CN106154223B - Indoor navigation method and indoor navigation system - Google Patents
Indoor navigation method and indoor navigation system Download PDFInfo
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- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-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
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
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
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.
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| CN108562869B (en) * | 2018-05-22 | 2021-08-03 | 京东方科技集团股份有限公司 | Indoor positioning navigation system and method |
| CN109191182A (en) * | 2018-08-08 | 2019-01-11 | 深圳市科脉技术股份有限公司 | Commodity air navigation aid and device based on unmanned supermarket |
| CN109375617B (en) * | 2018-09-26 | 2022-02-11 | 北京洪泰同创信息技术有限公司 | Intelligent furniture, emitter, furniture positioning and identifying system and method |
| CN111475661B (en) * | 2020-03-23 | 2023-07-14 | 深兰科技（上海）有限公司 | Method and device for constructing scene graph based on limited labels and computer equipment |
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| US8880103B2 (en) * | 2009-10-12 | 2014-11-04 | Qualcomm Incorporated | Method and apparatus for transmitting indoor context information |
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| 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 |
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