CN107367278A - A kind of indoor navigation method and equipment - Google Patents
A kind of indoor navigation method and equipment Download PDFInfo
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- CN107367278A CN107367278A CN201710470278.9A CN201710470278A CN107367278A CN 107367278 A CN107367278 A CN 107367278A CN 201710470278 A CN201710470278 A CN 201710470278A CN 107367278 A CN107367278 A CN 107367278A
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- floor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The embodiment of the present invention provides a kind of indoor navigation method, including：Indoor auxiliary locator is accessed, determines the floor N positional information for respectively changing node layer and the positional information of user terminal of user terminal indoors；According to the destination mark information of input, it is determined that floor M corresponding with destination mark the information positional information for respectively changing node layer, the positional information of destination；Using the positional information of user terminal and the floor N positional information for respectively changing node layer, determine user terminal to the floor N each first path metric for respectively changing node layer；Using the floor M positional information for respectively changing node layer and the positional information of destination, determine that floor M's respectively changes node layer to each second path metric value of destination；Node layer is respectively changed to floor M the 3rd path metric value for respectively changing node layer according to each first path metric, each second path metric value and the floor N that prestores, determines user terminal to the shortest path of destination.The embodiment of the present invention can improve navigation efficiency.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of indoor navigation method and equipment.
Background technology
In order to facilitate mobile terminal user in building, such as：The ground such as megastore, library, hospital, can be fast
Speed finds destination locations, and the indoor navigation technology applied to mobile terminal is arisen at the historic moment.Indoor navigation technology is to allow place oneself in the midst of
The user on the ground such as megastore, library, in building, remain able to using accurately positioning function positioning place
Position and the place wanted to go to being found, user can be easily found the specified place in building by indoor navigation, such as：
Toilet, elevator and specified businessman etc..
Current indoor navigation can be that user finds destination position, and guide direct of travel for user, but very
The passage of floor gap is many in more large-scale building, and including：The passages such as stair, staircase and elevator, existing interior are led
Boat technology can be that user guides path towards destination, but the path may not be optimal path, poor user experience,
Therefore one indoor navigation scheme of shocking need, user can be caused to guide a used time most short or apart from most short path.
The content of the invention
The embodiment of the present invention provides a kind of indoor navigation method and equipment, to solve indoor navigation user in the prior art
The problem of poor is experienced, realization provides the user optimal navigation circuit, improves the requirement of Consumer's Experience.
In a first aspect, the embodiment of the present invention provides a kind of indoor navigation method, applied to user terminal, including：
Access indoor auxiliary locator, determine the user terminal the indoor floor N, the floor N it is each
Change the positional information of the positional information and the user terminal of node layer in the floor N；
According to the destination mark information of input, it is determined that floor M corresponding with the destination mark information, the floor
Positional information of the M positional information for respectively changing node layer, the destination in floor M；
Utilize positional information of the user terminal in the floor N and the position for respectively changing node layer of the floor N
Information, determine the user terminal to each first path metric for respectively changing node layer of the floor N；
Using positional information of the positional information for respectively changing node layer and the destination of the floor M in floor M, really
The fixed floor M's respectively changes node layer to each second path metric value of the destination；
According to each of each first path metric, each second path metric value and the floor N that prestores
Node layer is changed to the 3rd path metric value for respectively changing node layer of the floor M, it is determined that from the user terminal to the purpose
The shortest path on ground；
Using the shortest path as recommendation guidance path.
Second aspect, the embodiment of the present application additionally provide a kind of nonvolatile computer storage media, are stored with computer
Executable instruction, the computer executable instructions are used to perform the application any of the above-described indoor navigation method.
The third aspect, the embodiment of the present application additionally provide a kind of transmission equipment, including：At least one processor；And deposit
Reservoir；Wherein, the memory storage have can by the program of at least one computing device, the instruction by it is described at least
One computing device, so that at least one processor is able to carry out the application any of the above-described indoor navigation method.
To sum up, a kind of indoor navigation method and equipment provided in an embodiment of the present invention, by where determining user terminal
Position to the place floor N each first path metric for respectively changing node layer, the floor N's to prestore respectively changes node layer to floor M
Each second path metric value for respectively changing node layer, floor M's respectively changes node layer to the 3rd path metric value of destination, and then
Determine all shortest paths that can be in pass, and the shortest path is recommended as guidance path, think that user recommends
One optimal path, to improve the Consumer's Experience of user.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of step flow chart of indoor navigation method embodiment one of the present invention；
Fig. 2 is a kind of structural representation of indoor navigation equipment of one embodiment of the invention；
Fig. 3 is a kind of structural representation of indoor navigation equipment of one embodiment of the invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Reference picture 1, a kind of step flow chart of indoor navigation method embodiment one of the present invention is shown, wherein, specific bag
Include：
Step 101, indoor auxiliary locator is accessed, determine the user terminal in the indoor floor N, the building
Positional information of the layer N positional information for respectively changing node layer and the user terminal in the floor N；
In the embodiment of the present invention, above-mentioned indoor auxiliary locator displaying has Quick Response Code mark, and the Quick Response Code mark is taken
Current location information with the indoor auxiliary locator, user can scan the Quick Response Code mark by using mobile phone terminal
Know and then obtain the indoor floor N that user terminal is presently in, and position letter of active user's terminal in the floor N
Cease, and the positional information for respectively changing node layer of the floor is obtained by floor N.
In the embodiment of the present invention, the above-mentioned entrance for changing node layer and being specifically as follows the passage of floor gap, such as：Second floor is to three
The entrance of the stair passage in building is one of second floor and changes node layer.The above-mentioned node layer that changes can specifically include following at least one
Change node layer：Stair change node layer, elevator changes node layer, individual layer staircase changes node layer and multilayer is gone directly, and staircase changes node layer,
Passage i.e. between floor can specifically include stair, elevator, and individual layer staircase and multilayer are gone directly staircase etc., wherein, above-mentioned individual layer
Staircase be floor N to the staircase between floor N+1, above-mentioned multilayer is gone directly, and to be floor N help to through between floor N+n staircase
Ladder, wherein, n is more than or equal to 2.
Step 102, the destination mark information according to input, it is determined that floor M corresponding with the destination mark information,
Positional information of the positional information for respectively changing node layer, the destination of the floor M in floor M；
In the embodiment of the present invention, above destination identification information is specifically as follows user can be in the destination of user terminal
The identification information of destination is inputted in input frame, such as：The title of destination, can be according to the destination mark information from data
Floor M and floor M positional information corresponding to being found in storehouse, and obtain the floor M position respectively changed node layer and respectively change node
Confidence ceases.
Step 103, using positional information of the user terminal in the floor N and the floor N respectively change layer section
The positional information of point, determines the user terminal to each first path metric for respectively changing node layer of the floor N；
In the embodiment of the present invention, path metric value can be the time can also be distance, specifically can be by art technology
Personnel voluntarily confirm., can be according to positional information of the user terminal in the floor N of place and the institute determined in the embodiment of the present invention
The floor N positional information for respectively changing node layer is stated, determines user terminal to each first path metric for changing node layer, example
Such as：Assuming that path metric value is distance, user position is " east gate mouth ", has 3 respectively to change node layer in floor 2 where user,
Node layer 1 is respectively changed, changes node layer 2, changes node layer 3, then determines " east gate mouth " to the distance for changing node layer 1, " east gate respectively
Mouth is " to the distance for changing node layer 2, " east gate mouth " to the distance for changing node layer 3.
Step 104, the position using the positional information for respectively changing node layer and the destination of the floor M in floor M
Confidence ceases, and determines that the floor M's respectively changes node layer to each second path metric value of the destination；
, can be according in the floor M positional information for respectively changing node layer and destination place floor M in the embodiment of the present invention
Positional information, determine floor M each node layer that changes to the first path metric of destination, such as：Assuming that path metric
It is " Yoshinoya " to be worth for distance, destination position, has 3 to change node layer in floor 8 where destination, respectively changes layer section
Point 4, changes node layer 5, changes node layer 6, then determines " Yoshinoya " respectively to the distance for changing node layer 4, and " Yoshinoya " is to changing layer section
The distance of point 5, " Yoshinoya " to the distance for changing node layer 6.
Step 105, according to each first path metric, each second path metric value and described in prestoring
Floor N's respectively changes node layer to the 3rd path metric value for respectively changing node layer of the floor M, it is determined that from the user terminal to
The shortest path of the destination；
In the embodiment of the present invention, the floor N path for respectively changing node layer for respectively changing node layer to floor M is can be from current
Determined in Regional Road Network structure chart, and determine that the floor N node layer that respectively changes respectively changes layer to floor M by operations such as actual measurements
3rd path metric value of node, and above-mentioned path and corresponding 3rd path metric value are present in associated databases, example
Such as：N is that 2, M has 3 to change node layer 8,2 buildings, has 4 to change node layer 8 buildings, and 3 change node layer to 8 buildings 4 of 2 buildings change floor
The path of node is it is believed that the distance in Gu2Lou 34 paths for changing node layer for changing node layer to 8 buildings and used
Time is it is believed that 3 of 2 buildings can be changed to 4 paths for changing node layer of node layer to 8 buildings and corresponding time used
Or the corresponding relation of distance exists in database successively,.Can be from number according to the node layer that changes for changing node layer and 8 buildings of 2 buildings
Node layer is changed by 2 buildings each change each path of node layer, and the institute corresponding to each path according to being found in storehouse to 8 buildings each
With time and distance.
Path distance is calculated according to the node layer 1 that changes of 2 buildings, can specifically be included：Determine that user terminal changes floor section to 2 buildings
The distance of point 1,4 that change the building of node layer 1 to 8 of 2 buildings searched change the distance of each of node layer, 8 buildings 4 change node layer
Node layer 1 is changed from 2 buildings towards the distance in each path of destination, similarly to each distance of destination and for user
Determine that user changes node layer 2, changes each path distance that node layer 3 leads to destination from 2 buildings, and then determine that path distance is minimum
Path be shortest path.
In a kind of alternative embodiment of the present invention, the floor N's changes node layer to the floor M road for respectively changing node layer
Footpath comprises at least the combination of individual layer staircase and the through staircase of multilayer；Or the combination of stair and the through staircase of multilayer.Such as：By 1
The path of building to 8 buildings can include：The through staircase of 1 building to 6 buildings, the path as staircase of 6 buildings to 7 buildings and 7 buildings to 8 buildings
Combination；Or the stair of 1 building to 2 buildings, the combination of the through staircase of 2 buildings to 8 buildings.
In a kind of alternative embodiment of the present invention, the floor N's changes node layer to the floor M road for respectively changing node layer
Footpath comprises at least the combination of the through staircase of stair, individual layer staircase, multilayer.Such as：It can be included by minus 1 building path to 8 floor：It is negative
The stair of 1 building to 1 building, the through staircase of 1 building to 6 buildings, 6 buildings to 7 buildings, the combination of the individual layer staircase of 7 buildings to 8 buildings.
In a kind of alternative embodiment of the present invention, each identification label position in scene sets Quick Response Code indoors
Label, each two-dimension code label have unique Quick Response Code identification information respectively.
The electronic map of indoor scene is drawn according to CAD diagram, the form of electronic map is GEOJSON form maps.Draw
During electronic map, therefore, to assure that the positional information of an each point position and path are consistent with the indoor scene of reality in electronic map, will
The electronic map of drafting is stored into database server.
By indoor identification label positional information with being stored in data after the Quick Response Code mark binding of corresponding two-dimension code label
Storehouse server, the target point position information for needing to position in indoor scene is stored in database server including coordinate data information
In, while establish the mapping of its positional information and point position information.
With two-dimension code label on mobile scanning terminal start position label in actual indoor scene, mobile terminal is to data
Storehouse server sends two-dimension code label Query Information, and after database server receives information, start position corresponding to reading is believed
Breath.
After inputting search key corresponding to target location on mobile terminals, database server reads the position of the point position
Confidence ceases, and recalls scene indoor electronic map, determines start position and target position information according to coordinate points position, pass through intelligent road
Footpath algorithm, the most rational path of quick planning department.
The indoor Way guidance circuit of planning is sent to mobile terminal by database server, is entered for mobile terminal user
The indoor exact path of row guides.
In a kind of alternative embodiment of the present invention, above-mentioned first path metric, the second path metric value, the 3rd path
Metric is the metric of time measure, determines that the floor N's respectively changes node layer to the floor M's by following steps
Respectively change the 3rd path metric value of node layer：
Step A1, preset user's walking speed；
Step A2, prestore the floor N respectively change node layer to the path for respectively changing node layer of the floor M it is actual away from
From；
Step A3, the 3rd path metric is determined according to the actual range in the path and user's walking speed
Value.
In the embodiment of the present invention, above-mentioned user's walking speed can determine according to the type for changing node layer, change node layer
When changing node layer for stair, the average speed of travel that can be using preset user's walking speed as user；Helped changing node layer for individual layer
When ladder changes node layer, gait of march that can be using preset user's walking speed as single-deck elevator；Helped changing node layer for multilayer is through
When ladder changes node layer, the gait of march for the staircase that can be gone directly using preset user's walking speed as multilayer；Changed changing node layer for elevator
During node layer, the speed that can be advanced using preset user's walking speed as elevator；Node layer is respectively changed to the floor according to floor N
The M actual range for respectively changing each path that node layer includes, and preset user's walking speed can determine user from from each
The current used duration in individual path, so obtain all paths pass through duration and be the 3rd path metric value.
In a kind of alternative embodiment of the present invention, the first path metric, the second path metric value, the 3rd path
Metric is the metric of distance metric, can determine the 3rd path metric value according to the type for changing node layer,
It can specifically include：
Step B1, it is described change node layer and change node layer for stair when, define adjacent layer changes layer path distance as first
Preset distance；
Step B2, it is described change node layer for individual layer staircase change node layer when, layer path distance that change for defining adjacent layer is
Second preset distance；
Step B3, it is described change node layer for multilayer go directly staircase change node layer when, define adjacent layer change layer path away from
From for the 3rd preset distance；
Step B4, it is described change node layer and change node layer for elevator when, define adjacent layer changes layer path distance as the 4th
Preset distance；
Step B5, according in first preset distance, the second preset distance, the 3rd preset distance and the 4th preset distance
At least one preset distance determine the 3rd path metric value；
Wherein, first preset distance is more than second preset distance, and second preset distance is more than described the
Three preset distances, the 3rd preset distance are more than the 4th preset distance.
In the embodiment of the present invention, for floor N to floor M path, because elevator speed is most fast, therefore elevator is set to change layer
4th preset distance corresponding to node is beeline；The speed of staircase next to that multilayer is gone directly, therefore the through staircase of multilayer is set
Change the 3rd preset distance corresponding to node layer and be longer than the 4th preset distance；The speed of individual layer staircase is again less than the through staircase of multilayer
Speed, therefore set individual layer staircase to change the second preset distance corresponding to node layer and be longer than the 3rd preset distance；The speed of stair is most slow,
Therefore it is most long to set stair to change the first preset distance corresponding to node layer.
In a kind of alternative embodiment of the present invention, a kind of indoor navigation method provided by the invention can specifically include：
Drawing area floor road network simultaneously generates road-net node, gives every section of line segment its start node coding, and under current region floor
Node layer (door, elevator, staircase, stair) type of changing be labeled, by data inputting database；Integrate each region floor road
Net and road network change node layer, give and respectively change the different region floor coding of node layer, and connection different zones floor changes node layer, shape
Into cross-layer line segment, and to cross-layer line segment mark start node coding；Route searching is using the dijkstra's algorithm increased income, i.e., most short
Routing algorithm.When being related to trans-regional navigation, calculated in database with shortest path first in all floor road networks from
Initial point is to the shortest path of target point, and what is returned through all changes node layer；Program is write to tie inquiry according to floor coding
Fruit merges, and changes node layer type identical in merging different zones floor and changes node layer, only retains first and last two and change layer section
Point simultaneously records in memory；Screened in the result of above-mentioned steps by floor coding, only retain the same area floor
The whole story changes node layer coding；Trans-regional navigation is converted into same layer on the basis of the above to navigate, entered by same layer shortest path first
Walking along the street path search, whole story position is labeled, and is sequentially connected same layer by changing node layer, and then determine shortest path.
In the embodiment of the present invention, the road network under current region can be planned according to different zones map, is abstracted as line
Section, and build its topological relation, that is, add all line segments starting of current region, terminate coding, and generate and respectively change node layer volume
Code.Positive, the reverse length of each line segment is added to current region road network by actual measuring and calculating.Node layer is changed to the current layer of generation
Add title, type and the floor coding for changing node layer.Combine the road network of each floor and change node layer, will be each by line segment
Floor cross-layer, trans-regional point are attached, and add trans-regional line segment whole story coding.Import different layers road network and translate.Connection institute
Change node layer position.According to the difference of cross-layer type, positive, the reverse length of trans-regional line segment is added, its actual value can be with
Determined by the type of cross-layer node, such as：
Autotelic to add each cross-layer line segment length using the difference for changing node layer type, main arrange parameter is：
Elevator type changes node layer：1. positive length：3m；2. reverse length：3m.
Stair type changes node layer：1. positive length：10m；2. reverse length：10m.
Staircase type changes node layer：Forward and reverse length is configured according to the difference that staircase is up, descending.
When staircase is consistent with line segment direction：1. positive length：3m；2. reverse length：9999m；
When staircase is opposite with line segment direction：1. positive length：9999m；2. reverse length：3m；
Door：1. positive length：0m；2. reverse length：0m.
In the embodiment of the present invention, between different floors, when changing node layer and appearing in successively in route result of same type can
To think the path by the path between the first cross-layer node arrival most end cross-layer node of the type, the same type that centre occurs
Cross-layer point can be omitted.
Step 106, using the shortest path as recommend guidance path.
To sum up, a kind of indoor navigation method provided in an embodiment of the present invention, by determining the position where user terminal extremely
The place floor N each first path metric for respectively changing node layer, the floor N's to prestore respectively changes node layer respectively changing to floor M
Each second path metric value of node layer, floor M's respectively changes node layer to the 3rd path metric value of destination, and then determines institute
The shortest path that can be in pass having, and the shortest path is recommended as guidance path, think that user recommends one most
Good path, to improve the Consumer's Experience of user.
The embodiment of the present application provides a kind of nonvolatile computer storage media, and the computer-readable storage medium is stored with
Computer executable instructions, the computer executable instructions can perform the indoor navigation method in above-mentioned any means embodiment；
As a kind of embodiment, nonvolatile computer storage media of the invention is stored with the executable finger of computer
Order, the computer executable instructions are arranged to：
Access indoor auxiliary locator, determine the user terminal the indoor floor N, the floor N it is each
Change the positional information of the positional information and the user terminal of node layer in the floor N；
According to the destination mark information of input, it is determined that floor M corresponding with the destination mark information, the floor
Positional information of the M positional information for respectively changing node layer, the destination in floor M；
Utilize positional information of the user terminal in the floor N and the position for respectively changing node layer of the floor N
Information, determine the user terminal to each first path metric for respectively changing node layer of the floor N；
Using positional information of the positional information for respectively changing node layer and the destination of the floor M in floor M, really
The fixed floor M's respectively changes node layer to each second path metric value of the destination；
According to each of each first path metric, each second path metric value and the floor N that prestores
Node layer is changed to the 3rd path metric value for respectively changing node layer of the floor M, it is determined that from the user terminal to the purpose
The shortest path on ground；
Using the shortest path as recommendation guidance path.
As a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software program, non-volatile
Property computer executable program and module, programmed instruction/module as corresponding to the indoor navigation method in the embodiment of the present application.
One or more of modules are stored in the non-volatile computer readable storage medium storing program for executing, when being executed by a processor,
Perform the indoor navigation method in above-mentioned any means embodiment.
Non-volatile computer readable storage medium storing program for executing can include storing program area and storage data field, wherein, store journey
Sequence area can be required for storage program area, at least one function application program；Storage data field can be stored according to indoor navigation
Equipment uses created data etc..In addition, non-volatile computer readable storage medium storing program for executing can include high random access
Memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or other are non-easily
The property lost solid-state memory.In certain embodiments, non-volatile computer readable storage medium storing program for executing is optional including relative to processing
The remotely located memory of device, these remote memories can pass through network connection to indoor navigation device.The reality of above-mentioned network
Example includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
A kind of structural representation of indoor navigation equipment provided in an embodiment of the present invention, the specific embodiment of the invention be not right
The specific implementation of indoor navigation equipment limits.As shown in Fig. 2 the indoor navigation equipment can specifically include：
At least one processor (processor) 210, communication interface (Communications Interface) 220, deposit
Reservoir (memory) 230 and communication bus 240.Wherein：
At least one processor 210, communication interface 220 and memory 230 are completed each other by communication bus 240
Communication.
Communication interface 220, for being communicated with the network element of such as client etc..
At least one processor 210, for configuration processor 232, it can specifically perform the correlation in above method embodiment
Step.
Specifically, program 232 can include program code, and described program code includes computer-managed instruction.
At least one processor 210 is probably one or more central processor CPUs, or specific integrated circuit ASIC
(Application Specific Integrated Circuit), or be arranged to implement the one of the embodiment of the present application
Individual or multiple integrated circuits.
Fig. 3 is the structural representation for the indoor navigation equipment that the embodiment of the application one provides, as shown in figure 3, the equipment bag
Include：
One or more processors 310 and memory 320, in Fig. 3 by taking a processor 310 as an example.
It can also include：Input unit 330 and output device 340.
Processor 310, memory 320, input unit 330 and output device 340 can pass through bus or other modes
Connect, in Fig. 3 exemplified by being connected by bus.
Memory 320 is above-mentioned non-volatile computer readable storage medium storing program for executing.Processor 310 is stored in by operation
Non-volatile software program, instruction and module in reservoir 320, so as to the various function application and data of execute server
Processing, that is, realize the indoor navigation method of above method embodiment.
Input unit 330 can receive the numeral or character information of input, and produce and set with the user of indoor navigation equipment
Put and the input of key signals that function control is relevant.Output device 340 may include the display devices such as display screen.
The said goods can perform the method that the embodiment of the present application is provided, and possesses the corresponding functional module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
As a kind of embodiment, above-mentioned transmission equipment includes：At least one processor；And with it is described at least one
The memory of processor communication connection；Wherein, the memory storage have can by the instruction of at least one computing device,
The instruction is by least one computing device, so that at least one processor can：
Access indoor auxiliary locator, determine the user terminal the indoor floor N, the floor N it is each
Change the positional information of the positional information and the user terminal of node layer in the floor N；
According to the destination mark information of input, it is determined that floor M corresponding with the destination mark information, the floor
Positional information of the M positional information for respectively changing node layer, the destination in floor M；
Utilize positional information of the user terminal in the floor N and the position for respectively changing node layer of the floor N
Information, determine the user terminal to each first path metric for respectively changing node layer of the floor N；
Using positional information of the positional information for respectively changing node layer and the destination of the floor M in floor M, really
The fixed floor M's respectively changes node layer to each second path metric value of the destination；
According to each of each first path metric, each second path metric value and the floor N that prestores
Node layer is changed to the 3rd path metric value for respectively changing node layer of the floor M, it is determined that from the user terminal to the purpose
The shortest path on ground；
Using the shortest path as recommendation guidance path.
The present invention a kind of alternative embodiment in, above-mentioned indoor navigation equipment, specifically can also include be used for scan and
Identify the camera module of Quick Response Code mark.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Make to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (9)
- A kind of 1. indoor navigation method, applied to user terminal, it is characterised in that including：Indoor auxiliary locator is accessed, determines that the user terminal respectively changes layer in the indoor floor N, the floor N The positional information of the positional information of node and the user terminal in the floor N；According to the destination mark information of input, it is determined that floor M corresponding with the destination mark information, the floor M Respectively change the positional information of the positional information, the destination of node layer in floor M；Using positional information of the user terminal in the floor N and the positional information for respectively changing node layer of the floor N, Determine the user terminal to each first path metric for respectively changing node layer of the floor N；Using positional information of the positional information for respectively changing node layer and the destination of the floor M in floor M, institute is determined That states floor M respectively changes node layer to each second path metric value of the destination；Layer is respectively changed according to each first path metric, each second path metric value and the floor N that prestores Node to the floor M the 3rd path metric value for respectively changing node layer, it is determined that from the user terminal to the destination Shortest path；Using the shortest path as recommendation guidance path.
- 2. according to the method for claim 1, it is characterised in that the first path metric, the second path metric value, the Three path metric values are the metric according to distance or time measure.
- 3. according to the method for claim 1, it is characterised in that the floor change node layer including stair change node layer, Elevator changes node layer, individual layer staircase changes node layer and multilayer is gone directly, and staircase changes at least one of node layer.
- 4. according to the method for claim 2, it is characterised in that the first path metric, the second path metric value, the Three path metric values are the metric of time measure, determine that the floor N's respectively changes node layer described in by following steps Floor M the 3rd path metric value for respectively changing node layer：Preset user's walking speed；Prestore the floor N respectively changes node layer to the actual range in the path for respectively changing node layer of the floor M；3rd path metric value is determined according to the actual range in the path and user's walking speed.
- 5. according to the method for claim 3, it is characterised in that the first path metric, the second path metric value, the Three path metric values are the metric of distance metric, and the 3rd path metric is determined according to the type for changing node layer Value, including：It is described change node layer for stair change node layer when, layer path distance that change for defining adjacent layer is the first preset distance；It is described change node layer for individual layer staircase change node layer when, define adjacent layer change layer path distance for second it is preset away from From；It is described change node layer for multilayer go directly staircase change node layer when, define adjacent layer changes layer path distance to be the 3rd preset Distance；It is described change node layer for elevator change node layer when, layer path distance that change for defining adjacent layer is the 4th preset distance；According to first preset distance, second preset distance, the 3rd preset distance and the 4th preset distance At least one of preset distance determine the 3rd path metric value；Wherein, first preset distance is more than second preset distance, and it is pre- that second preset distance is more than the described 3rd Distance is put, the 3rd preset distance is more than the 4th preset distance.
- 6. according to the method for claim 1, it is characterised in that the indoor auxiliary locator displaying has Quick Response Code mark Know, the Quick Response Code mark carries the current location information of the indoor auxiliary locator.
- 7. a kind of nonvolatile computer storage media, it is stored with computer executable program, the computer executable program For performing the data transmission method according to any one of claim 1-6.
- 8. a kind of indoor navigation equipment, including：At least one processor；And memory；Wherein, have can for the memory storage By the program of at least one computing device, described program by least one computing device so that it is described at least One processor is able to carry out the indoor navigation method any one of claim 1 to 6.
- 9. indoor navigation equipment according to claim 6, in addition to for scanning and identifying the camera mould of Quick Response Code mark Group.
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| CN108775904A (en) * | 2018-08-20 | 2018-11-09 | 蔚来汽车有限公司 | For the air navigation aid of charged area in parking lot |
| CN108920524A (en) * | 2018-06-06 | 2018-11-30 | 中国平安人寿保险股份有限公司 | Toilet querying method, device, computer equipment and storage medium |
| CN109059926A (en) * | 2018-08-07 | 2018-12-21 | 北京云迹科技有限公司 | Across floor paths planning method and system |
| CN109189871A (en) * | 2018-08-10 | 2019-01-11 | 北斗导航位置服务（北京）有限公司 | A kind of method and apparatus of Indoor environment path planning |
| CN110426038A (en) * | 2019-07-01 | 2019-11-08 | 深圳前海达闼云端智能科技有限公司 | Robot navigation's control method, calculates equipment and computer storage medium at device |
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| CN110672089A (en) * | 2019-09-23 | 2020-01-10 | 上海功存智能科技有限公司 | Method and device for navigation in indoor environment |
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| WO2019232734A1 (en) * | 2018-06-07 | 2019-12-12 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for path determination |
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| CN110657804B (en) * | 2018-06-29 | 2023-10-20 | 微软技术许可有限责任公司 | Indoor location service |
| CN110657804A (en) * | 2018-06-29 | 2020-01-07 | 微软技术许可有限责任公司 | Indoor location services |
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| CN111060102B (en) * | 2018-10-16 | 2024-03-08 | 中兴通讯股份有限公司 | Indoor navigation method, system and computer readable storage medium |
| CN111366147A (en) * | 2018-12-26 | 2020-07-03 | 阿里巴巴集团控股有限公司 | Map generation method, indoor navigation method, device and equipment |
| CN110426038A (en) * | 2019-07-01 | 2019-11-08 | 深圳前海达闼云端智能科技有限公司 | Robot navigation's control method, calculates equipment and computer storage medium at device |
| CN110672089A (en) * | 2019-09-23 | 2020-01-10 | 上海功存智能科技有限公司 | Method and device for navigation in indoor environment |
| CN110645989A (en) * | 2019-10-16 | 2020-01-03 | 众虎物联网(广州)有限公司 | Path planning method and device based on escalator running direction and storage medium |
| CN111123198A (en) * | 2019-12-30 | 2020-05-08 | 华中科技大学 | User positioning and navigation method and system in building |
| CN111123198B (en) * | 2019-12-30 | 2022-02-01 | 华中科技大学 | User positioning and navigation method and system in building |
| CN112461242A (en) * | 2020-11-19 | 2021-03-09 | 广州启量信息科技有限公司 | Indoor navigation method and device |
| CN112927471A (en) * | 2021-01-20 | 2021-06-08 | 南方科技大学 | Anti-lost monitoring system |
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| CN113465604A (en) * | 2021-05-31 | 2021-10-01 | 杭州易现先进科技有限公司 | Method and system for cross-floor navigation |
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