CN106961671A - The method and apparatus for gathering indoor positioning data - Google Patents
The method and apparatus for gathering indoor positioning data Download PDFInfo
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- CN106961671A CN106961671A CN201610012385.2A CN201610012385A CN106961671A CN 106961671 A CN106961671 A CN 106961671A CN 201610012385 A CN201610012385 A CN 201610012385A CN 106961671 A CN106961671 A CN 106961671A
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- location information
- collection
- route
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- indoor positioning
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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
- G01S5/0273—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 using multipath or indirect path propagation signals in position determination
Abstract
This application provides a kind of method and apparatus for gathering indoor positioning data.This method includes：Obtain the indoor map and the corresponding road net data of the indoor map in region to be collected；The collection route for including at least one path is generated in the indoor map according to the road net data；Receive the location information that at least one signal source equipment collected along the collection route on collection point is produced；According to the positional information of the location information of each collection point and collection point in road network, initial indoor positioning data are obtained；The initial indoor positioning data are compiled, indoor positioning data are obtained.The application improves the efficiency and accuracy of collection indoor positioning data.
Description
Technical field
The present invention relates to Internet technical field, more particularly to a kind of method and apparatus for gathering indoor positioning data, room
Interior localization method and device.
Background technology
At present, outdoor positioning Technical comparing is ripe, is mainly positioned by GPS, but be due to that gps signal can be built
Thing etc. is blocked, and gps signal is weaker indoors can not realize accurate indoor positioning.Indoor positioning technologies be but still within research and
Experimental stage, presently mainly by the location information of terminal device scans building inner rim, by the location information with it is preset
Indoor positioning data in indoor positioning database are matched, using the corresponding position of indoor positioning data that the match is successful as
The position that terminal device is currently located.
Indoor positioning data are mainly collected in the following manner：Outdoor workers recognize indoor according to indoor plane figure
Road, and wifi information is gathered on the indoor road identified, and location point is marked on plan indoors simultaneously；It is to be collected
After the completion of, by the indoor positioning data collected with the location point that is marked on plan indoors in the lump to surveyor, then
Determined by surveyor is processed to the location point in the indoor positioning data and indoor plane figure of collection to obtain interior
Position data.
The acquisition mode of this kind of indoor positioning data, on the one hand, after the completion of outdoor workers collection, then transfer to indoor occupant to enter
Row processing, less efficient, time delay is longer；On the other hand, due to marking location point, location point on artificial direct plan indoors
Whether the professional standards and experience of outdoor workers are accurately also relied on, it is more likely that because some human factors cause the position of mark
Put and be a little inaccurate, indoor positioning data are inaccurate so as to cause processing to obtain, and subsequently the use indoor positioning data carry out room
Interior positioning is also inaccurate；Another further aspect, by manually recognizing road from indoor plane figure, because plan is typically drawn more
It is coarse, manually it is not easy to identify road, so as to cause the problem of identification road is inaccurate or incomplete.
The content of the invention
One purpose of one embodiment of the application is, there is provided a kind of method for gathering indoor positioning data, to improve
Indoor positioning data acquisition efficiency and accuracy.
According to one embodiment of the application there is provided a kind of method for gathering indoor positioning data, methods described includes
Following steps：
Obtain the indoor map and the corresponding road net data of the indoor map in region to be collected；
The collection route for including at least one path is generated in the indoor map according to the road net data；
Receive the positioning letter that at least one signal source equipment collected along the collection route on collection point is produced
Breath；
According to the positional information of the location information of each collection point and collection point in road network, initial indoor positioning number is obtained
According to；
The initial indoor positioning data are compiled, indoor positioning data are obtained.
According to one embodiment of the application there is provided a kind of indoor orientation method, the indoor orientation method includes：
Location data and stored in receiving chamber；Wherein described indoor positioning data are according to foregoing collection indoor positioning data
Method obtain；
Receive the Location Request for carrying location information；
Location information and its position letter in location information, the indoor positioning data of storage in the Location Request
Breath, determines the corresponding positional information of location information in the Location Request；
Feed back the positional information determined.
According to one embodiment of the application there is provided a kind of device for gathering indoor positioning data, described device includes：
Acquiring unit, indoor map and the corresponding road net data of the indoor map for obtaining region to be collected；
Route Generation unit is gathered, at least one is included for being generated according to the road net data in the indoor map
The collection route in path；
Location information receiving unit, for receiving at least one letter collected along the collection route on collection point
The location information that number source device is produced；
Initial indoor positioning data generating unit, for the location information according to each collection point and collection point in road network
Positional information, obtains initial indoor positioning data；
Indoor positioning data generating unit, for being compiled to the initial indoor positioning data, obtains indoor positioning
Data.
According to one embodiment of the application there is provided a kind of indoor positioning device, including：
Indoor positioning data receipt unit, for receiving the indoor positioning that the device of foregoing collection indoor positioning data is uploaded
Data are simultaneously stored；
Location Request receiving unit, the Location Request of location information is carried for receiving；
Positional information determining unit, for the location information in the Location Request, the indoor positioning data of storage
Middle location information and its positional information, determine the corresponding positional information of location information in the Location Request；
Location information feedback unit, for feeding back the location information determined.
In one embodiment of the application, on the one hand, previously generate the indoor map and road net data for needing pickup area,
And road net data includes the positional information of all roads in region to be collected, therefore, by terminal device in region to be collected
Collected on road after location information, indoor positioning number directly can be generated according to the location information of collection point and positional information
According to, without as concentrated again after prior art field data acquisition wifi data by surveyor carry out processing so as to cause time delay compared with
It is long, the problem of less efficient；On the other hand, because the positional information of collection point has included accurate warp in road net data
Latitude coordinate information, therefore prior art is overcome in gatherer process by manually carrying out to collection point the marker bit on plan
Put a little and the problem of location point mark is inaccurate may be caused；Another further aspect, it is corresponding according to the indoor map in region to be collected
Road net data automatically generates collection route, due to specify which road region to be collected includes in the road net data, because
The collection route of this generation, which can be perfectly clear, clearly guide road to be collected to user, be recognized without user according to plan
And have that road Identification is difficult or identification road is not complete so as to causing the problem of indoor positioning data acquisition is not complete；Last side
Face, what is collected on collection route can be the location information that multiple signal source equipments are produced, as long as positioning can be produced
Information can be gathered, thus collection location information more comprehensively.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention its
Its feature, objects and advantages will become more apparent upon：
Fig. 1 is according to a kind of one of flow chart of method of collection indoor positioning data of the application.
Fig. 2 shows each path in the indoor map according to the region to be collected of the application one embodiment.
Fig. 2 a show the collection route generated according to the application one embodiment.
Fig. 3 is shown according to one of step S 140 flow chart implemented of the application one embodiment.
Fig. 3 a show the two of the flow chart implemented of the step S 140 according to the application one embodiment.
Fig. 3 b show the three of the flow chart implemented of the step S 140 according to the application one embodiment.
Fig. 4 show the WAP signal intensity that is collected each collection point according to the application one embodiment according to
The curve that the sequencing of collection is in turn connected to form.
Fig. 5 shows the schematic diagram for vacuating location information for vacuating and obtaining according to the application one embodiment.
Fig. 6, which is shown, vacuate showing of having after location information intensity level to lack sampling out according to the application one embodiment
It is intended to.
Fig. 7 shows the schematic diagram lacked according to the application one embodiment by the intensity level being fitted in polishing Fig. 6.
Fig. 8 is the two of the flow chart of the method for a kind of collection indoor positioning data according to the application.
Fig. 9 is the three of the flow chart of the method for a kind of collection indoor positioning data according to the application.
Figure 10 is a kind of flow chart of indoor orientation method according to the application.
Figure 11 is according to a kind of one of block diagram of device of collection indoor positioning data of the application.
Figure 12 is according to a kind of one of structured flowchart of initial indoor positioning data generating unit 140 of the application.
Figure 12 a are the two of the structured flowchart of a kind of initial indoor positioning data generating unit 140 according to the application.
Figure 12 b are the three of the structured flowchart of a kind of initial indoor positioning data generating unit 140 according to the application.
Figure 13 is the two of the block diagram of the device of a kind of collection indoor positioning data according to the application.
Figure 14 is the three of the block diagram of the device of a kind of collection indoor positioning data according to the application.
Figure 15 is a kind of block diagram of indoor positioning device according to the application.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the implementation below in conjunction with accompanying drawing to the present invention
Example is described in detail.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although operations are described as the processing of order by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be rearranged.When it
The processing can be terminated when operation is completed, it is also possible to the additional step being not included in accompanying drawing.The processing
It can correspond to method, function, code, subroutine, subprogram etc..
The computer equipment includes user equipment and the network equipment.Wherein, the user equipment includes but is not limited to electricity
Brain, smart mobile phone, PDA etc.；The network equipment includes but is not limited to what single network server, multiple webservers were constituted
Server group or the cloud being made up of a large amount of computers or the webserver based on cloud computing (Cloud Computing), wherein,
Cloud computing is one kind of Distributed Calculation, a super virtual computer being made up of the computer collection of a group loose couplings.Its
In, the computer equipment can isolated operation realize the application, also can access network and by being calculated with other in network
The application is realized in the interactive operation of machine equipment.Wherein, the network residing for the computer equipment include but is not limited to internet,
Wide area network, Metropolitan Area Network (MAN), LAN, VPN etc..
It should be noted that the user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
The computer equipment or network that can occur such as are applicable to the application, should also be included within the application protection domain, and to draw
It is incorporated herein with mode.
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, to implement, the program code or code segment of necessary task can be stored in machine or computer-readable medium (is such as deposited
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure and function detail disclosed herein are only representational, and are for describing showing for the application
The purpose of example property embodiment.But the application can be implemented by many alternative forms, and it is not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that may have been used term " first ", " second " etc. herein to describe unit,
But these units should not be limited by these terms.It is used for the purpose of using these terms by a unit and another unit
Make a distinction.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second
Member, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated items.
It should be appreciated that when a unit is referred to as " connecting " or during " coupled " to another unit, it can directly connect
Another unit is connect or be coupled to, or there may be temporary location.On the other hand, when a unit is referred to as " directly connecting
Connect " or " direct-coupling " arrive another unit when, then in the absence of temporary location.It should in a comparable manner explain and be used to retouch
State relation between unit other words (such as compared to " between being directly in ... " " between being in ... ", " and with ... it is neighbouring "
Compared to " with ... it is directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, and otherwise singulative " one " used herein above, " one " also attempt to include plural number.Should also
When understanding, term " comprising " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or its combination.
It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures shown in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
The technical scheme to the application is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the method flow diagram of the collection indoor positioning data according to the application one embodiment, and this method flow can
To be realized in terminal device (such as mobile phone, PAD, removable computer).It the described method comprises the following steps：
Step S 110, the indoor map and the corresponding road net data of the indoor map for obtaining region to be collected；
In the embodiment of the present invention, in advance to the collection of building each floor progress map datum, wherein map datum can
Including rendering data (including POI data (such as retail shop, Office Area), communal facility data (such as toilet, staircase)) and
Road data, obtains the indoor map and road net data of the floor.What is more refined can also press the indoor map of the floor
According to region division into several pieces (such as generation grid), every piece of region corresponds to an indoor map and road net data.In step S 110,
Region to be collected will gather the region of indoor positioning data for user, and the region to be collected can be a floor, can also
It is a part of region of floor.The indoor map and road network number in the region to be collected are obtained from the indoor map previously generated
According to.
In the embodiment of the present application, all roads that its corresponding region is included are contained in the road net data previously generated
Positional information (such as latitude and longitude coordinates).
Step S 120, the collection for including at least one path is generated in the indoor map according to the road net data
Route；
At least one signal source equipment that step S 130, reception are collected along the collection route on collection point is produced
Raw location information；
Step S 140, the positional information according to the location information and collection point of each collection point in road network, obtain initial room
Interior location data；
Step S 150, the initial indoor positioning data are compiled, obtain indoor positioning data.
The initial indoor positioning data are compiled by step S 150, specifically refer to enter initial indoor positioning data
The compiling of row binary system obtains binary file, to be adapted to network transmission and read data.
In step S120, implementing to use it is not limited to following three kinds of modes：
(user can carry out reconnaissance on map indoors, can also be indoors for mode 1, the terminus selected according to user
Terminus is inputted in the search box of map), at least one collection to be selected for connecting the terminus is planned from the road net data
Route；Number of paths, the path length sum that route includes are gathered according to be selected, collection is chosen from the collection route to be selected
Route；
Mode 2, determined according to the gateway information in region to be collected terminus (such as using two farthest doors of distance as rising
Terminal), at least one collection route to be selected for connecting the terminus is planned from the road net data；According to collection road to be selected
Number of paths that line includes, path length sum, collection route is chosen from the collection route to be selected；
Mode 3, the path in the road net data, plan at least a plurality of collection route, a plurality of collection route bag
The path non-overlapping copies contained, and a plurality of path that includes of collection route is all paths that the road net data is included.It is specific real
Now can be as follows：Multipair terminus is chosen on the road of the indoor map；For every a pair of terminus, from road net data not
The collection route of the planning connection terminus in the path planned, and by the path tag included in the collection route for
By path planning；Untill the path do not planned is not present in road net data.
In aforementioned manner 1 and mode 2, the number of paths that is included according to collection route to be selected, path length sum, from described
Collection route is chosen in collection route to be selected, is specifically included：
Step a1, the number of paths included according to the collection route to be selected for each collection route to be selected and road
Electrical path length sum, obtains the recommendation degree of the collection route to be selected.
Step a2, by recommendation degree highest it is to be selected collection route be defined as gather route.
In step a1, implement as：According to preset number of paths and the relation of preset score value, collection to be selected is determined
Corresponding first score value of number of paths that route is included；How corresponding wherein number of paths score value more be higher；According to preset road
The relation of line total length and preset score value, determines corresponding second score value of path total length that collection route to be selected is included；Its
The more long corresponding score value of middle route total length is higher.For example：The length range of preset multiple route total lengths, each length range
One score value of correspondence, the path total length that includes of collection route to be selected is compared with length range, fallen length
The corresponding score value of scope is defined as second score value；According to the first score value and the first preset power of the collection route to be selected
Weight (first weight is set according to number of paths, and how corresponding such as number of paths the first weight more be bigger), the second score value and pre-
The second weight (second weight is set according to the long road of route, and more big corresponding second weight of such as path length is bigger) put, really
The recommendation degree of the fixed collection route to be selected is (for example：The second weights of score value * the first weight the+the second score value * of recommendation degree=first).
In the embodiment of the present invention, the setting of the first weight and the second weight can be using following but be not limited to two ways：Mode 1,
One weight is set according to number of paths, and how corresponding such as number of paths the first weight more be bigger；Second weight is according to the long road of route
Set, more big corresponding second weight of such as path length is bigger；When the recommendation for subsequently calculating collection route to be selected is spent, obtain this and treat
Corresponding first weight of number of paths and obtain the collection route total length corresponding second to be selected that choosing collection route is included
Weight；Mode 2, the first weight of setting and the second weight are two constants.
Below by taking road networks of the Fig. 2 for the indoor map of a certain floor as an example, said process is illustrated.
As Fig. 2 includes path AB, BE, DE, AD, BC, CF, EF, FH, EG, GH, HK, GI, IK.Assuming that user selectes Fig. 2
In node A as starting point, K is used as terminal.Following 15 connections A and K collection route to be selected is cooked up from road net data：
Route 1：AB-BC-CF-FH-HK
Route 2：AB-BC-CF-FH-HG-GI-IK
Route 3：AB-BC-CF-FE-EG-GH-HK
Route 4：AB-BC-CF-FE-EG-GI-IK
Route 5：AB-BE-EF-FH-HK
Route 6：AB-BE-EF-F H-HG-GI-IK
Route 7：AB-BE-EG-GH-HK
Route 8：AB-BE-EG-GI-IK
Route 9：AD-DE-EF-FH-HK
Route 10：AD-DE-EF-FH-HG-GI-IK
Route 11：AD-DE-EG-GH-HK
Route 12：AD-DE-EG-GI-IK
Route 13：AD-DE-EB-BC-CF-FH-HK
Route 14：AD-DE-EB-BC-CF-F E-EG-GH-HK
Route 15：AD-DE-EB-BC-CF-F E-EG-GI-IK
The number of paths of process is more, and the first score value is bigger.Route total length is longer, and the second score value is bigger.For example, first
The number of paths of score value=process, the second score value=route total length.Assuming that in Fig. 2, AB, BE, DE, AD, BC, CF, EF, FH,
EG, GH, HK, GI, IK are 1 meter, then route 1-15 the first score value and the second score value such as following table：
It is assumed that the first weight is 0.4, the second weight is 0.6, according to below equation：
The weight (formula 1) of the score value of the score value of weight+the second of the score value of the score value of the recommendation degree of each route=first × first × second
Finally calculating the recommendation degree of each route is：
Find out from upper table, the recommendation degree highest of route 14 and 15, hence, it can be determined that one in route 14 and 15,
Such as route 14, to gather route, as shown in Figure 2 a.
In above-mentioned example, by A of starting point, terminal be that K has carried out example.If the other terminus of user's selection, most
The collection route obtained afterwards may be different.But due to gathering the selection of route based on the number of path included according to collection route to be selected
What amount, path length sum were carried out, this has just ensured that collection route can cover longer path, and the interior collected is determined
Position data are more comprehensively.
In step S130, the collection point can be collector after collection route is obtained, in advance on collection route
The location point of mark, collector gathers location information at the collection point；Can also be that timing is provided with terminal device
Device, starts timing when collector is acquired along collection route, (such as 10ms) collection is spaced at predetermined time intervals once
Location information, collection point is defined as by the location point for gathering location information；It is also possible that when generating road net data, advance pin
To each path setting collection point and (such as on path every 0.3 meter set a collection point) is stored, route is gathered in generation
Afterwards, collection point preset on the path that the collection route is included can directly be known.
In step s 130, signal source equipment can include but is not limited at least one in following equipment：AP is (right
The location information answered may include wifi, bluetooth etc.), base station, sensor (such as barometer (correspondence location information be pressure information),
Gravitometer (correspondence location information is gravitation information), magnetometer (correspondence location information is Magnetic Field), gyroscope are (corresponding fixed
Position information is velocity information and directional information), optical inductor etc.).
In step S 140, according to the positional information of the location information of each collection point and collection point in road network, obtain initial
Indoor positioning data, can specifically be realized, method includes by method flow as shown in Figure 3：
Step S 141, will be that the location information of same signal source equipment is divided into one group in the corresponding location information in collection point,
Obtain at least one set of location information；
Step S 142, for each group of location information, this group of location information is collected according to its corresponding collection point
Sequencing is ranked up；
Step S 143, every group of location information after sequence vacuated respectively, obtain vacuating location information；
Step S 144, collection point identical in location information will be vacuated it is divided into one group, collection point is corresponding is vacuated to obtain
Location information；
Step S 145, the corresponding positional information for vacuating location information and the collection point in road network in collection point entered
Row association, forms initial indoor positioning data.
Wherein step S 143 is implemented can be as follows：For every group of location information after sequence, following steps are performed：
Step b 1, the intensity level according to every group of location information, determine the Strength Changes gradient of the location information；
Step b2, each gradient for the Strength Changes gradient, sampling frequency is determined according to the gradient of the gradient,
And the location information for including the gradient according to the sampling frequency is vacuated, obtain vacuating location information；Wherein, gradient slope
Degree is gentler, and sampling frequency is lower, and gradient slope is steeper, and sampling frequency is higher.
It is straight that the gradient slope of each gradient of the application refers to that the location information intensity in the gradient positioned at two ends is constituted
The absolute value of the slope of line.
Fig. 4-Fig. 5 is that, using signal source equipment as AP, AP corresponds to location information exemplified by wifi signals, to specifically describe step S
Two schematic diagrames of 143 implementation process.
The intensity of the WIFI signal collected successively along each collection point of the collection route is linked to be a curve,
As shown in Figure 4.That is, it is on 1 meter, every section of path in every section of path along route 14, AD-DE-EB-BC-CF-FE-EG-GH-HK
A WIFI signal can be gathered by being for example spaced 0.125 meter, and the intensity of the WIFI signal collected is connected just into Fig. 4's
Curve.The Variation Features that the curve is shown are：From node A-F, the Strength Changes of WIFI signal are gradually increasing；In node F-H,
The Strength Changes of WIFI signal are gentle；In node F-K, the Strength Changes of WIFI signal drastically decline.The intensity of WIFI signal becomes
The changing features for changing its gentle embodiment wifi information are smaller, therefore can vacuate a small amount of location information in the less gradient of the gradient,
To ensure that information content loss is less while reducing data volume；The Strength Changes of WIFI signal more drastically its embody wifi information
Changing features it is larger, therefore many location informations can be vacuated in the larger gradient of the gradient, to ensure in the same of reduction data volume
When ensure information content loss it is smaller.
Accordingly, it is determined that going out in Fig. 4 to have three variable gradients：A-F sections of node has a variable gradient, and F-H sections of node has
One variable gradient, H-K sections of node has a variable gradient, A-F sections of gradient slopes of gradient slope ＞ nodes of H-K sections of its interior joint
Spend F-H sections of gradient slopes of ＞ nodes.The gradient of H-K sections of gradients is maximum, is 8/meter from H-K sections of sampling frequencys；A-F sections of ladder
Spend the gradient secondly, be 4/meter from A-F sections of sampling frequencys；The gradient slope that F-H sections of node is minimum, from F-H sections of sampling frequently
Rate is 1/meter, after vacuating as shown in Figure 5.
The embodiment of the present application first determines the Strength Changes gradient of location information, in the big part multisampling of variable gradient,
The small part of variable gradient is sampled less, because the big part of variable gradient can more represent the feature of WAP information.Pass through
So handle so that on the one hand pass through reduction data volume of sampling so that disposal ability is not as the strong terminal energy of server
The task of collection indoor positioning data is enough undertaken without allowing server to go processing, is imitated so as to reduce the stand-by period and improve
Rate.
Preferably, the accuracy of location information is vacuated for raising, may be used also between abovementioned steps S 143 and step S 144
Including step S143a, as shown in Figure 3 a, also include：
Step S 143a, every group of location information vacuated after, determine intensity level missing or intensity level saltus step
It is to be modified to vacuate location information；By it is to be modified vacuate location information before and after the adjacent intensity level for vacuating location information intended
Close, obtain the intensity level to be modified for vacuating location information, for example：By the flat of the front and rear adjacent intensity level for vacuating location information
Average is defined as the intensity level to be modified for vacuating location information.
In figure 6, at A-F sections, location information b strength information missing is vacuated, but vacuates the adjacent of location information b and takes out
Dilute location information a and c includes strength information, is fitted and is vacuated according to the strength information for vacuating location information a and c
Location information b strength information.H-K sections, location information m strength information missing is vacuated, but vacuates the adjacent of location information m
Vacuating location information 1 and n includes strength information, is fitted and is taken out according to the strength information for vacuating location information 1 and n
Dilute location information m strength information.As shown in Figure 7.
The intensity level saltus step of location information refers to that it is fixed that a certain intensity level for vacuating location information is vacuated with adjacent former and later two
The difference of the intensity level of position information is larger, and for example difference exceedes predetermined threshold.For example, continuous 3 intensity for vacuating location information
Value is respectively 40,90,50, and predetermined threshold is 30.Then the difference of 40 and 90 difference, 90 and 50 is above the threshold value, it is determined that intensity
Saltus step occurs for value 90, can now be intended according to the intensity level of the front and rear intensity level 40 for vacuating location information and 50 pairs of generation saltus steps
Close, be such as fitted to 45.
Wherein step S 143a can be immediately performed after one group of location information of step S143 each pairs is vacuated；Also may be used
Being performed again after 143 pairs of all groups of location informations of step S are vacuated, the application does not do considered critical.
Preferably, the accuracy of rear location information is vacuated to further ensure that, in advance to every group of location information after sequence
Invalid data rejecting is carried out, so being taken a step forward in step S 143 may also include step S142a, as shown in Figure 3 b：
Step S 142a, for every group of location information, invalid positioning is determined according to the attribute information of this group of location information
Information, and invalid location information is rejected.Invalid location information is determined, specifically be can be achieved as follows：Judge whether location information is full
Any one in lower condition is enough, it is invalid location information that the location information is determined if meeting：First condition, positioning letter
Cease coverage and be less than preset coverage threshold value；Second condition, location information duration is less than preset duration threshold value；
Third condition, location information value intensity exceedes the corresponding normal intensity scope of the affiliated type of the location information.
So that location information is WIFI signal as an example, terminal device collects WIFI signal in collection point on collection route, both
The intensity level of wifi signals can be gathered, the coverage of the WIFI signal and the duration of WIFI signal can be also collected.
If the coverage of the WIFI signal is too small or duration is too short, it is one unstable to illustrate the WIFI signal detected
Signal.Therefore, the coverage of the WIFI signal is compared with a preset coverage threshold value, if less than the covering model
Enclose threshold value and be then regarded as invalid data rejecting；By the duration of WIFI signal and a preset duration threshold value ratio
Compared with, if less than the duration threshold value be then regarded as invalid data reject.Normal WIFI signal intensity should all fall one
It is individual interval interior, for example【A, b】Interval in.When the WIFI signal intensity collected is less than a, it is believed that it is not one normal
WIFI signal, it may be possible to produced due to collection mistake or some other non-normal condition, therefore regard it as nonstandard numbers evidence
Reject.
The scheme shown in Fig. 3 is understood for ease of those skilled in the art, is described with a specific example.Should
In example, it is assumed that be disposed with four signal source equipments, respectively A, B, C, D on collection route, corresponding location information be a, b,
c、d；Collection point sequencing is followed successively by t1, t2, t3, t4, t5, t6, t7, t8, position of the collection point in road network be followed successively by p1,
p2、p3、p4、p5、p6、p7、p8；The location information wherein collected respectively in collection point t1, t2, t3, t4, t5, t6, t7, t8
Respectively：{ a1, b1 } { a2, b2, c2 } { a3, b3, c3 } { b4, c4, d4 } { b5, c5, d5 } { c6, d6 } { c7, d7 } { d8 }.According to
Step shown in Fig. 3：First, the location information 8 collection points collected is grouped according to signal source equipment, obtains four groups
Location information is respectively { a1, a2, a3 }, { b1, b2, b3, b4, b5 }, { c2, c3, c4, c5, c6, c7 }, and d4, d5, d6, d7,
d8}；Secondly, four groups of location informations are vacuated respectively, obtains vacuating location information for { a1, a3 }, { b1, b3, b5 }, c2,
C4, c6 }, { d4, d6, d8 }；Then, collection point identical in four groups of location informations is divided into one group, obtains 7 groups and vacuate positioning letter
Cease for { a1, b 1 }, { c2 }, { a3, b3 }, { c4, d4 }, { b5 }, { c6, d6 }, { d8 }；Finally, by the positional information of collection point and
Location information after vacuating, which is associated, obtains initial indoor positioning data, such as：By p1- { a1, b 1 }, p2- { c2 }, p3- a3,
B3 }, p4- { c4, d4 }, p5- { b5 }, p6- { c6, d6 }, p8- { d8 } is used as initial indoor positioning data.
Preferably, to ensure the obtained accuracy of indoor positioning data, in the flow shown in earlier figures 3, step S
Before 150 pairs of initial indoor positioning data are compiled, can also the initial indoor positioning generated be utilized by terminal device
Data are positioned in real time, and are compared to according to relevant position on positioning result and road network to determine initial indoor positioning data
Accuracy.Specifically, comprise the following steps before abovementioned steps S 150, as shown in Figure 8：
The location information that step S 140a, reception are collected along the collection route on check post；
Step S 140b, the location information according to check post, the initial indoor positioning data, are verified prediction a little
Positional information；
Check post can be the location point or user's hand-held terminal device that user selectes in the collection route
Start timer when being walked along collection route, one-time positioning is done every setting time interval, using the anchor point as check post, also
Can, when generating road net data, check post and the preservation of indoor positioning data verification be previously generated for each path.
Step S 140c, the positional information according to the predicted position information and the check post of the check post in road network
Determine positioning precision；
Step S 140c are implemented can be as follows：By the predicted position information of check post and position of the check post in road network
Confidence breath is matched, and determines that the check post is positioned successfully if the match is successful；Successful check post quantity will be positioned with testing
The ratio of card point total quantity is defined as positioning precision.For example：Check post is N number of, and wherein n1 check post is positioned successfully, and n2 are tested
Point location failure (wherein n1+n2=N) is demonstrate,proved, then positioning precision is n1/N.For example, one has 10 check posts, wherein, there are 9
The match is successful for check post, then positioning precision is 90%.
Step S 140d, judge whether the positioning precision is more than or equal to preset precision threshold, if then performing described
Step S 150；If otherwise adjustment vacuates strategy and re-executes S 143.
For example, preset precision threshold is 80%, then positioning precision 90% is more than the precision threshold, can perform step
S150.If positioning precision is 70%, positioning precision is not reaching to the precision threshold, and H-K ladders can be for example improved in Figure 5
The sampling frequency of degree, the sampling frequency of A-F gradients, so that the positioning precision after adjustment disclosure satisfy that precision threshold.
Location informations of the abovementioned steps S 140b according to check post, the initial indoor positioning data, are verified a little
Predicted position information, implementing can be as follows：
Step 1, location information and each the indoor positioning number in initial indoor positioning data for calculating check post respectively
According to similarity；
Step 2, the prediction that the corresponding positional information of similarity highest indoor positioning data is defined as to the check post
Positional information.
In abovementioned steps 1, for each indoor positioning data (each room in each initial indoor positioning data
Interior location data includes at least one location information and positional information), implementing can be as follows：
Step 1a, determine in the indoor positioning data whether to include to position with the location information type identical of check post and believe
Breath；If being determined not comprising if, similarity of the indoor positioning data with the location information of the check post is 0；If then performing step
Rapid 1b；
Step 1b, the same type location information determined according to step 1a, calculate each positioning in check post respectively
The similarity of information and same type location information in indoor positioning data；For example：The a certain location information a1's of check post is strong
It in k1, indoor positioning data with location information a1 type identical location information a2 intensity level is k2 that angle value, which is, then should
Location information a1 and location information a2 similarity is
Step 1c, the same type location information number obtained according to each obtained similarity of step 1b and step 1a
Amount, comprehensively obtains the similarity of the indoor positioning data and the location information of check post.In the following manner is can be, but not limited to obtain
To similarity：
(average value can be arithmetic mean of instantaneous value to the average value for each similarity that mode 1, calculation procedure 1b are obtained, several
What average value or weighted average)；The average value and the first preset multiplied by weight are obtained into the first product, by indoor positioning number
Quantity and the second multiplied by weight with check post location information same type location information in obtain the second product, and first is multiplied
Product and the second product and value be defined as the similarity of the indoor positioning data and the location information of check post.
Mode 2, judge to position with check post location information same type in indoor positioning data in step 1a at determination
The quantity n1 of information, the total quantity n2 for the location information that quantity n1 and check post are included ratio；Whether judge the ratio
More than or equal to preset threshold value, (average value can be with for the average value for the similarity that calculation procedure 1b is obtained if more than or equal to being
It is arithmetic mean of instantaneous value, geometrical mean or weighted average), it regard the average value as the indoor positioning data and check post
The similarity of location information, if the location information that the indoor positioning data and check post are determined less than if similarity be 0.
For example：The location information that hypothesis verification point P includes is { a, b }；Initial indoor positioning data include four interiors and determined
Bit array, be respectively：P1- { a1 }, p2- { a2, b2 }, p3- { a3, b3, c3 } p4- { c4, d4 }.Understood according to abovementioned steps 1a, p
A1 is identical with the location information a types of check post in 1- { a1 }, the location information of a1, b2 respectively with check post in p2- { a2, b2 }
A, b type are identical, and a3, b3 are identical with location information a, the b type of check post respectively in p3- { a3, b3, c3 }, p4- { c4, d4 }
In location information type identical location information not no with check post, therefore, p4- { c4, d4 } and the location information of check post
Similarity be 0；According to abovementioned steps 1b, the similarity for calculating a1 and a is p 11；The similarity for calculating a2 and a is p21, b2
Similarity with b is that p22, a3 and a similarity are that p31, b3 and b similarity is p32.According to abovementioned steps 1c, it can obtain
Similarity to p 1- { a1 } and { a, b } is x1, p2- { a2, b2 } and { a, b } similarity for x2, p3- { a3, b3, c3 } with
The similarity of { a, b } is x3；For example：X1=k1*p11+k2*1；X2=k1* (p21+p22)/2+k2*2；X3=k1* (p31+
p32)/2+k2*2。
Preferably, the embodiment of the present invention, can also can also include step in the method flow shown in earlier figures 1, Fig. 8
S160, as shown in Figure 9.
Step S160, the indoor positioning data are uploaded onto the server.
As shown in Figure 10, the embodiment of the present application additionally provides a kind of indoor orientation method of server end, the localization method
Can perform or performed in server end in terminal device.The indoor orientation method includes：
Location data and stored in step S210, receiving chamber, wherein the indoor positioning data is adopt according to preceding method
Collection is obtained, and will not be repeated here；
Step S220, reception carry the Location Request of location information；
Step S230, the location information in the Location Request, storage indoor positioning data in location information and
Its positional information, determines the corresponding positional information of location information in the Location Request；
The positional information that step S240, feedback are determined.
If this method flow is applied in server end, abovementioned steps S210 is from location data in terminal device receiving chamber；
Step S220 receives the Location Request that user terminal is sent；Step S240 feeds back the positional information determined to user terminal.
In one embodiment, implement can be as follows by step S230：Calculate the location information in the Location Request
Respectively with the similarity of the location information in indoor positioning data, the corresponding positional information of the maximum location information of similarity is made
For the positional information of the user terminal.How similarity is calculated reference can be made to foregoing teachings, will not be repeated here.
As shown in figure 11, one embodiment of the application provides a kind of device 100 for gathering indoor positioning data, described
Device includes：
Acquiring unit 110, indoor map and the corresponding road net data of the indoor map for obtaining region to be collected；
Route Generation unit 120 is gathered, is included at least for being generated according to the road net data in the indoor map
The collection route of one paths；
Gather Route Generation unit 120 specifically for：The terminus selected according to user or according to region to be collected
Gateway information determines terminus, and at least one collection route to be selected for connecting the terminus is planned from the road net data；
Number of paths, the path length sum that route includes are gathered according to be selected, collection route is chosen from the collection route to be selected；
Or, according to the path in the road net data, at least a plurality of collection route is planned, the path that a plurality of collection route is included is mutual
It is not overlapping, and a plurality of path that includes of collection route is all paths that the road net data is included.
The collection Route Generation unit 120 gathers number of paths, the path length sum that route includes according to be selected, from
A collection route is chosen in the collection route to be selected, specifically for：
For each collection route to be selected, the number of paths and path length included according to the collection route to be selected it
With, obtain it is described it is to be selected collection route recommendation degree；Recommendation degree highest collection route to be selected is defined as gathering route.
The number of paths and path length that the collection Route Generation unit 120 includes according to the collection route to be selected it
With, obtain it is described it is to be selected collection route recommendation degree, specifically include：
According to preset number of paths and the relation of preset score value, the number of paths pair that collection route to be selected is included is determined
The first score value answered；How corresponding wherein number of paths score value more be higher；
According to the relation of preset route total length and preset score value, the path overall length that collection route to be selected is included is determined
Spend corresponding second score value；The wherein more long corresponding score value of route total length is higher；
According to the first score value of the collection route to be selected and the first preset weight, the second score value and the second preset power
Weight, determines the recommendation degree of the collection route to be selected.
Location information receiving unit 130, for receiving collected along the collection route on collection point at least one
The location information that individual signal source equipment is produced；
Initial indoor positioning data generating unit 140, for the location information according to each collection point and collection point in road network
In positional information, obtain initial indoor positioning data；
Indoor positioning data generating unit 150, for being compiled to the initial indoor positioning data, obtains indoor fixed
Position data.
Alternatively, the structure of initial indoor positioning data generating unit 140 as shown in figure 12, is specifically included：
Be grouped subelement 1401, for by be in the corresponding location information in collection point same signal source equipment location information
It is divided into one group, obtains at least one set of location information；
Sort subelement 1402, for for each group of location information, by this group of location information according to its corresponding collection
The collected sequencing of point is ranked up；
Subelement 1403 is vacuated, for respectively vacuating every group of location information after sequence, obtains vacuating positioning letter
Breath；
Location information generation subelement 1404 is vacuated, is divided into one group for collection point identical in location information will to be vacuated,
To obtain, collection point is corresponding to vacuate location information；
Initial indoor positioning data generation subelement 1405, for vacuating location information and this is adopted by collection point is corresponding
Positional information of the collection point in road network is associated, and forms initial indoor positioning data.
Alternatively, it is described to vacuate subelement 1403, specifically for：
For every group of location information after sequence, following steps are performed：
According to the intensity level of every group of location information, the Strength Changes gradient of the location information is determined；
For each gradient of the Strength Changes gradient, sampling frequency is determined according to the gradient of the gradient, and according to
The location information that the sampling frequency is included to the gradient is vacuated, and obtains vacuating location information；Wherein, gradient slope is more flat
Slow sampling frequency is lower, and gradient slope is steeper, and sampling frequency is higher.
Alternatively, initial indoor positioning data generating unit 140 still further comprises revise subelemen 1406, such as Figure 12 a
It is shown：
Revise subelemen 1406, for being vacuated described after 1403 pairs of every group of location informations of subelement vacuate, really
Make intensity level missing or the to be modified of intensity level saltus step vacuates location information；By it is to be modified vacuate it is adjacent before and after location information
The intensity level for vacuating location information is fitted, and obtains the intensity level to be modified for vacuating location information.
Preferably, still further comprised in the initial indoor positioning data generating unit 140 described in earlier figures 12 or Figure 12 a
Subelement 1407 is filtered, also includes filtering subelement 1407 in Figure 12 a as shown in Figure 12b：
Subelement 1407 is filtered, for being vacuated described before 1403 pairs of every group of location informations of subelement vacuate, root
Invalid location information is determined according to the attribute information of this group of location information, and invalid location information is rejected.
The filtering subelement 1407 determines invalid location information according to the attribute information of this group of location information, specific to use
In：
Judge whether location information meets any one in following condition, it is nothing that the location information is determined if meeting
Imitate location information：
First condition, location information coverage is less than preset coverage threshold value；
Second condition, location information duration is less than preset duration threshold value；
Third condition, location information value intensity exceedes the corresponding normal intensity scope of the affiliated type of the location information.
Preferably, authentication unit 160, such as Figure 13 can also be included in earlier figures 12, the device shown in Figure 12 a and Figure 12 b
Showing in the device shown in Figure 12 also includes authentication unit 160：
Authentication unit 160, for entering in 150 pairs of the indoor positioning data generating unit initial indoor positioning data
Before row compiling, the location information collected along the collection route on check post is received；Believed according to the positioning of check post
Breath, the initial indoor positioning data, are verified predicted position information a little；According to the predicted position information of the check post
And positional information of the check post in road network determines positioning precision；Judge whether the positioning precision is more than or equal to preset
Precision threshold, if then triggering the indoor positioning data generating unit 150；If otherwise vacuating subelement 1403 described in triggering
Adjustment vacuates strategy and every group of location information after sequence is vacuated respectively again.
Preferably, location information of the authentication unit 160 according to check post, the initial indoor positioning data, are obtained
The predicted position information of check post, specifically for：
The similarity of the location information of the check post respectively with the location information in initial indoor positioning data is calculated, will
The maximum corresponding positional information of location information of similarity as the check post predicted position information；
Position of the authentication unit 160 according to the predicted position information and the check post of the check post in road network
Information determines positioning precision, specifically for：The position of the predicted position information of check post and the check post in road network is believed
Breath is matched, and determines that the check post is positioned successfully if the match is successful；Successful check post quantity and check post will be positioned
The ratio of total quantity is defined as positioning precision.
Preferably, uploading unit 170 is also included in 11~Figure 13 of earlier figures shown devices, as shown in figure 14 in Figure 11 institutes
Also include uploading unit 170 in the device stated：
Uploading unit 170, for the indoor positioning data to be uploaded onto the server.
As shown in figure 15, one embodiment of the application additionally provides a kind of indoor positioning device 200, the indoor positioning
Device includes：
Indoor positioning data receipt unit 210, for receiving the indoor positioning data of aforementioned means upload and storing；
Location Request receiving unit 220, the Location Request of location information is carried for receiving；
Positional information determining unit 230, for the location information in the Location Request, the indoor positioning number of storage
According to middle location information and its positional information, the corresponding positional information of location information in the Location Request is determined；
Location information feedback unit 240, for feeding back the location information determined.
It should be noted that the part of the present invention can be applied to computer program product, such as computer program refers to
Order, when it is computer-executed, by the operation of the computer, can call or provide the method according to the invention and/or
Technical scheme.And the programmed instruction of the method for the present invention is called, it is possibly stored in fixed or moveable recording medium,
And/or be transmitted by the data flow in broadcast or other signal bearing medias, and/or be stored in and referred to according to described program
Make in the working storage of computer equipment of operation.Here, including a device, the dress according to one embodiment of present invention
Put including for storing the memory of computer program instructions and processor for execute program instructions, wherein, when the calculating
When machine programmed instruction is by the computing device, method of the plant running based on foregoing multiple embodiments according to the present invention is triggered
And/or technical scheme.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in system claims is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (26)
1. a kind of method for gathering indoor positioning data, it is characterised in that the described method comprises the following steps：
Obtain the indoor map and the corresponding road net data of the indoor map in region to be collected；
The collection route for including at least one path is generated in the indoor map according to the road net data；
Receive the location information that at least one signal source equipment collected along the collection route on collection point is produced；
According to the positional information of the location information of each collection point and collection point in road network, initial indoor positioning data are obtained；
The initial indoor positioning data are compiled, indoor positioning data are obtained.
2. according to the method described in claim 1, it is characterised in that according to the location information of each collection point and collection point in road network
In positional information, obtain initial indoor positioning data, specifically include：
It will be that the location information of same signal source equipment is divided into one group in the corresponding location information in collection point, obtain at least one set of fixed
Position information；
For each group of location information, the sequencing that this group of location information is collected according to its corresponding collection point is arranged
Sequence；
Every group of location information after sequence is vacuated respectively, obtains vacuating location information；
Collection point identical in location information will be vacuated and be divided into one group, collection point is corresponding to vacuate location information to obtain；
The corresponding positional information for vacuating location information and the collection point in road network in collection point is associated, forms initial
Indoor positioning data.
3. method according to claim 2, it is characterised in that vacuated respectively to every group of location information after sequence,
Obtain vacuating location information, specifically include：
For every group of location information after sequence, following steps are performed：
According to the intensity level of every group of location information, the Strength Changes gradient of the location information is determined；
For each gradient of the Strength Changes gradient, sampling frequency is determined according to the gradient of the gradient, and take out according to this
The location information that sample frequency is included to the gradient is vacuated, and obtains vacuating location information；Wherein, gradient slope is more gently taken out
Sample frequency is lower, and gradient slope is steeper, and sampling frequency is higher.
4. according to the method in claim 2 or 3, it is characterised in that after being vacuated to every group of location information, also wrap
Include：
Determine that intensity level missing or the to be modified of intensity level saltus step vacuate location information；
By it is to be modified vacuate location information before and after the adjacent intensity level for vacuating location information be fitted, obtain described to be modified
Vacuate the intensity level of location information.
5. according to the method in claim 2 or 3, it is characterised in that before being vacuated to every group of location information, also wrap
Include：
Invalid location information is determined according to the attribute information of this group of location information, and invalid location information is rejected.
6. method according to claim 5, it is characterised in that it is invalid to be determined according to the attribute information of this group of location information
Location information, is specifically included：
Judge whether location information meets any one in following condition, it is invalid fixed that the location information is determined if meeting
Position information：
First condition, location information coverage is less than preset coverage threshold value；
Second condition, location information duration is less than preset duration threshold value；
Third condition, location information value intensity exceedes the corresponding normal intensity scope of the affiliated type of the location information.
7. according to the method in claim 2 or 3, it is characterised in that it is compiled to the initial indoor positioning data
Before, also include：
Receive the location information collected along the collection route on check post；
According to the location information of check post, the initial indoor positioning data, predicted position information a little is verified；
Positioning precision is determined according to the positional information of the predicted position information and the check post of the check post in road network；
Judge whether the positioning precision is more than or equal to preset precision threshold, if then performing described to described initial indoor fixed
The step of position data are compiled；If otherwise adjustment vacuate strategy re-execute it is foregoing respectively to every group of location information after sequence
Vacuated, the step of obtaining vacuating location information.
8. method according to claim 7, it is characterised in that fixed according to the location information of check post, the initial interior
Position data, are verified predicted position information a little, specifically include：
The similarity of the location information of the check post respectively with the location information in initial indoor positioning data is calculated, will be similar
Spend predicted position information of the maximum corresponding positional information of location information as the check post；
Positioning precision is determined according to the positional information of the predicted position information and the check post of the check post in road network,
Specifically include：Positional information of the predicted position information of check post with the check post in road network is matched, if matching into
Work(then determines that the check post is positioned successfully；Successful check post quantity will be positioned to be defined as determining with the ratio of check post total quantity
Position precision.
9. according to the method described in claim 1, it is characterised in that at least one path is included according to road net data generation
Collection route, including：
The terminus selected according to user determines terminus according to the gateway information in region to be collected, from the road network number
The collection route to be selected of the terminus is connected according to middle planning at least one；Number of paths, the road that route includes are gathered according to be selected
Electrical path length sum, collection route is chosen from the collection route to be selected；
Or, according to the path in the road net data, at least a plurality of collection route is planned, the road that a plurality of collection route is included
Footpath non-overlapping copies, and a plurality of path that includes of collection route is all paths that the road net data is included.
10. method according to claim 9, it is characterised in that gather number of paths, the path that route includes according to be selected
Length sum, chooses collection route from the collection route to be selected, specifically includes：
For each collection route to be selected, the number of paths and path length sum included according to the collection route to be selected,
Obtain the recommendation degree of the collection route to be selected；
Recommendation degree highest collection route to be selected is defined as gathering route.
11. method according to claim 10, it is characterised in that the number of paths included according to the collection route to be selected
With path length sum, the recommendation degree of the collection route to be selected is obtained, is specifically included：
According to preset number of paths and the relation of preset score value, determine that the number of paths that collection route to be selected is included is corresponding
First score value；How corresponding wherein number of paths score value more be higher；
According to the relation of preset route total length and preset score value, the path total length pair that collection route to be selected is included is determined
The second score value answered；The wherein more long corresponding score value of route total length is higher；
According to the first score value and preset the first weight, the second score value and the second preset weight of the collection route to be selected,
Determine the recommendation degree of the collection route to be selected.
12. according to the method described in claim 1, it is characterised in that also include：
The indoor positioning data are uploaded onto the server.
13. a kind of indoor orientation method, it is characterised in that the indoor orientation method includes：
Location data and stored in receiving chamber；Wherein described indoor positioning data are according to any in claim 1-12
The method of collection indoor positioning data is obtained；
Receive the Location Request for carrying location information；
Location information and its positional information in location information, the indoor positioning data of storage in the Location Request, really
The corresponding positional information of location information in the fixed Location Request；
Feed back the positional information determined.
14. a kind of device for gathering indoor positioning data, it is characterised in that described device includes：
Acquiring unit, indoor map and the corresponding road net data of the indoor map for obtaining region to be collected；
Route Generation unit is gathered, at least one path is included for being generated according to the road net data in the indoor map
Collection route；
Location information receiving unit, for receiving at least one signal source collected along the collection route on collection point
The location information that equipment is produced；
Initial indoor positioning data generating unit, for the position of the location information according to each collection point and collection point in road network
Information, obtains initial indoor positioning data；
Indoor positioning data generating unit, for being compiled to the initial indoor positioning data, obtains indoor positioning data.
15. device according to claim 14, it is characterised in that initial indoor positioning data generating unit, is specifically included：
Subelement is grouped, for will be that the location information of same signal source equipment is divided into one in the corresponding location information in collection point
Group, obtains at least one set of location information；
Sort subelement, for for each group of location information, this group of location information to be collected according to its corresponding collection point
Sequencing be ranked up；
Subelement is vacuated, for respectively vacuating every group of location information after sequence, obtains vacuating location information；
Location information generation subelement is vacuated, is divided into one group for collection point identical in location information will to be vacuated, to be adopted
Collection point is corresponding to vacuate location information；
Initial indoor positioning data generation subelement, for by corresponding location information and the collection point of vacuating in collection point on road
Positional information in net is associated, and forms initial indoor positioning data.
16. device according to claim 15, it is characterised in that described to vacuate subelement, specifically for：
For every group of location information after sequence, following steps are performed：
According to the intensity level of every group of location information, the Strength Changes gradient of the location information is determined；
For each gradient of the Strength Changes gradient, sampling frequency is determined according to the gradient of the gradient, and take out according to this
The location information that sample frequency is included to the gradient is vacuated, and obtains vacuating location information；Wherein, gradient slope is more gently taken out
Sample frequency is lower, and gradient slope is steeper, and sampling frequency is higher.
17. the device according to claim 15 or 16, it is characterised in that initial indoor positioning data generating unit also enters one
Step includes：
Revise subelemen, for being vacuated described after subelement vacuates to every group of location information, determines that intensity level lacks
Lose or the to be modified of intensity level saltus step vacuates location information；To be modified vacuate adjacent before and after location information is vacuated into location information
Intensity level be fitted, obtain the intensity level to be modified for vacuating location information.
18. the device according to claim 15 or 16, it is characterised in that initial indoor positioning data generating unit also enters one
Step includes：
Subelement is filtered, for being vacuated described before subelement vacuates to every group of location information, according to group positioning letter
The attribute information of breath determines invalid location information, and invalid location information is rejected.
19. device according to claim 18, it is characterised in that the filtering subelement is according to the category of this group of location information
Property information determines invalid location information, specifically for：
Judge whether location information meets any one in following condition, it is invalid fixed that the location information is determined if meeting
Position information：
First condition, location information coverage is less than preset coverage threshold value；
Second condition, location information duration is less than preset duration threshold value；
Third condition, location information value intensity exceedes the corresponding normal intensity scope of the affiliated type of the location information.
20. the device according to claim 15 or 16, it is characterised in that described device also includes：
Authentication unit, for being compiled it to the initial indoor positioning data in the indoor positioning data generating unit
Before, receive the location information collected along the collection route on check post；According to the location information of check post, it is described just
Beginning indoor positioning data, are verified predicted position information a little；According to the predicted position information of the check post and this test
Positional information of the card point in road network determines positioning precision；Judge whether the positioning precision is more than or equal to preset precision threshold
Value, if then triggering the indoor positioning data generating unit；If subelement adjustment is otherwise vacuated described in triggering vacuates strategy weight
Newly every group of location information after sequence is vacuated respectively.
21. device according to claim 20, it is characterised in that the authentication unit according to the location information of check post,
The initial indoor positioning data, are verified predicted position information a little, specifically for：
The similarity of the location information of the check post respectively with the location information in initial indoor positioning data is calculated, will be similar
Spend predicted position information of the maximum corresponding positional information of location information as the check post；
Positional information of the authentication unit according to the predicted position information and the check post of the check post in road network is true
Positioning precision is made, specifically for：The positional information of the predicted position information of check post and the check post in road network is carried out
Matching, determines that the check post is positioned successfully if the match is successful；Successful check post quantity and check post total quantity will be positioned
Ratio be defined as positioning precision.
22. device according to claim 14, it is characterised in that collection Route Generation unit specifically for：
The terminus selected according to user determines terminus according to the gateway information in region to be collected, from the road network number
The collection route to be selected of the terminus is connected according to middle planning at least one；Number of paths, the road that route includes are gathered according to be selected
Electrical path length sum, collection route is chosen from the collection route to be selected；
Or, according to the path in the road net data, at least a plurality of collection route is planned, the road that a plurality of collection route is included
Footpath non-overlapping copies, and a plurality of path that includes of collection route is all paths that the road net data is included.
23. device according to claim 22, it is characterised in that the collection Route Generation unit is according to collection road to be selected
Number of paths that line includes, path length sum, a collection route is chosen from the collection route to be selected, specifically for：
For each collection route to be selected, the number of paths and path length sum included according to the collection route to be selected,
Obtain the recommendation degree of the collection route to be selected；Recommendation degree highest collection route to be selected is defined as gathering route.
24. device according to claim 23, it is characterised in that the collection Route Generation unit to be selected is adopted according to described
Number of paths and path length sum that collection route includes, obtain the recommendation degree of the collection route to be selected, specifically include：
According to preset number of paths and the relation of preset score value, determine that the number of paths that collection route to be selected is included is corresponding
First score value；How corresponding wherein number of paths score value more be higher；
According to the relation of preset route total length and preset score value, the path total length pair that collection route to be selected is included is determined
The second score value answered；The wherein more long corresponding score value of route total length is higher；
According to the first score value and preset the first weight, the second score value and the second preset weight of the collection route to be selected,
Determine the recommendation degree of the collection route to be selected.
25. device according to claim 14, it is characterised in that also include：
Uploading unit, for the indoor positioning data to be uploaded onto the server.
26. a kind of indoor positioning device, it is characterised in that the indoor positioning device includes：
Indoor positioning data receipt unit, for receiving the indoor positioning that the device described in any one of claim 13~24 is uploaded
Data are simultaneously stored；
Location Request receiving unit, the Location Request of location information is carried for receiving；
Positional information determining unit, for fixed in the location information in the Location Request, the indoor positioning data of storage
Position information and its positional information, determine the corresponding positional information of location information in the Location Request；
Location information feedback unit, for feeding back the location information determined.
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