CN106154223B - Indoor navigation method and indoor navigation system - Google Patents

Indoor navigation method and indoor navigation system Download PDF

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Publication number
CN106154223B
CN106154223B CN201610701719.7A CN201610701719A CN106154223B CN 106154223 B CN106154223 B CN 106154223B CN 201610701719 A CN201610701719 A CN 201610701719A CN 106154223 B CN106154223 B CN 106154223B
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China
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wireless signal
coordinates
information
signal transmitter
commodity
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CN201610701719.7A
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Chinese (zh)
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CN106154223A (en
Inventor
宣洋洋
卓佳鑫
谢菊芳
唐超
胡东
赵鑫
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西南大学
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Priority to CN201610701719.7A priority Critical patent/CN106154223B/en
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Publication of CN106154223B publication Critical patent/CN106154223B/en

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    • 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 and indoor navigation system provided in an embodiment of the present invention.The indoor navigation method includes: the wireless signal for obtaining multiple wireless signal transmitter transmittings, reference signal is obtained according to the intensity value of multiple wireless signals obtained, using the corresponding wireless signal transmitter of the reference signal as datum mark;Reference zone is set according to the datum mark, searches the mark of the wireless signal transmitter of the preset quantity in the reference zone;Table is corresponded to according to the position being obtained ahead of time obtain each of searched the corresponding position coordinates of mark of the wireless signal transmitter;Start position information is obtained according to the corresponding intensity of position coordinates and each wireless signal for each of being searched the wireless signal transmitter;The position coordinates for obtaining commodity to be selected, by the position coordinates of acquired commodity to be selected location information as a purpose;Guidance path is generated according to the start position information and the destination locations information.

Description

Indoor navigation method and indoor navigation system

Technical field

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

Background technique

In the existing research for airmanship, mainly for outdoor navigation, and for interior, in market, office building The navigation research in portion is still weaker.Existing outdoor navigation system generally realizes navigation by GPS principle.However, when using When family enters interior, the terminal of user can not receive GPS satellite signal, therefore the method for navigation is realized by GPS positioning It cannot play a role.However existing indoor navigation technology still remains problems, for example, wanting to determine oneself institute in user When locating position, when due to communication signal strength is unstable and multipath, it is through walls caused by measurement error influence, it is fixed to cause Position inaccuracy, it is inconvenient in use so as to cause navigation inaccuracy, navigation feature, prevent user is from accurately knowing oneself institute The position that the position of the article needed or user need to reach.Therefore it is unable to satisfy the demand of practical application.

Summary of the invention

The purpose of the present invention is to provide a kind of indoor navigation method and indoor navigation systems, can improve above-mentioned ask Topic.

In a first aspect, the embodiment of the present invention provides a kind of indoor navigation method, which comprises obtain multiple wireless communications The wireless signal of number transmitter transmitting obtains reference signal according to the intensity value of multiple wireless signals obtained, by the base The corresponding wireless signal transmitter of calibration signal is as datum mark;Reference zone is set according to the datum mark, searches the reference The mark of the wireless signal transmitter of preset quantity in region;According to the position being obtained ahead of time correspond to table acquisition searched it is every The corresponding position coordinates of mark of a wireless signal transmitter, wherein it includes each described wireless that the position, which corresponds to table, The corresponding position coordinates of signal projector;According to position coordinates for each of being searched the wireless signal transmitter and each The corresponding intensity of the wireless signal obtains start position information;The position coordinates for obtaining commodity to be selected, by it is acquired to The position coordinates of selected commodity location information as a purpose;According to the start position information and the destination locations information Generate guidance path.

Second aspect, the embodiment of the present invention provide a kind of indoor navigation system, the system comprises: acquiring unit is used for The wireless signal for obtaining multiple wireless signal transmitter transmittings, obtains benchmark according to the intensity value of multiple wireless signals obtained Signal, using the corresponding wireless signal transmitter of the reference signal as datum mark;Searching unit, for according to the datum mark Reference zone is set, the mark of the wireless signal transmitter of the preset quantity in the reference zone is searched;Matching unit is used for Table is corresponded to according to the position being obtained ahead of time obtain each of searched the corresponding position of mark of the wireless signal transmitter and sit Mark, wherein it includes the corresponding position coordinates of each wireless signal transmitter that the position, which corresponds to table,;Initial position obtains single Member, for corresponding according to the position coordinates and each wireless signal of each of being searched the wireless signal transmitter Intensity obtains start position information;Marking unit, for obtaining the position coordinates of commodity to be selected, by acquired quotient to be selected The position coordinates of product location information as a purpose;First generation unit, for according to the start position information and the mesh Location information generate guidance path.

A kind of indoor navigation method and indoor navigation system provided in an embodiment of the present invention, by obtaining multiple wireless signals The wireless signal of transmitter transmitting, then obtains reference signal according to the intensity value of multiple wireless signals obtained, will be described The corresponding wireless signal transmitter of reference signal is as datum mark;And reference zone is set according to the datum mark, described in lookup After the mark of the wireless signal transmitter of preset quantity in reference zone;Table, which is corresponded to, further according to the position being obtained ahead of time obtains institute The corresponding position coordinates of mark of each of the lookup wireless signal transmitter, it includes each nothing that the position, which corresponds to table, The corresponding position coordinates of line signal projector;According to position coordinates for each of being searched the wireless signal transmitter and every The corresponding intensity of a wireless signal obtains start position information;The position coordinates for obtaining commodity to be selected, will be acquired The position coordinates of commodity to be selected location information as a purpose;Finally according to the start position information and the purpose status Confidence breath generates guidance path.By accurately positioning, so that the guidance path obtained is optimal path, allow a user to It is enough rapidly to be arrived at the destination according to the path.

Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification It is clear that by implementing understanding of the embodiment of the present invention.The objectives and other advantages of the invention can be by written theory Specifically noted structure is achieved and obtained in bright book, claims and attached drawing.

To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate Appended attached drawing, is described in detail below.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 is the application scenarios schematic diagram of indoor navigation system provided in an embodiment of the present invention;

Fig. 2 is a kind of method flow diagram of indoor navigation method provided in an embodiment of the present invention;

Fig. 3 is the method flow diagram of another indoor navigation method provided in an embodiment of the present invention;

Fig. 4 is a kind of module frame chart of indoor navigation system provided in an embodiment of the present invention;

Fig. 5 is the module frame chart of another indoor navigation system provided in an embodiment of the present invention.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented The component of example can be arranged and be designed with a variety of different configurations.

Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.

In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage Solution is indication or suggestion relative importance.

In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical" It has to fully horizontally, but can be slightly tilted.

In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one Connect to body;It can be mechanical connection, be also possible to be electrically connected;It can be directly connected, it can also be indirect by intermediary It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition State the concrete meaning of term in the present invention.

Fig. 1 is the application scenario diagram of indoor navigation system provided in an embodiment of the present invention.The indoor navigation system 100 includes RF tag 110, radio-frequency antenna 120, hub 130, reader 140, terminal 170, server 150, router 160 and wireless Signal projector 180.

In the present embodiment, the RF tag 110 is coupled with the radio-frequency antenna 120, the radio-frequency antenna 120 and institute The connection of reader 140 is stated, the reader 140 is connect with the server 150.

In the present embodiment, the RF tag 110 is surveyed when to measure for being placed on indoor fixed article The information of article will not there is a phenomenon where entanglements.Wherein, each RF tag 110 has a fixed identification information.Example Such as, the RF tag 110 is attached on the shelf of supermarket, then the type of goods put on the shelf is consistent, different shelf On the RF tag 110 that is pasted it is different, i.e., the identification information of the RF tag 110 pasted on A shelf is A, or A The information for the article put on shelf.The identification information of the RF tag 110 pasted on B shelf shortly is B, equally It can be the information for the article put on B shelf.It therefore, can be different to judge by different RF tags 110 The specific location of article.When position occurs for the carrier of the either fixed RF tag 110 of the article for posting RF tag 110 When variation, RF tag 110 can follow the carrier for fixing the RF tag 110 to move together.

In the present embodiment, the RF tag 110 can be RFID (Radio Frequency Identification) label.Wherein, RFID label tag refers to the label using Radio Frequency Identification Technology.

In the present embodiment, the radio-frequency antenna 120 is used to acquire the information of the RF tag 110, the packet Include the identification information of RF tag 110 and the intensity value of RF tag 110.Wherein, different radio frequency is acquired by radio-frequency antenna The identification information of label 110 and the intensity value of RF tag 110, wherein the intensity value of RF tag 110 passes through radio-frequency antenna The intensity of the signal of 120 collected RF tags 110 is judged.Wherein, in the present embodiment, the RF tag 110 The intensity of signal RF tag can be indicated using RISS (Received Signal Strength Indication) 110 intensity.I.e. by RF tag 110 being arranged on different carriers in advance, so that each RF tag 110 is from radio frequency The distance of antenna 120 is different, and the intensity of the signal of the RF tag 110 received so as to cause radio-frequency antenna 120 is different, To obtain the position of RF tag 110, and then obtain the position of the corresponding carrier of RF tag 110.

In the present embodiment, the hub 130 is used to provide the company between radio-frequency antenna 120 and the reader 140 Medium is connect, so that the identification information of the collected RF tag 110 of the radio-frequency antenna 120 and intensity value can pass through the line concentration Device 130 is sent to the reader 140.Wherein, the hub 130 can be by providing the radio channel of 2.4G for radio frequency day The identification information and intensity value of the collected each RF tag 110 of line 120 are transferred to reader 140.The i.e. described reader The radio channel of 140 2.4G provided by hub 130 obtains the collected each RF tag 110 of radio-frequency antenna 120 Identification information and intensity value.For example, by the 2.4G radio channel of hub 130 that radio-frequency antenna 120 is collected each The ID and RSSI value of RFID label tag are transferred to reader 140.

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

In the present embodiment, the reader 140 is used for the collected each RF tag of the radio-frequency antenna 120 110 identification information and intensity value is sent to server 150 by hub 130, so that server 150 is by each radio frequency mark Identification information and the intensity value storage of label 110.For example, reader 140 uses UDP (User Datagram Protocol) Communication pattern is connected with computer, then transfers data to database.So that terminal 170 can utilize HTTP (HyperText Transfer Protocol) network communication is connect with database, so that data packet is downloaded to terminal 170.

In the present embodiment, the server 150 is used to store the mark letter of the RF tag 110 of the transmission of reader 140 Breath and intensity value.

In the present embodiment, the server 150 can be database.For example, the RF tag that reader 140 is sent 110 identification information and intensity value is stored in inside database, so that user can be obtained by database is stored in database The identification information and intensity value of the RF tag 110 of the inside.

In the present embodiment, since the location information change of commodity is not frequent, i.e. the location information of RF tag 110 It will not be with variation, so setting database either server 150 updates primary information daily.

In the present embodiment, the router 160 is for providing wireless signal, so that terminal 170 and server 150 connect It connects.

The terminal 170 realizes navigation for positioning and by positioning, searches out what user needed to find by navigating Article either position.Wherein, the terminal 170 is connect with the server 150 by the router 160, i.e., the described end End 170 connects the server 150 by the wireless signal that the router 160 issues.The terminal 170 and the wireless communication Number transmitter 180 is wirelessly connected.

In the present embodiment, the terminal 170 includes wireless sensor, controller, display device, wireless connector sum number According to memory.The wireless sensor and the wireless signal transmitter 180 are wirelessly connected, the display device, described wireless Sensor, the data storage and the wireless connector are coupled with the controller, the wireless connector with it is described Server 150 is connected by the router 160, and the wireless connector and the router 160 are wirelessly connected.The i.e. described nothing Wiring connector connects the server 150 by the wireless signal that the router 160 issues.

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

In the present embodiment, wireless signal transmitter 180 is for providing wireless signal, so that terminal 170 can be according to adopting The intensity value of the wireless signal collected judges the specific location of terminal 170 indoors.

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

Referring to figure 2., a kind of indoor navigation method provided in an embodiment of the present invention, which comprises

Step S201: the wireless signal of multiple wireless signal transmitter transmittings is obtained, according to multiple wireless communications obtained Number intensity value obtain reference signal, using the corresponding wireless signal transmitter of the reference signal as datum mark.

Wherein, the reference signal refers to through the maximum wireless signal of the intensity value got for the first time, and should The corresponding wireless signal transmitter of wireless signal is as datum mark.

As an implementation, when user's handheld terminal enters the interior for being previously provided with wireless signal transmitter, When the terminal of user enters the range of receiving for the signal that wireless signal transmitter is emitted, terminal can and wireless signal transmitter Communication connection is established, terminal can receive the wireless signal for having built up the wireless signal transmitter transmitting of communication connection.When with When the hand-held terminal in family is entered in the signal cover of multiple wireless signal transmitters, just establish and multiple wireless signals The communication connection of transmitter, terminal can receive the wireless signal that multiple wireless signal transmitters issue as a result,.And wireless communication It include the device id of the wireless signal transmitter in the wireless signal of number transmitter transmitting, therefore, terminal can will receive Each wireless signal is corresponding with the device id of wireless signal transmitter of the wireless signal is issued.

Signal analysis software is equipped in terminal, which can analyze received each wireless signal Intensity, and be shown to user and check.As an implementation, application program is installed, terminal by this for answering in terminal It is connect with program with wireless signal transmitter, and intensive analysis is carried out to the received each wireless signal of institute, and with the shape of table Formula show the intensity of received wireless signal wireless signal transmitter corresponding with the wireless signal device id.For example, The intensity value that different wireless signals is shown on the first bed boundary clicks some intensity value, the second bed boundary is popped up, at this On second bed boundary, the corresponding device id of the wireless signal of the intensity value is shown.It is of course also possible to be, on an interface together When show device id and signal strength, it is also possible that by signal strength by it is high on earth in the way of by device id sequencing display.

Terminal and wireless signal transmitter, which are established, to be communicated to connect, and shows that user is located near the wireless signal transmitter, and The intensity of the wireless signal of the received wireless signal transmitter can illustrate user and the wireless signal transmitter away from From, it is generally the case that it is considered that signal strength is higher closer at a distance from the wireless signal transmitter, thus, it will be able to really Determine the Position Approximate of user.

Using wireless signal transmitter corresponding to the relatively high wireless signal of wireless signal strength as datum mark, In, datum mark can indicate the approximate distance of terminal Yu the datum mark, wherein the approximate distance refers to can by the datum mark To determine a range coordinate of the terminal from datum mark.

Step S202: reference zone is set according to the datum mark, searches the nothing of the preset quantity in the reference zone The mark of line signal projector.

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

As an implementation, according to datum mark and the area of reference zone, so as to find out each side of reference zone The coordinate of wireless signal transmitter on boundary's point finds out all wireless signals in reference zone according to calculated coordinate Transmitter.For example, the coordinate of datum mark is (0,0), the coordinate of boundary point is (2,0), the coordinate of wireless signal transmitter be (1, 0), according to each coordinate value, show that the wireless signal transmitter is located in the reference zone.

As another implementation method, reference zone can also be set according to the datum mark, the reference zone is according to pre- If rule is using datum mark as the center of circle, using preset length as radius, border circular areas is set, then the border circular areas is the reference area Domain is compared by the wireless signal transmitter got to the distance of the datum mark and the size of the radius of the reference zone Right, when the distance of wireless signal transmitter to the datum mark is less than radius, then the wireless signal transmitter is located at the reference area In domain, the otherwise just no longer reference zone.Wherein, it can also be centered on datum mark, using preset length as axis, set one Approximate region, the region can be rectangle or other shapes.

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

Step S203: it table is corresponded to according to the position being obtained ahead of time obtains and each of searched the wireless signal transmitter Identify corresponding position coordinates, wherein it includes that the corresponding position of each wireless signal transmitter is sat that the position, which corresponds to table, Mark.

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

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

Wherein, by searching for each of the wireless signal transmitter position coordinates and each wireless signal transmitter The intensity of the signal of transmitting, can be obtained by signal strength the signal projector to user distance, thus according to acquisition Distance obtains the coordinate of user, i.e. start position information with the coordinate of each wireless signal transmitter.

As a kind of implementation method, can be obtained by wireless signal strength the wireless signal transmitter to user away from From recycling triangulation obtains the position coordinates of user, i.e. start position information.Wherein, the position coordinates of user refer to The current position of terminal, as start position information.

It should be noted that triangulation refers to: being detected using 2 or 2 or more detectors in different location Then target bearing determines position and the distance of target with triangle geometrical principle.Such as in the present embodiment, by calculating eventually The distance of each wireless signal transmitter in reference zone is held, the coordinate of terminal is then obtained with triangulation.Example Such as, there are three points in reference zone, and respectively A (2,2), B (0,1), C (- 2, -2), datum mark is D (0,0), terminal Coordinate is (x, y).By the intensity of the signal of datum mark can obtain terminal to datum mark approximate distance, to obtain terminal Coordinate x value and y value, then go out the specific coordinate of terminal by triangle polyester fibre algorithm technology again, to realize accurate positioning Effect.

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

It wherein, will wherein commodity by the location coordinate information of all commodity in interior obtained in advance from server Commodity to be selected are chosen to be, the position of the commodity is destination locations information.

As one embodiment, it when user enters market, is obtained automatically by the local area network in market and is stored with commodity The data packet of coordinate information can be defeated by terminal when user, which needs to select a commodity from all commodity, to be bought Enter the identification information of the commodity, to obtain the position coordinates of the commodity, then the position coordinates are destination locations information.

Step S206: guidance path is generated according to the start position information and the destination locations information.

Wherein, guidance path refers to by the way that the coordinate of initial position and destination locations is connected the path to be formed. Wherein, according to the coordinate of initial position and destination locations it is possible that mulitpath, then by mulitpath according to stroke Length sequence, allows the user to select suitable path according to demand.It, can be by detecting the path and when forming path Between whether have barrier, if be tested with barrier, path if, can be by arriving at again after the cut-through object of initial position Destination locations.Wherein, detection barrier be by detection initial position and the coordinate of destination locations between whether there is also Other objects, by whether on the path to judge the coordinates of other objects between initial position and the coordinate of destination locations, To judge whether there is barrier.For example, A is starting point, B is purpose position, is deposited on the path formed between A and B In a large-scale shelf, then then needing when from from A on earth B around the shelf, to reach at B.So at this time Although guidance path and from A at B, can be around the shelf between AB to reach at B between guidance path.

As an implementation, guidance path is formed by the path between initial position and the coordinate of destination locations. Wherein, the guidance path is a real-time route, for example, when it is purpose position that user, which selectes a commodity, by mentioning The information for taking the RF tag at the commodity obtains the location information of the commodity, and the location information of the commodity is mapped in electronics On map, the current location information of user, the i.e. start position information of user are then obtained, in the same way by start bit The mapping of confidence breath on the electronic map, to determine guidance path by initial position on electronic map and destination locations. And during user's handheld terminal is from initial position to destination locations, initial position can be sent out with the movement of user It is raw to change, i.e., it is in user from the initial position of first time to being formed by multiple middle positions destination locations, i.e., logical Multiple intermediate position points are crossed, multiple intermediate position points are connected with line then and arrive destination locations so as to form initial position Guidance path.

Referring to figure 3., another indoor navigation method provided in an embodiment of the present invention, which comprises

Step S301: the wireless signal of multiple wireless signal transmitter transmittings is obtained, according to multiple wireless communications obtained Number intensity value obtain reference signal, using the corresponding wireless signal transmitter of the reference signal as datum mark.

The specific embodiment of step S301 can refer to step S201 corresponding to Fig. 2, and details are not described herein.

Step S302: reference zone is set according to the datum mark, searches the nothing of the preset quantity in the reference zone The mark of line signal projector.

The specific embodiment of step S302 can refer to step S202 corresponding to Fig. 2, and details are not described herein.

Step S303: it table is corresponded to according to the position being obtained ahead of time obtains and each of searched the wireless signal transmitter Identify corresponding position coordinates, wherein it includes that the corresponding position of each wireless signal transmitter is sat that the position, which corresponds to table, Mark.

The specific embodiment of step S303 can refer to step S203 corresponding to Fig. 2, and details are not described herein.

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

The specific embodiment of step S304 can refer to step S204 corresponding to Fig. 2, and details are not described herein.

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

The specific embodiment of step S305 can refer to step S205 corresponding to Fig. 2, and details are not described herein.

Step S306: guidance path is generated according to the start position information and the destination locations information.

The specific embodiment of step S306 can refer to step S206 corresponding to Fig. 2, and details are not described herein.

Step S307: the more new command that server is sent is obtained, the more new command includes updated commodity to be selected Position coordinates.

Wherein, only when the position coordinates wait select commodity change, server can be automatically by the coordinate after change Information is sent to terminal, allows the user to the position coordinates for obtaining newest selected commodity, enables a user to basis Newest coordinate is quickly found the commodity of target location.For example, can be set as updating primary information daily.

Step S308: it is generated according to the position coordinates of the updated commodity to be selected and the destination locations information The guidance path.

Wherein, after the position coordinates wait select commodity change, terminal passes through collected new commodity to be selected Position coordinates after, guidance path can be regenerated, allow the user to be quickly found purpose status according to the guidance path Set the commodity at place.

Referring to figure 4., a kind of indoor navigation system 400 provided in an embodiment of the present invention, the system are to execute with terminal Main body, the system comprises: acquiring unit 410, searching unit 420, matching unit 430, initial position acquiring unit 440, mark Remember unit 450 and the first generation unit 460.

Acquiring unit 410, for obtaining the wireless signal of multiple wireless signal transmitter transmittings, according to obtained multiple The intensity value of wireless signal obtains reference signal, using the corresponding wireless signal transmitter of the reference signal as datum mark;

Searching unit 420 searches the present count in the reference zone for setting reference zone according to the datum mark The mark of the wireless signal transmitter of amount;

Matching unit 430 obtains for correspond to table according to the position that is obtained ahead of time and each of is searched the wireless signal The corresponding position coordinates of the mark of transmitter, wherein it includes that each wireless signal transmitter is corresponding that the position, which corresponds to table, Position coordinates;

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

Marking unit 450 sits the position of acquired commodity to be selected for obtaining the position coordinates of commodity to be selected It is denoted as purpose location information;

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

Referring to figure 5., another indoor navigation system provided in an embodiment of the present invention, the system are to execute master with terminal Body, the system comprises: acquiring unit 510, searching unit 520, matching unit 530, initial position acquiring unit 540, label Unit 550, the first generation unit 560, updating unit 570 and the second generation unit 580.

Acquiring unit 510, for obtaining the wireless signal of multiple wireless signal transmitter transmittings, according to obtained multiple The intensity value of wireless signal obtains reference signal, using the corresponding wireless signal transmitter of the reference signal as datum mark.

Searching unit 520 searches the present count in the reference zone for setting reference zone according to the datum mark The mark of the wireless signal transmitter of amount.

Matching unit 530 obtains for correspond to table according to the position that is obtained ahead of time and each of is searched the wireless signal The corresponding position coordinates of the mark of transmitter, wherein it includes that each wireless signal transmitter is corresponding that the position, which corresponds to table, Position coordinates.

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

Marking unit 550 sits the position of acquired commodity to be selected for obtaining the position coordinates of commodity to be selected It is denoted as purpose location information.

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

Updating unit 570, for obtaining the more new command of server transmission, the more new command includes updated to be selected Determine the position coordinates of commodity

Second generation unit 580, for according to the updated commodity to be selected position coordinates and the destination Location information generates the guidance path.

In conclusion a kind of indoor navigation method provided in an embodiment of the present invention and indoor navigation system, more by obtaining The wireless signal of a wireless signal transmitter transmitting, then obtains benchmark letter according to the intensity value of multiple wireless signals obtained Number, using the corresponding wireless signal transmitter of the reference signal as datum mark;And reference zone is set according to the datum mark, After the mark for searching the wireless signal transmitter of the preset quantity in the reference zone;It is corresponding further according to the position being obtained ahead of time Table obtains the corresponding position coordinates of mark for each of being searched the wireless signal transmitter, and it includes often that the position, which correspond to table, The corresponding position coordinates of a wireless signal transmitter;It is sat according to the position for each of being searched the wireless signal transmitter It is marked with and the corresponding intensity of each wireless signal obtains start position information;The position coordinates of commodity to be selected are obtained, it will The position coordinates of acquired commodity to be selected location information as a purpose;Finally according to the start position information and described Destination locations information generates guidance path.By accurately positioning, so that the guidance path obtained is optimal path, with It allows users to rapidly arrive at the destination according to the path.

In several embodiments provided herein, it should be understood that disclosed device and method can also pass through Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing 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 regard, each box in flowchart or block diagram can represent the one of a module, section or code Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.

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

It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention. It should be noted that, in this document, relational terms such as first and second and the like are used merely to an entity or behaviour Make with another entity or operate distinguish, without necessarily requiring or implying between these entities or operation there are it is any this The actual relationship of kind or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to nonexcludability Include so that include a series of elements process, method, article or equipment not only include those elements, but also Including other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want There is also other identical elements in the process, method, article or equipment of element.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (4)

1. a kind of indoor navigation method characterized by comprising
The wireless signal for obtaining multiple wireless signal transmitter transmittings, determines the intensity value of multiple wireless signals obtained;It will The maximum wireless signal of intensity value is as reference signal, using the corresponding wireless signal transmitter of the reference signal as benchmark Point;
Using the datum mark as the center of circle, using preset length as radius, circular reference zone is set;
According to the datum mark and the area of the reference zone, the wireless communication on each boundary point of the reference zone is calculated The coordinate of number transmitter;
The mark for all wireless signal transmitters being located in the reference zone is searched according to the coordinate;
Table is corresponded to according to the position being obtained ahead of time obtain each of searched the corresponding position of mark of the wireless signal transmitter Set coordinate, wherein it includes the corresponding position coordinates of each wireless signal transmitter that the position, which corresponds to table,;
It is corresponding strong according to the position coordinates and each wireless signal of each of being searched the wireless signal transmitter Degree obtains start position information, wherein it is described according to the position coordinates for each of being searched the wireless signal transmitter and The step of corresponding intensity of each wireless signal obtains start position information include:
The corresponding wireless signal transmitting of each wireless signal is obtained according to the corresponding intensity of each wireless signal Distance of the device to the initial position;
According to acquired distance and the position of the wireless signal transmitter each of is searched using triangle polyester fibre algorithm Coordinate obtains the position coordinates of user, and the position coordinates are as start position information;
The position coordinates for obtaining commodity to be selected, by the position coordinates of acquired commodity to be selected status confidence as a purpose Breath;
Guidance path is generated according to the start position information and the destination locations information.
2. the method according to claim 1, wherein described according to the start position information and the destination After location information generates the step of guidance path, the method also includes:
The more new command that server is sent is obtained, the more new command includes the position coordinates of updated commodity to be selected;
The guidance path is generated according to the position coordinates of the updated commodity to be selected and the destination locations information.
3. a kind of indoor navigation system characterized by comprising
Acquiring unit determines multiple wireless communications obtained for obtaining the wireless signal of multiple wireless signal transmitter transmittings Number intensity value;Using the maximum wireless signal of intensity value as reference signal, the corresponding wireless signal of the reference signal is sent out Emitter is as datum mark;
Searching unit, for using preset length as radius, setting circular reference zone using the datum mark as the center of circle;
First computing unit calculates the reference zone for the area according to the datum mark and the reference zone The coordinate of wireless signal transmitter on each boundary point;
Second computing unit, for searching all wireless signal transmitters being located in the reference zone according to the coordinate Mark;
Matching unit each of is searched the wireless signal transmitter for correspond to table acquisition according to the position that is obtained ahead of time Identify corresponding position coordinates, wherein it includes that the corresponding position of each wireless signal transmitter is sat that the position, which corresponds to table, Mark;
Initial position acquiring unit, for according to position coordinates for each of being searched the wireless signal transmitter and each The corresponding intensity of the wireless signal obtains start position information, wherein the initial position acquiring unit is specifically used for:
The corresponding wireless signal transmitting of each wireless signal is obtained according to the corresponding intensity of each wireless signal Distance of the device to the initial position;
According to acquired distance and the position of the wireless signal transmitter each of is searched using triangle polyester fibre algorithm Coordinate obtains the position coordinates of user, and the position coordinates are as start position information;
Marking 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 generation unit, for generating guidance path according to the start position information and the destination locations information.
4. indoor navigation system according to claim 3, which is characterized in that after first generation unit, the room Interior navigation system further include:
Updating unit, for obtaining the more new command of server transmission, the more new command includes updated commodity to be selected Position coordinates;
Second generation unit, for according to the updated commodity to be selected position coordinates and the destination locations information Generate the guidance path.
CN201610701719.7A 2016-08-20 2016-08-20 Indoor navigation method and indoor navigation system CN106154223B (en)

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