440, mark Note unit 450 and the first signal generating unit 460.

Acquiring unit 410, for obtaining the wireless signal that multiple wireless signal transmitter is launched, multiple according to obtained The intensity level of wireless signal obtains reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark;

Search unit 420, for setting reference zone according to described datum mark, search the present count in described reference zone The mark of the wireless signal transmitter of amount;

Matching unit 430, for obtaining, according to the position correspondence table being obtained ahead of time, each described wireless signal searched The position coordinates of the mark correspondence of emitter, wherein, described position correspondence table includes that each described wireless signal transmitter is corresponding Position coordinates;

Original position acquiring unit 440, for the position coordinates according to each described wireless signal transmitter searched And intensity corresponding to each described wireless signal obtains start position information;

Indexing unit 450, for obtaining the position coordinates of commodity to be selected, sits the position of acquired commodity to be selected Position information for the purpose of being denoted as;

First signal generating unit 460, for generating navigation according to described start position information and described destination locations information Path.

Refer to Fig. 5, the another kind of indoor navigation system that the embodiment of the present invention provides, described system is with terminal for performing master Body, described system includes: acquiring unit 510, lookup unit 520, matching unit 530, original position acquiring unit 540, labelling Unit the 550, first signal generating unit 560, updating block 570 and the second signal generating unit 580.

Acquiring unit 510, for obtaining the wireless signal that multiple wireless signal transmitter is launched, multiple according to obtained The intensity level of wireless signal obtains reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark.

Search unit 520, for setting reference zone according to described datum mark, search the present count in described reference zone The mark of the wireless signal transmitter of amount.

Matching unit 530, for obtaining, according to the position correspondence table being obtained ahead of time, each described wireless signal searched The position coordinates of the mark correspondence of emitter, wherein, described position correspondence table includes that each described wireless signal transmitter is corresponding Position coordinates.

Original position acquiring unit 540, for the position coordinates according to each described wireless signal transmitter searched And intensity corresponding to each described wireless signal obtains start position information;

Indexing unit 550, for obtaining the position coordinates of commodity to be selected, sits the position of acquired commodity to be selected Position information for the purpose of being denoted as.

First signal generating unit 560, for generating navigation according to described start position information and described destination locations information Path.

Updating block 570, for obtain server send renewal instruction, described update instruction include update after to be selected Determine the position coordinates of commodity.

Second signal generating unit 580, for the position coordinates according to the commodity to be selected after described renewal and described destination Positional information generates described guidance path.

In sum, a kind of indoor navigation method of embodiment of the present invention offer and indoor navigation system are many by obtaining The wireless signal that individual wireless signal transmitter is launched, then obtains benchmark letter according to the intensity level of the multiple wireless signals obtained Number, using wireless signal transmitter corresponding for described reference signal as datum mark;And set reference zone according to described datum mark, After the mark of the wireless signal transmitter searching predetermined number in described reference zone;Corresponding further according to the position being obtained ahead of time Table obtains the position coordinates of the mark correspondence of each described wireless signal transmitter searched, and described position correspondence table includes often The position coordinates that individual described wireless signal transmitter is corresponding;Position according to each described wireless signal transmitter searched is sat It is marked with and intensity that each described wireless signal is corresponding obtains start position information;Obtain the position coordinates of commodity to be selected, will The position coordinates of acquired commodity to be selected is as destination locations information;Finally according to described start position information and described Destination locations information generates guidance path.By accurate location, so that the guidance path obtained is optimal path, with Allow users to arrive at rapidly according to this path.

In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through Other mode realizes.Device embodiment described above is only schematically, such as, and the flow chart in accompanying drawing and block diagram Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product, Function and operation.In this, each square frame in flow chart or block diagram can represent a module, program segment or the one of code Part, a part for described module, program segment or code comprises holding of one or more logic function for realizing regulation Row instruction.It should also be noted that at some as in the implementation replaced, the function marked in square frame can also be to be different from The order marked in accompanying drawing occurs.Such as, two continuous print square frames can essentially perform substantially in parallel, and they are the most also Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart The combination of the square frame in individual square frame and block diagram and/or flow chart, can be with function or the special base of action performing regulation System in hardware realizes, or can realize with the combination of specialized hardware with computer instruction.

It addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation Point, it is also possible to it is modules individualism, it is also possible to two or more modules are integrated to form an independent part.

If described function is using the form realization of software function module and as independent production marketing or use, permissible It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention. It should be noted that in this article, the relational terms of such as first and second or the like is used merely to an entity or behaviour Make separate with another entity or operating space, and not necessarily require or imply these entities or operate between exist any this Plant actual relation or order.And, term " includes ", " comprising " or its any other variant are intended to nonexcludability Comprise so that include that the process of a series of key element, method, article or equipment not only include those key elements, but also Including other key elements being not expressly set out, or also include want intrinsic for this process, method, article or equipment Element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including described wanting Process, method, article or the equipment of element there is also other identical element.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (10)

1. an indoor navigation method, it is characterised in that including:
Obtain the wireless signal that multiple wireless signal transmitter is launched, obtain according to the intensity level of the multiple wireless signals obtained Reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark;
Set reference zone according to described datum mark, search the wireless signal transmitter of predetermined number in described reference zone Mark;
The position of the mark correspondence of each described wireless signal transmitter searched is obtained according to the position correspondence table being obtained ahead of time Putting coordinate, wherein, described position correspondence table includes the position coordinates that each described wireless signal transmitter is corresponding;
Position coordinates according to each described wireless signal transmitter searched and corresponding strong of each described wireless signal Degree obtains start position information;
Obtain the position coordinates of commodity to be selected, the position coordinates of acquired commodity to be selected is believed as destination locations Breath;
Guidance path is generated according to described start position information and described destination locations information.
Method the most according to claim 1, it is characterised in that described according to each described wireless signal transmission searched The position coordinates of device and intensity corresponding to each described wireless signal obtain the step of start position information and include:
The described wireless signal transmission that each described wireless signal is corresponding is obtained according to the intensity that each described wireless signal is corresponding Device is to the distance of described original position;
Utilize triangle polyester fibre algorithm according to acquired distance and the position of each described wireless signal transmitter searched Coordinate obtains start position information.
Method the most according to claim 1, it is characterised in that described according to described start position information with described destination After positional information generates the step of guidance path, described method also includes:
Obtaining the renewal instruction that server sends, described renewal instructs the position coordinates including the commodity to be selected after updating;
Position coordinates and described destination locations information according to the commodity to be selected after described renewal generate described guidance path.
Method the most according to claim 1, it is characterised in that the described step setting reference zone according to described datum mark Suddenly, including:
With described datum mark as the center of circle, with preset length as radius, set border circular areas.
Method the most according to claim 1, it is characterised in that the nothing of the predetermined number in the described reference zone of described lookup The step of the mark of line signal projector, including:
Search the mark of all wireless signal transmitters in described reference zone.
6. an indoor navigation system, it is characterised in that including:
Acquiring unit, for obtaining the wireless signal that multiple wireless signal transmitter is launched, according to the multiple wireless communication obtained Number intensity level obtain reference signal, using wireless signal transmitter corresponding for described reference signal as datum mark;
Search unit, for setting reference zone according to described datum mark, search the nothing of predetermined number in described reference zone The mark of line signal projector;
Matching unit, for obtaining each described wireless signal transmitter searched according to the position correspondence table being obtained ahead of time The position coordinates that mark is corresponding, wherein, described position correspondence table includes that the position that each described wireless signal transmitter is corresponding is sat Mark;
Original position acquiring unit, for according to the position coordinates of each described wireless signal transmitter searched and each The intensity that described wireless signal is corresponding obtains start position information;
Indexing unit, for obtaining the position coordinates of commodity to be selected, using the position coordinates of acquired commodity to be selected as Destination locations information;
First signal generating unit, for generating guidance path according to described start position information and described destination locations information.
Indoor navigation system the most according to claim 6, it is characterised in that described original position acquiring unit is specifically used In:
The described wireless signal transmission that each described wireless signal is corresponding is obtained according to the intensity that each described wireless signal is corresponding Device is to the distance of described initial position;
Utilize triangle polyester fibre algorithm according to acquired distance and the position of each described wireless signal transmitter searched Coordinate obtains start position information.
Indoor navigation system the most according to claim 6, it is characterised in that after described signal generating unit, described indoor are led Boat system also includes:
Updating block, for obtaining the renewal instruction that server sends, described renewal instructs the commodity to be selected included after updating Position coordinates;
Second signal generating unit, for the position coordinates according to the commodity to be selected after described renewal and described destination locations information Generate described guidance path.
Indoor navigation system the most according to claim 6, it is characterised in that described lookup unit specifically for:
With described datum mark as the center of circle, with preset length as radius, set border circular areas.
Indoor navigation system the most according to claim 6, it is characterised in that state lookup unit and be additionally operable to:
Search the mark of all wireless signal transmitters in described reference zone.
CN201610701719.7A 2016-08-20 2016-08-20 Indoor navigation method and indoor navigation system CN106154223B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610701719.7A CN106154223B (en) 2016-08-20 2016-08-20 Indoor navigation method and indoor navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610701719.7A CN106154223B (en) 2016-08-20 2016-08-20 Indoor navigation method and indoor navigation system

Publications (2)

Publication Number Publication Date
CN106154223A true CN106154223A (en) 2016-11-23
CN106154223B CN106154223B (en) 2019-12-03

Family

ID=57342083

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610701719.7A CN106154223B (en) 2016-08-20 2016-08-20 Indoor navigation method and indoor navigation system

Country Status (1)

Country Link
CN (1) CN106154223B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108562869A (en) * 2018-05-22 2018-09-21 京东方科技集团股份有限公司 A kind of indoor positioning navigation system and method

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102577554A (en) * 2009-10-12 2012-07-11 高通股份有限公司 Method and apparatus for transmitting indoor context information
CN104182881A (en) * 2014-07-22 2014-12-03 诚迈科技(南京)股份有限公司 Supermarket intelligent shopping guide system based on WIFI indoor positioning and positioning method
CN104321620A (en) * 2013-04-15 2015-01-28 弗莱克斯电子有限责任公司 Altered map routes based on user profile information
CN104461410A (en) * 2013-09-24 2015-03-25 Lg电子株式会社 Mobile communications system, mobile terminal, and control method of mobile terminal
CN104641399A (en) * 2012-02-23 2015-05-20 查尔斯·D·休斯顿 System and method for creating an environment and for sharing a location based experience in an environment
CN104869636A (en) * 2015-05-12 2015-08-26 四川师范大学 Indoor positioning method based on distance measurement information fusion
CN105242240A (en) * 2015-10-12 2016-01-13 深圳市天工测控技术有限公司 Positioned, and indoor positioning method, apparatus and system thereof
CN105372687A (en) * 2015-09-29 2016-03-02 上海斐讯数据通信技术有限公司 A mobile device-based movement track drawing method and system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102577554A (en) * 2009-10-12 2012-07-11 高通股份有限公司 Method and apparatus for transmitting indoor context information
CN104641399A (en) * 2012-02-23 2015-05-20 查尔斯·D·休斯顿 System and method for creating an environment and for sharing a location based experience in an environment
CN104321620A (en) * 2013-04-15 2015-01-28 弗莱克斯电子有限责任公司 Altered map routes based on user profile information
CN104461410A (en) * 2013-09-24 2015-03-25 Lg电子株式会社 Mobile communications system, mobile terminal, and control method of mobile terminal
CN104182881A (en) * 2014-07-22 2014-12-03 诚迈科技(南京)股份有限公司 Supermarket intelligent shopping guide system based on WIFI indoor positioning and positioning method
CN104869636A (en) * 2015-05-12 2015-08-26 四川师范大学 Indoor positioning method based on distance measurement information fusion
CN105372687A (en) * 2015-09-29 2016-03-02 上海斐讯数据通信技术有限公司 A mobile device-based movement track drawing method and system
CN105242240A (en) * 2015-10-12 2016-01-13 深圳市天工测控技术有限公司 Positioned, and indoor positioning method, apparatus and system thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108562869A (en) * 2018-05-22 2018-09-21 京东方科技集团股份有限公司 A kind of indoor positioning navigation system and method

Also Published As

Publication number Publication date
CN106154223B (en) 2019-12-03

Similar Documents

Publication Publication Date Title
US10546502B2 (en) Estimating motion of wheeled carts
Li et al. A Bluetooth/PDR integration algorithm for an indoor positioning system
US9872151B1 (en) System and method for discovery and collection of real-time location data
CN106605123B (en) System for determining an entrance position and a region of interest
CN105190345B (en) System and method for using three dimensional local information to improve positioning service
US9683851B2 (en) Indoor magnetic field based location discovery
Stojanović et al. Indoor localization and tracking: Methods, technologies and research challenges
CN104395697B (en) Collaborative airmanship for mobile device
CN103841642B (en) Three-dimensional positioning method in a room
Zhang et al. GROPING: Geomagnetism and crowdsensing powered indoor navigation
CN102645666B (en) Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location
US8965403B2 (en) Location tracking
Correa et al. A review of pedestrian indoor positioning systems for mass market applications
Gu et al. A survey of indoor positioning systems for wireless personal networks
Thiagarajan et al. Accurate, low-energy trajectory mapping for mobile devices
CN102494683B (en) Radio frequency identification (RFID)-based joint positioning device and method
Al-Ali et al. Mobile RFID tracking system
CN104736968B (en) Mass-rent indoor positioning
Li et al. Real-time locating systems applications in construction
CN103200678B (en) The Android device WiFi indoor orientation method of position-based algorithm for recognizing fingerprint
CN102840866B (en) Route comparison means, route comparative approach
Sanpechuda et al. A review of RFID localization: Applications and techniques
US20140343846A1 (en) Systems, methods, and apparatus for providing indoor navigation using optical floor sensors
Hekimian-Williams et al. Accurate localization of RFID tags using phase difference
KR101049603B1 (en) System and method of deciding the realtime location of mobile station using a RFID and method of setting up wireless repeater therefor

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant