CN107869990B

CN107869990B - Method and device for acquiring indoor position data, computer equipment and readable medium

Info

Publication number: CN107869990B
Application number: CN201710854061.8A
Authority: CN
Inventors: 卢志泳; 贾海禄
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2017-09-20
Filing date: 2017-09-20
Publication date: 2020-08-28
Anticipated expiration: 2037-09-20
Also published as: CN107869990A

Abstract

The invention provides a method and a device for acquiring indoor position data, computer equipment and a readable medium. The method comprises the following steps: acquiring an acquisition starting point and an initial geographic coordinate thereof; collecting in an indoor road network of a building by taking a collection starting point as an original point of the Tango to obtain a Tango track; adjusting the initial geographical coordinates of the acquisition starting points and the 0-degree direction of the Tango according to the initial geographical coordinates of the acquisition starting points, the initial geographical direction of the 0-degree direction of the Tango, the Tango track and the road network of the indoor map of the building, so that all acquisition points in the Tango track fall into the road network of the indoor map of the building, and acquiring the target geographical coordinates of the acquisition starting points after adjustment and the target geographical direction corresponding to the 0-degree direction of the Tango; and acquiring the position data of each indoor position point of the building according to the adjusted result. According to the technical scheme, the accuracy of indoor position data acquisition can be improved.

Description

Method and device for acquiring indoor position data, computer equipment and readable medium

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of computer application, in particular to a method and a device for acquiring indoor position data, computer equipment and a readable medium.

[ background of the invention ]

As the indoor map coverage of map products increases, the demand for indoor positioning navigation becomes very strong. The most common Positioning of the Global Positioning System (GPS) in the prior art is mostly used in outdoor scenes, and the GPS cannot perform effective indoor Positioning due to its weak penetration capability. Therefore, the existing indoor positioning mostly adopts WIFI positioning.

The existing WIFI indoor positioning method mainly collects the position data, namely the geographical coordinates, of each indoor position point in advance, collects the WIFI fingerprints of each position point at the same time, then establishes the corresponding relation between the geographical coordinates of each position point and the corresponding WIFI fingerprints, and uses the geographical coordinates and the corresponding WIFI fingerprints as positioning data of the position point and stores the positioning data. During positioning, firstly, the WIFI fingerprint acquired by the equipment to be positioned is acquired, and the geographical coordinate of the equipment to be positioned can be positioned according to the acquired WIFI fingerprint according to the corresponding relation between the stored WIIF fingerprint and the geographical coordinate of the position point. The acquisition of the position data, i.e. the geographical coordinates, of the respective position points is relatively complex. For example, the position of a critical inflection point in a room may be manually marked as a location point, and the geographic coordinates of each location point may be manually obtained. And then connecting the two position points to form an acquisition path, enabling an acquisition person to walk on the acquisition path at a constant speed, and interpolating to generate each position point in the acquisition path and a corresponding timestamp according to the coordinates of the position points at the two ends of the acquisition path and the time required by the acquisition person to walk. In this way, the geographic coordinates of each location point in the indoor map can be collected.

However, the acquisition of position data, i.e., geographic coordinates, of each position point in the existing WIFI indoor positioning is mainly achieved based on manual operation, for example, the geographic coordinates at two ends of an acquisition path need to be acquired in a manual labeling manner, and acquisition personnel need to move at a constant speed during acquisition; if the geographic coordinates of the two ends of the acquisition path acquired manually by the acquisition personnel are inaccurate; or the acquisition personnel do not move at a constant speed or walk along the acquisition path, which causes a very large error in acquiring the geographical coordinates, i.e. the position data, of each indoor position point.

[ summary of the invention ]

The invention provides a method and a device for acquiring indoor position data, computer equipment and a readable medium, which are used for improving the accuracy of acquiring the indoor position data of a building.

The invention provides a method for acquiring indoor position data, which comprises the following steps:

acquiring an acquisition starting point selected by an acquisition person from inside or outside a building block of a building to be acquired and an initial geographic coordinate of the acquisition starting point;

collecting in an indoor road network of the building by taking the collection starting point as an origin of a reference coordinate system of the Tango to obtain a Tango track;

according to the initial geographic coordinate of the acquisition starting point, the preset initial geographic direction of the 0-degree direction of the Tango reference coordinate system, the Tango track and the road network of the indoor map of the building, adjusting the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system, enabling all acquisition points in the Tango track to fall into the road network of the indoor map of the building, and acquiring the target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system after adjustment;

and acquiring position data of each indoor position point of the building according to the target geographical coordinates of the acquisition starting point and the target geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango.

Further optionally, in the method as described above, according to the initial geographic coordinate of the acquisition starting point, the preset initial geographic direction in which the 0-degree direction of the Tango reference coordinate system is located, the Tango trajectory, and the road network of the indoor map of the building, the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system are adjusted, so that all acquisition points in the Tango trajectory fall into the road network of the indoor map of the building, and the adjusted target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system are obtained, which specifically includes:

acquiring initial geographical coordinates of each acquisition point in the Tango track according to the initial geographical coordinates of the acquisition starting point, the initial geographical direction of the 0-degree direction of the reference coordinate system of the Tango and the Tango track;

acquiring the proportion of acquisition points falling into the road network of the indoor map of the building in the Tango track according to the initial geographic coordinates of the acquisition points in the Tango track and the road network of the indoor map of the building;

judging whether the proportion of collection points falling into the road network of the indoor graph of the building in the Tango track reaches 100%;

if not, determining a target adjustment direction of the geographic coordinate;

gradually adjusting the initial geographical coordinates of the acquisition starting points according to a preset distance step length in the target adjustment direction of the geographical coordinates; meanwhile, aiming at the geographical coordinates of the acquisition starting point obtained by each adjustment, the direction of the 0-degree direction of the reference coordinate system of the Tango relative to the geographical coordinate system is gradually rotated by a preset angle step length, and the geographical coordinates of the corresponding acquisition starting point and the geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango are obtained when the adjusted proportion of the corresponding acquisition points reaches 100%;

and taking the corresponding geographic coordinate of the acquisition starting point as the target geographic coordinate when the proportion of the acquisition points reaches 100%, and taking the corresponding geographic direction corresponding to the 0-degree direction of the reference coordinate system of the corresponding Tango as the target geographic direction.

Further optionally, in the method described above, if the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango trajectory reaches 100%, the method further includes:

and taking the initial geographic coordinate of the acquisition starting point as the target geographic coordinate, and taking the initial geographic direction in which the 0-degree direction of the reference coordinate system of the Tango is located as the target geographic direction.

Further optionally, in the method, determining the target adjustment direction of the geographic coordinate specifically includes:

acquiring the adjusted geographical coordinates of the acquisition starting point in each preset adjusting direction according to the initial geographical coordinates of the acquisition starting point and the preset distance step length in each preset adjusting direction;

acquiring the proportion of the corresponding adjusted acquisition points according to the adjusted geographical coordinates of the acquisition starting points in each preset adjustment direction;

and acquiring an adjusting direction in which the proportion of the adjusted acquisition points is increased relative to the proportion of the acquisition points before adjustment as the target adjusting direction according to the size relation between the proportion of the adjusted acquisition points corresponding to each preset adjusting direction and the proportion of the acquisition points before adjustment.

Further optionally, in the method, acquiring location data of each indoor location point of the building according to the destination geographic coordinate of the acquisition starting point and the destination geographic direction corresponding to the 0-degree direction of the reference coordinate system of Tango specifically includes:

collecting the Tango coordinates of each indoor position point of the building by taking the geographic coordinates of the origin of the reference coordinate system of the Tango as the target geographic coordinates and taking the 0-degree direction of the reference coordinate system of the Tango as the adjusted reference coordinate system of the Tango corresponding to the target geographic direction;

and acquiring the geographic coordinates of each corresponding position point according to the Tango coordinates of each position point, the target geographic coordinates of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the reference coordinate system of the Tango.

The invention provides a device for acquiring indoor position data, which comprises:

the system comprises a starting point information acquisition module, a starting point information acquisition module and a starting point information acquisition module, wherein the starting point information acquisition module is used for acquiring an acquisition starting point selected by an acquisition person from inside or outside a building block of a building to be acquired and an initial geographic coordinate of the acquisition starting point;

the acquisition module is used for acquiring in an indoor road network of the building by taking the acquisition starting point as an origin of a reference coordinate system of the Tango to obtain a Tango track;

a target information obtaining module, configured to adjust, according to the initial geographic coordinate of the acquisition starting point, an initial geographic direction in which a preset 0-degree direction of a Tango reference coordinate system is located, the Tango trajectory, and a road network of the indoor map of the building, the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system, so that all acquisition points in the Tango trajectory fall into the road network of the indoor map of the building, and obtain an adjusted target geographic coordinate of the acquisition starting point and a target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system;

the acquisition module is further configured to acquire position data of each indoor position point of the building according to the target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system.

Further optionally, in the apparatus described above, the target information obtaining module specifically includes:

an initial information obtaining unit, configured to obtain initial geographic coordinates of each acquisition point in a Tango trajectory according to the initial geographic coordinates of the acquisition starting point, the initial geographic direction in which the 0-degree direction of the Tango reference coordinate system is located, and the Tango trajectory;

the proportion obtaining unit is used for obtaining the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango track according to the initial geographic coordinates of the acquisition points in the Tango track and the road network of the indoor graph of the building;

a judging unit, configured to judge whether a proportion of collection points falling into a road network of an indoor map of the building in the Tango trajectory reaches 100%;

the target adjustment direction determining unit is used for determining a target adjustment direction of a geographic coordinate if the judging unit judges and determines that the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango track does not reach 100%;

the adjusting unit is used for gradually adjusting the initial geographic coordinate of the acquisition starting point according to a preset distance step length in the target adjusting direction of the geographic coordinate; meanwhile, aiming at the geographical coordinates of the acquisition starting point obtained by each adjustment, the direction of the 0-degree direction of the reference coordinate system of the Tango relative to the geographical coordinate system is gradually rotated by a preset angle step length, and the geographical coordinates of the corresponding acquisition starting point and the geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango are obtained when the adjusted proportion of the corresponding acquisition points reaches 100%;

and the target information acquisition unit is used for taking the corresponding geographic coordinate of the acquisition starting point as the target geographic coordinate when the proportion of the acquisition points reaches 100%, and taking the corresponding geographic direction of the 0-degree direction of the reference coordinate system of the corresponding Tango as the target geographic direction.

Further optionally, in the apparatus as described above, the target information obtaining unit is further configured to, if the determining unit determines and determines that the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango trajectory reaches 100%, take the initial geographic coordinate of the acquisition starting point as the target geographic coordinate, and take the initial geographic direction in which the 0-degree direction of the reference coordinate system of the Tango is located as the target geographic direction.

Further optionally, in the apparatus as described above, the target adjustment direction determining unit is specifically configured to:

Further optionally, in the apparatus as described above, the acquisition module is specifically configured to:

The present invention also provides a computer apparatus, the apparatus comprising:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement a method of acquiring indoor location data as described above.

The present invention also provides a computer-readable medium, on which a computer program is stored, which program, when being executed by a processor, realizes the method of acquiring indoor location data as described above.

The invention relates to a method and a device for acquiring indoor position data, computer equipment and a readable medium, which acquire an acquisition starting point selected by an acquisition person from inside or outside a building block of a building to be acquired and an initial geographic coordinate of the acquisition starting point; collecting in an indoor road network of a building by taking the collection starting point as the origin of a reference coordinate system of the Tango to obtain a Tango track; according to the initial geographic coordinate of the acquisition starting point, the preset initial geographic direction of the 0-degree direction of the Tango reference coordinate system, the Tango track and the road network of the indoor image of the building, the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system are adjusted, all acquisition points in the Tango track fall into the road network of the indoor image of the building, and the target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system after adjustment are obtained; and acquiring position data of each indoor position point of the building according to the target geographical coordinates of the acquisition starting point and the target geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango. According to the technical scheme, the indoor position data are collected based on the Tango technology, the technical defect that the error of manual collection is large in the prior art can be overcome, the collection error of the indoor position data is reduced, the accuracy of indoor position data collection is improved, and further the accuracy of indoor positioning can be improved based on the collected indoor position data.

[ description of the drawings ]

Fig. 1 is a flowchart of an embodiment of a method for acquiring indoor position data according to the present invention.

Fig. 2 is a schematic diagram of the reference coordinate system of Tango.

Fig. 3 is a partial indoor view of a building according to an embodiment of the present invention.

Fig. 4 is a schematic view of a Tango trajectory obtained by Tango acquisition of the road network in the indoor map shown in fig. 3.

Fig. 5 is a schematic diagram showing that the proportion of collection points falling into the road network of the indoor graph of the building shown in fig. 3 in the Tango locus shown in fig. 4 does not reach 100%.

Fig. 6 is a schematic diagram showing that the proportion of collection points falling into the road network of the indoor graph of the building shown in fig. 3 in the Tango locus shown in fig. 4 reaches 100%.

Fig. 7 is a structural diagram of a first embodiment of an apparatus for acquiring indoor position data according to the present invention.

Fig. 8 is a structural diagram of a second embodiment of an indoor position data acquisition device according to the present invention.

FIG. 9 is a block diagram of an embodiment of a computer device of the present invention.

Fig. 10 is an exemplary diagram of a computer device provided by the present invention.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Tango is a new technology in the project of Augmented Reality (AR) of Google. There are 3 concepts in Tango, and 3 function modules can be correspondingly set, and which functions can be selected to be turned on by setting the corresponding fields of the TangoConfig object.

a. Mobile tracking (motion tracking)

And motion tracking means that Tango records and tracks the position of the mobile device in a 3D space, and position data comprises a place, a super-image rotation angle and the like and is reported to an application in real time.

b. Regional learning (Area learning)

Motion tracking only feeds back current coordinate information of the mobile device, there is no memory of what the device "sees", and region learning enables the mobile device to see and remember key visual features of the physical space, such as edges, corners, etc. The seen data is stored in the area learning mode, matching is carried out when the data is seen again, and errors (drift correction) are corrected by using the data, so that the track tracking and positioning are more accurate.

c. Depth Perception (Depth Perception)

Depth perception gives the device a "sense" of the distance between objects, which is achieved by unique hardware device technologies such as "structured light", "light speed time of flight TOF" and Stereo measurements.

In addition, in view of conventional positioning techniques such as GPS positioning and WIFI positioning, the accuracy is low in indoor positioning. Based on the above-described characteristics of Tango, the Tango technique can be applied to indoor positioning. The indoor positioning of Tango is a "reference positioning", i.e. a positioning relative to an "initial position", which does not involve satellite positioning. The Tango technology acquires the 'displacement' and the 'rotation angle' of the mobile device relative to the initial position according to sensors of hardware devices, such as a gravity sensor, an Inertial Measurement Unit (IMU), a gyroscope and the like, and constructs a 'reference coordinate system' by itself, so that Tango has higher positioning accuracy in the reference coordinate system of itself.

The scheme for acquiring indoor position data in this embodiment is to acquire indoor position data based on the Tango technology, and reference may be made to the following description of the embodiments in detail.

Fig. 1 is a flowchart of an embodiment of a method for acquiring indoor position data according to the present invention. As shown in fig. 1, the information processing method of this embodiment may specifically include the following steps:

100. acquiring an acquisition starting point selected by an acquisition person from inside or outside a building block of a building to be acquired and an initial geographic coordinate of the acquisition starting point;

the execution main body of the method for acquiring the indoor position data of the embodiment is an acquisition device of the indoor position data, and the acquisition device of the indoor position data can be an independent electronic entity. For example, the indoor location data collecting device may be a mobile device installed with a Tango application, such as a mobile phone or other mobile terminal.

In the method for acquiring indoor position data of this embodiment, when implemented, an acquiring person needs to select a position point from inside or outside a building to be acquired as an acquisition starting point. After the acquisition personnel selects an acquisition start point, the Tango application in the acquisition device of the indoor position data is opened, and the acquisition start point is the origin of the reference coordinate system of Tango. Meanwhile, the acquisition personnel can also start a Global Positioning System (GPS) application, and the GPS can be used for Positioning the current acquisition starting point, so that the acquisition device of the indoor position data can acquire the initial geographic coordinate of the GPS for Positioning the acquisition starting point.

When the collection starting point of the present embodiment is located indoors in a building, the collection starting point may be located at any point in the building, for example, may be located at a road network center point indoors. However, the poor signal of the GPS indoors may cause inaccurate acquisition of the geographic coordinates of the indoor acquisition starting point. At this time, a point in the building which is not far from the entrance can be selected as the collection starting point of the label. Or a more distinctive point directly around the outside of the building, closer to the building, may be the starting point for acquisition.

101. Collecting in an indoor road network of a building by taking the collection starting point as the origin of a reference coordinate system of the Tango to obtain a Tango track;

in this embodiment, the reference coordinate system of Tango may be constructed with the collection start point as the origin of the reference coordinate system of Tango. In specific operation, the Tango application is opened by the position control of the acquisition starting point, and then the position of the acquisition starting point can be used as the origin of the reference coordinate system of the Tango. Then, the indoor position data can be collected by a collection device carried by a person along an indoor road network of the building, or the indoor position data collection device is controlled to automatically collect the indoor road network of the building, so that the Tango track obtained by the indoor position data collection device is collected. Preferably, the Tango trajectory acquisition of the present embodiment requires acquisition of all corridors in the indoor road network of the building. If the indoor road network structure of the building is rich, for example, the building includes corridors in multiple directions, when the Tango trajectory in this embodiment is collected, the corridors in at least two directions in the indoor road network of the building may also be collected, so that the target geographic coordinates of the collection starting point and the target geographic direction corresponding to the 0-degree direction of the reference coordinate system of the Tango can be obtained subsequently.

In the acquisition of the Tango trajectory, the acquisition device of the indoor position data may be issued from an acquisition starting point, one acquisition point being selected at intervals at a certain distance along the indoor road network of the building. The Tango coordinates of the acquisition points are then identified in the reference coordinate system of Tango. The distance interval here is related to the required density of the acquisition points, for example, the distance interval may be any one distance value between 0.2m and 1m, or other distance values may be selected according to actual requirements. The distance intervals between adjacent acquisition points may be the same or different.

The Tango coordinates of each acquisition point in the Tango trajectory are represented by a displacement of the acquisition point relative to the origin of the reference coordinate system of Tango, a rotation angle of 0 degree direction relative to the reference coordinate system of Tango. The 0 degree direction in the reference coordinate system of Tango may be the direction acquired for the first time after the Tango application is opened for the acquisition device of the indoor position data, and has no relation with the actual geographical direction of the direction acquired for the first time. In addition, in the reference coordinate system of Tango, the 0 degree direction is usually selected as the positive y-axis direction, i.e. the positive north direction of the geographic coordinate system, and actually the geographic direction corresponding to the 0 degree direction in the reference coordinate system of Tango is not necessarily the positive north direction of the geographic coordinate system.

In the reference coordinate system of Tango, the Tango coordinates of the respective acquisition points in the acquired Tango trajectory are recorded with a displacement d from the origin and a rotation angle α of 0 degrees with respect to the reference coordinate system of Tango. Wherein the forward direction of the y axis is 0 degree selected from 0 degree of the reference coordinate system of Tango. For example, FIG. 2 is a schematic representation of Tango's reference coordinate system. As shown in fig. 2, the y-axis of the reference coordinate system of Tango is in a positive direction of 0 degree, and the clockwise direction may be selected as the positive direction of the rotation angle, and the range of the rotation angle is 0-360 degrees. Where the Tango coordinate of the point P in the reference coordinate system of Tango can be represented as (d, α), where d is the displacement of the point P from the origin O of the reference coordinate system of Tango and α is the rotation angle of OP in the 0 degree direction with respect to the reference coordinate system of Tango. The Tango coordinate of the point Q in the reference coordinate system of Tango may be represented as (d ', β), d' being a displacement of the point Q from the origin O of the reference coordinate system of Tango, and β being a rotation angle of OQ in the 0-degree direction with respect to the reference coordinate system of Tango.

102. According to the initial geographic coordinate of the acquisition starting point, the preset initial geographic direction of the 0-degree direction of the Tango reference coordinate system, the Tango track and the road network of the indoor image of the building, the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system are adjusted, all acquisition points in the Tango track fall into the road network of the indoor image of the building, and the target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system after adjustment are obtained;

in this embodiment, in order to map the Tango coordinates of each acquisition point in the Tango trajectory to the geographic coordinates, the 0-degree direction of the reference coordinate system of the Tango may be set as an assumed initial direction, for example, the 0-degree direction of the reference coordinate system of the Tango may be set as a preset initial geographic direction, and the preset initial geographic direction is not necessarily the real geographic direction of the 0-degree direction of the reference coordinate system of the Tango. For example, in this embodiment, for convenience of identification, the 0-degree direction of the reference coordinate system of Tango may be taken as the true north direction of the geographic coordinate system, or may also be taken as the true east direction, the true west direction, the true south direction, or any other directions.

In this embodiment, the GPS positioning itself has an error of 10-15 meters because the initial geographical coordinates of the acquisition start point may have an error. In addition, in this embodiment, the initial geographic direction corresponding to the 0-degree direction of the reference coordinate system of Tango is also an assumed initial direction, and there is a large error, so in this embodiment, it is necessary to adjust the initial geographic coordinates of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the reference coordinate system of Tango, so that all acquisition points in the Tango trajectory fall into the road network of the indoor map of the building, at this time, it can be considered that the adjusted Tango trajectory is adjusted to the correct geographic coordinates, and can just fall into the road network of the indoor map of the building, at this time, it can be considered that the target geographic coordinates of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the reference coordinate system of Tango are both very accurate, and the target geographic coordinates of the origin of the reference coordinate system of Tango, and the target geographic direction corresponding to the 0-degree direction of the reference coordinate system of Tango can be based on the acquisition starting point, that the target geographic coordinates of the origin of the reference coordinate system, the indoor position data acquisition is realized.

For example, the step 102 may specifically include the following steps:

(a1) acquiring initial geographical coordinates of each acquisition point in a Tango track according to the initial geographical coordinates of the acquisition starting point, the preset initial geographical direction of the 0-degree direction of the reference coordinate system of the Tango and the Tango track;

in this embodiment, the acquisition starting point is used as the origin of the Tango reference coordinate system, that is, the Tango coordinate (0,0) of the origin of the Tango reference coordinate system and the initial geographic coordinate, that is, the longitude and latitude coordinate are both known, so that the geographic coordinate of each acquisition point can be mapped according to the Tango coordinate of each acquisition point in the Tango trajectory. For example, the Tango coordinate of an acquisition point is (d, α), that is, the acquisition point extends the origin outward by a displacement d and is rotated by an angle α along the rotation direction. According to the mapping relation, the geographical coordinates of the origin can be extended outwards by the displacement d in the same way, and the initial geographical coordinates of the acquisition point can be mapped by rotating the initial geographical direction of the 0-degree direction of the reference coordinate system of Tango by the angle alpha along the rotating direction. In the manner described above, the initial geographic coordinates of each acquisition point in the Tango trace may be mapped.

(b1) Acquiring the proportion of acquisition points falling into the road network of the indoor map of the building in the Tango track according to the initial geographic coordinates of the acquisition points in the Tango track and the road network of the indoor map of the building;

(c1) judging whether the proportion of collection points falling into a road network of an indoor graph of a building in a Tango track reaches 100%; if not, go to step (d 1); otherwise, taking the initial geographic coordinate of the acquisition starting point as a target geographic coordinate, taking the initial geographic direction of the 0-degree direction of the reference coordinate system of the Tango as the target geographic direction, and ending.

After obtaining the initial geographic coordinates of each acquisition point in the Tango trajectory according to step (a1), the Tango trajectory may be identified in a geographic coordinate system according to the initial geographic coordinates of each acquisition point in the Tango trajectory. In addition, the indoor map of the building is also identified in the electronic map according to the geographic coordinate system. In this way, in the geographic coordinate system, the proportion of acquisition points in the Tango trajectory that fall into the road network of the indoor graph of the building can be calculated. Specifically, whether each acquisition point in the Tango trajectory falls into the road network of the indoor graph of the building or not can be analyzed respectively, and then the proportion of the acquisition points in the Tango trajectory falling into the road network of the indoor graph of the building can be analyzed comprehensively. For example, fig. 3 is a partial indoor view of a building according to an embodiment of the present invention. As shown in fig. 3, the hatched portion in the drawing indicates a corridor in the road network in the indoor diagram Of the building, and a plurality Of small boxes indicate shops at Points Of Interest (POI). Fig. 4 is a schematic view of a Tango trajectory obtained by Tango acquisition of the road network in the indoor map shown in fig. 3. Assuming that the initial geographic coordinates of each acquisition point in the Tango trajectory are calculated according to the step (a1), and the Tango trajectory and the indoor map of the building are simultaneously drawn in the geographic coordinate system, a case that the proportion of the acquisition points falling into the road network of the indoor map of the building in the Tango trajectory shown in fig. 5 does not reach 100% can be obtained. In the case shown in fig. 5, it may be counted whether each acquisition point in the Tango trajectory falls into the road network of the indoor graph, so as to obtain the proportion of the acquisition points in the Tango trajectory that fall into the road network of the indoor graph of the building. As shown in fig. 5, it can be known that the proportion of the collection points falling into the road network of the indoor graph of the building in the Tango trajectory does not reach 100%, which indicates that at least one of the initial geographic coordinates of the collection starting point and the initial geographic direction of the 0-degree direction of the reference coordinate system of the Tango is incorrect, and further adjustment is required. Before adjustment, the target adjustment direction of the geographic coordinates can be determined, so that the adjustment efficiency can be improved.

(d1) Determining a target adjustment direction of the geographic coordinates; performing step (e 1);

because the GPS navigation has an error of 10 to 15 meters, the adjustment of the geographic coordinates in this embodiment is to make up for the error caused by the GPS positioning, so as to improve the accuracy of the subsequent position data acquisition. In this embodiment, the geographic coordinates include longitude and latitude, and when the geographic coordinates are adjusted, the following four preset adjustment directions may be included: increasing the longitude value and increasing the latitude value; increasing the longitude value and decreasing the direction of the latitude value; decreasing the longitude value and increasing the latitude value; the longitude value is decreased while the direction of the latitude value is decreased. If the adjustment mode is adjusted towards the correct direction, the proportion of the acquisition points falling into the road network of the indoor graph of the building in the corresponding Tango track after adjustment is increased; otherwise, if the adjustment mode is adjusted towards an incorrect direction, the proportion of the acquisition points falling into the road network of the indoor graph of the building in the corresponding Tango track after adjustment is reduced. In this embodiment, the determined correct adjustment manner is the target adjustment direction.

For example, the step (d1) may specifically include the following steps:

(a2) acquiring the adjusted geographical coordinates of the acquisition starting point in each preset adjusting direction according to the initial geographical coordinates and the preset distance step length of the acquisition starting point in each preset adjusting direction;

in this embodiment, the adjustment range of the geographic coordinate may be 15 meters, and the preset distance step length for each adjustment may be 1 meter. According to the four preset adjusting directions, the initial geographical coordinates of the acquisition starting point are adjusted in the four preset directions according to the preset distance step length, so that the geographical coordinates of the acquisition starting point after adjustment in the four preset adjusting directions can be obtained respectively.

(b2) Acquiring the proportion of the corresponding adjusted acquisition points according to the adjusted geographical coordinates of the acquisition starting points in each preset adjustment direction;

after the geographical coordinates of the acquisition starting points are adjusted in each preset adjustment direction, the adjusted geographical coordinates of each acquisition point in the adjusted Tango trajectory of each preset adjustment direction may be obtained specifically according to the step (a 1). Then, in the manner of step (b1), the proportion of the collection points falling into the road network of the indoor map of the building in each preset adjustment direction in the adjusted Tango trajectory can be calculated.

(c2) And acquiring an adjusting direction in which the proportion of the adjusted acquisition points is increased relative to the proportion of the acquisition points before adjustment as a target adjusting direction according to the size relation between the proportion of the adjusted acquisition points corresponding to each preset adjusting direction and the proportion of the acquisition points before adjustment.

And (c) comparing the proportion of the corresponding acquisition points in each preset adjustment direction obtained in the step (b2) in the four preset adjustment directions with the proportion of the acquisition points obtained in the step (b1), and acquiring an adjustment direction in which the proportion of the adjusted acquisition points is increased relative to the proportion of the acquisition points before adjustment as a target adjustment direction.

(e1) Gradually adjusting the initial geographical coordinates of the acquisition starting points according to a preset distance step length in the target adjustment direction of the geographical coordinates; meanwhile, aiming at the geographical coordinates of the acquisition starting point obtained by each adjustment, the direction of the 0-degree direction of the Tango reference coordinate system relative to the geographical coordinate system is gradually rotated by a preset angle step length; acquiring the geographical coordinates of the corresponding acquisition starting points and the geographical directions corresponding to the 0-degree directions of the corresponding Tango reference coordinate system when the adjusted proportion of the corresponding acquisition points reaches 100%; performing (f 1);

(f1) and when the proportion of the acquisition points reaches 100%, the corresponding geographical coordinates of the acquisition starting points are taken as target geographical coordinates, and the geographical direction corresponding to the 0-degree direction of the corresponding Tango reference coordinate system is taken as a target geographical direction.

After the target adjustment direction of the geographical coordinates is determined according to the above steps (a2) - (c2), the initial geographical coordinates of the acquisition starting point may be gradually adjusted according to a preset distance step in the target adjustment direction. And for the adjustment of the geographical coordinates of the acquisition starting point each time, theoretically, the adjustment of 0-360 degrees can be carried out on the 0-degree direction of the reference coordinate system of the Tango, so as to obtain the geographical coordinates of the acquisition starting point corresponding to the adjusted Tango track when the proportion of the acquisition points falling into the road network of the indoor graph of the building is 100%, and the geographical direction corresponding to the 0-degree direction of the reference coordinate system of the corresponding Tango.

During specific operation, the initial geographical coordinates of the acquisition starting point can be adjusted once in the target adjustment direction by a preset distance step; and then, carrying out rotation adjustment of a preset angle step length once in the 0-degree direction of the reference coordinate system of Tango. For the rotation adjustment, according to the initial geographic direction of the 0-degree direction of the reference coordinate system of the Tango and the preset angle step length, the geographic direction corresponding to the 0-degree direction of the reference coordinate system of the adjusted Tango can be obtained. Assuming that clockwise rotation is defined as a positive direction, the preset angle step is 5 degrees, and if the initial geographic direction of the 0-degree direction of the Tango reference coordinate system is the true north direction, the geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system after rotation adjustment is 5 degrees north-east. Then, acquiring the geographical coordinates of each acquisition point in the adjusted Tango track according to the step (a1) according to the geographical coordinates of the adjusted acquisition starting point and the geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango, and then calculating the proportion of the acquisition points falling into the road network of the indoor graph of the building in the adjusted Tango track according to the step (b 1); immediately judging whether the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango track reaches 100% or not according to the step (c 1); if not, the rotation adjustment of the preset angle step length is carried out again in the 0-degree direction of the reference coordinate system of Tango, and the steps are repeated. If the 0-degree direction of the reference coordinate system of the Tango is rotated and adjusted by 360 degrees under the current geographical coordinates of the adjusted acquisition starting point, the situation that the proportion of the acquisition points falling into the road network of the indoor map of the building in the Tango track reaches 100% is not acquired yet, at this time, the geographical coordinates of the acquisition starting point can be adjusted again according to the preset distance step length in the target adjustment direction of the geographical coordinates, then the 0-degree direction of the reference coordinate system of the Tango is gradually adjusted according to the above mode, and whether the proportion of the acquisition points falling into the road network of the indoor map of the building in the Tango track reaches 100% or not is acquired and judged after each adjustment until the proportion of the acquisition points falling into the road network of the indoor map of the building in the Tango track reaches 100% after adjustment, and the adjustment is stopped. And finally, taking the geographic coordinate of the corresponding acquisition starting point as a target geographic coordinate when the proportion of the acquisition points reaches 100%, and taking the geographic direction corresponding to the 0-degree direction of the corresponding Tango reference coordinate system as a target geographic direction. For example, with the adjustment method of the above embodiment, the geographical coordinates of the acquisition start point and the 0-degree direction of the reference coordinate system of Tango in the case shown in fig. 5 can be adjusted, and a case where the proportion of the acquisition points falling into the road network of the indoor map of the building in the Tango locus shown in fig. 6 reaches 100% can be obtained. As shown in fig. 6, at this time, the collection points in the Tango trajectory shown in fig. 4 can completely fall into the road network of the indoor map of the building shown in fig. 3, and at this time, the geographical coordinates of the collection start point and the 0-degree direction of the reference coordinate system of the Tango are very accurate, so that the indoor position data of the building can be collected.

In this embodiment, if the initial geographic coordinates of the acquisition starting point and the initial geographic direction in which the 0-degree direction of the preset Tango reference coordinate system is located are very accurate, which results in that the step (b1) calculates, according to the initial geographic coordinates of each acquisition point in the Tango trajectory and the road network of the indoor map of the building, that the proportion of the acquisition points falling into the road network of the indoor map of the building in the calculated Tango trajectory is equal to 100%, at this time, the initial geographic coordinates of the acquisition starting point may be used as the target geographic coordinates, and the initial geographic direction in which the 0-degree direction of the Tango reference coordinate system is located is used as the target geographic direction, and the process is ended. But the probability of this is very small.

103. And acquiring position data of each indoor position point of the building according to the target geographical coordinates of the acquisition starting point and the target geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango.

Acquiring position data of each indoor position point of the building according to the target geographical coordinates of the acquisition starting point obtained by the adjustment in the above steps and the target geographical direction corresponding to the 0-degree direction of the reference coordinate system of Tango, which may specifically include the following steps:

(a3) collecting the Tango coordinates of each indoor position point of the building by taking the geographic coordinates of the origin of the reference coordinate system of the Tango as target geographic coordinates and taking the 0-degree direction of the reference coordinate system of the Tango as the adjusted reference coordinate system of the Tango corresponding to the target geographic direction;

(b3) and acquiring the geographic coordinates of the corresponding position points according to the Tango coordinates of the position points, the target geographic coordinates of the acquisition starting point and the 0-degree direction of the reference coordinate system of the Tango corresponding to the target geographic direction.

And acquiring the Tango coordinates of each corridor in the room of the building and the position point in each POI shop by taking the geographic coordinates of the origin of the reference coordinate system of the Tango as target geographic coordinates and the adjusted reference coordinate system of the Tango of which the 0-degree direction of the reference coordinate system of the Tango corresponds to the target geographic direction. Then, with reference to the similar manner of the above step (a1), the geographical coordinates of the location point may be obtained according to the target geographical coordinates of the origin of the reference coordinate system of Tango, the target geographical direction in which the 0-degree direction of the reference coordinate system of Tango is located, and the Tango coordinates of the location point.

It should be noted that, in the acquisition device of indoor location data of this embodiment, the time for acquiring the geographic coordinates of each location point in the building room and the WIFI fingerprint of the location point is synchronized. For example, in the collection process, the geographic coordinates of each position point and the timestamps of collecting the geographic coordinates can be collected, and meanwhile, the fingerprint collection module collects the WIFI fingerprints of each position point and the timestamps of collecting the WIFI fingerprints. Because the geographic coordinate and the WIFI fingerprint of each position point are synchronously acquired, the timestamp for acquiring the geographic coordinate and the timestamp for acquiring the WIFI fingerprint are the same, and the corresponding geographic coordinate and the corresponding WIFI fingerprint serve as the information of the same position point to establish the corresponding relation between the geographic coordinate and the WIFI fingerprint. And finally, storing the geographical coordinates of each indoor position point of the building and the corresponding WIFI fingerprint according to the established corresponding relation, and using the geographical coordinates and the corresponding WIFI fingerprint as positioning data of the corresponding position point.

It should be noted that, in the acquisition process of the WIFI fingerprint, a plurality of different operating systems or devices of different models may be simultaneously adopted to perform acquisition, and the strengths of the WIFI signals of different devices receiving the same Access Point (AP) at the same location Point are not necessarily the same, so that the WIFI fingerprints acquired by different devices may be different at the same location Point. Therefore, in the positioning data of each position point, the position point of the same geographic coordinate can correspond to different WIFI fingerprints acquired by a plurality of different devices. Each WIFI fingerprint may include information of a plurality of WIFI signals, and the information of each WIFI signal may include a physical address of an AP of the WIFI signal, a name of the AP of the WIFI signal, and an intensity of the WIFI signal.

According to the technical scheme, after the positioning data of each acquisition point is accurately acquired, the WIFI fingerprint received by the equipment to be positioned can be detected firstly when indoor positioning is carried out according to the positioning data of each indoor position point of the building, then the geographical coordinate corresponding to the equipment to be positioned can be positioned according to the corresponding relation between the stored WIFI fingerprint and the geographical coordinate of the corresponding position point, and therefore the positioning of the equipment to be positioned is achieved.

By adopting the method for acquiring the indoor position data, the indoor position data of any building can be acquired, for example, the position data of an underground garage can be acquired. When the position data of the underground garage is collected, the indoor position data collecting device of the embodiment can be carried in a collecting vehicle, and the position data is collected according to the mode of the embodiment.

According to the method for acquiring the indoor position data, the acquisition starting point selected by an acquisition person from the inside or outside of the building block of the building to be acquired and the initial geographic coordinate of the acquisition starting point are acquired; collecting in an indoor road network of a building by taking the collection starting point as the origin of a reference coordinate system of the Tango to obtain a Tango track; according to the initial geographic coordinate of the acquisition starting point, the preset initial geographic direction of the 0-degree direction of the Tango reference coordinate system, the Tango track and the road network of the indoor image of the building, the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system are adjusted, all acquisition points in the Tango track fall into the road network of the indoor image of the building, and the target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system after adjustment are obtained; and acquiring position data of each indoor position point of the building according to the target geographical coordinates of the acquisition starting point and the target geographical direction corresponding to the 0-degree direction of the reference coordinate system of the Tango. The technical scheme of this embodiment realizes the collection to indoor position data based on the Tango technique, can compensate the great technical defect of error of artifical collection among the prior art, reduces indoor position data's collection error, improves indoor position data acquisition's accuracy, and then can improve indoor location's accuracy based on the indoor position data who gathers.

Fig. 7 is a structural diagram of a first embodiment of an apparatus for acquiring indoor position data according to the present invention. As shown in fig. 7, the apparatus for acquiring indoor position data of this embodiment may specifically include: a starting point information acquisition module 10, an acquisition module 11 and a target information acquisition module 12.

The starting point information acquisition module 10 is used for acquiring an acquisition starting point selected by an acquisition person from inside or outside a building block of a building to be acquired and an initial geographic coordinate of the acquisition starting point;

the acquisition module 11 is configured to acquire the acquisition starting point acquired by the starting point information acquisition module 10 as an origin of a reference coordinate system of Tango in an indoor road network of a building to obtain a Tango track;

the target information obtaining module 12 is configured to adjust the initial geographic coordinate of the collection starting point and the initial geographic direction corresponding to the 0-degree direction of the reference coordinate system of the Tango according to the initial geographic coordinate of the collection starting point obtained by the starting point information obtaining module 10, the initial geographic direction where the 0-degree direction of the preset reference coordinate system of the Tango is located, the Tango track collected by the collecting module 11, and the road network of the indoor map of the building, so that all the collection points in the Tango track fall into the road network of the indoor map of the building, and obtain the target geographic coordinate of the collection starting point and the target geographic direction corresponding to the 0-degree direction of the reference coordinate system of the Tango after adjustment;

the acquisition module 11 is further configured to acquire position data of each indoor position point of the building according to the target geographic coordinate of the acquisition starting point acquired by the target information acquisition module 12 and the target geographic direction corresponding to the 0-degree direction of the reference coordinate system of Tango.

The implementation principle and technical effect of the device for acquiring indoor position data according to the above module are the same as those of the related method embodiments, and reference may be made to the description of the related method embodiments in detail, which is not repeated herein.

Fig. 8 is a structural diagram of a second embodiment of an indoor position data acquisition device according to the present invention. As shown in fig. 8, the device for acquiring indoor position data of the present embodiment may further include the following technical solutions on the basis of the technical solution of the embodiment shown in fig. 7.

In the apparatus for acquiring indoor location data according to this embodiment, the target information obtaining module 12 specifically includes:

the initial information obtaining unit 121 is configured to obtain initial geographic coordinates of each collection point in a Tango trajectory according to the initial geographic coordinates of the collection start point obtained by the start point information obtaining module 10, the initial geographic direction in which the 0-degree direction of the reference coordinate system of the Tango is located, and the Tango trajectory;

the proportion obtaining unit 122 is configured to obtain, according to the initial geographic coordinates of each acquisition point in the Tango trajectory obtained by the initial information obtaining unit 121 and the road network of the indoor map of the building, a proportion of the acquisition points in the Tango trajectory that fall into the road network of the indoor map of the building;

the judging unit 123 is configured to judge whether the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango trajectory acquired by the proportion acquiring unit 122 reaches 100%;

the target adjustment direction determining unit 124 is configured to determine a target adjustment direction of the geographic coordinate if the determining unit 123 determines and determines that the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango trajectory does not reach 100%;

the adjusting unit 125 is configured to gradually adjust the initial geographic coordinate of the acquisition starting point acquired by the starting point information acquiring module 10 according to a preset distance step in the target adjustment direction of the geographic coordinate determined by the target adjustment direction determining unit 124; meanwhile, aiming at the geographical coordinates of the acquisition starting points obtained by each adjustment, the direction of the 0-degree direction of the Tango reference coordinate system relative to the geographical coordinate system is gradually rotated by a preset angle step length, and when the proportion of the adjusted corresponding acquisition points reaches 100%, the geographical coordinates of the corresponding acquisition starting points and the geographical direction corresponding to the 0-degree direction of the corresponding Tango reference coordinate system are obtained;

the target information obtaining unit 126 is configured to use the geographic coordinate of the corresponding collection starting point when the proportion of the collection points obtained by the adjusting unit 125 reaches 100% as the target geographic coordinate, and use the geographic direction corresponding to the 0-degree direction of the corresponding Tango reference coordinate system as the target geographic direction.

Further optionally, in the acquisition apparatus of indoor location data of this embodiment, the target information acquiring unit 126 is further configured to, if the determining unit 123 determines and determines that the proportion of the acquisition points falling into the road network of the indoor map of the building in the Tango trajectory reaches 100%, take the initial geographic coordinate of the acquisition starting point as the target geographic coordinate, and take the initial geographic direction in which the 0-degree direction of the reference coordinate system of the Tango is located as the target geographic direction.

Further optionally, in the apparatus for acquiring indoor position data of this embodiment, the target adjustment direction determining unit 124 is specifically configured to:

acquiring the adjusted geographical coordinates of the acquisition starting point in each preset adjusting direction according to the initial geographical coordinates and the preset distance step length of the acquisition starting point in each preset adjusting direction;

and acquiring an adjusting direction in which the proportion of the adjusted acquisition points is increased relative to the proportion of the acquisition points before adjustment as a target adjusting direction according to the size relation between the proportion of the adjusted acquisition points corresponding to each preset adjusting direction and the proportion of the acquisition points before adjustment.

Further optionally, in the device for acquiring indoor position data of this embodiment, the acquisition module 11 is specifically configured to:

collecting the Tango coordinates of each indoor position point of the building by taking the geographic coordinates of the origin of the reference coordinate system of the Tango as target geographic coordinates and taking the 0-degree direction of the reference coordinate system of the Tango as the adjusted reference coordinate system of the Tango corresponding to the target geographic direction;

and acquiring the geographic coordinates of the corresponding position points according to the Tango coordinates of the position points, the target geographic coordinates of the acquisition starting point and the 0-degree direction of the reference coordinate system of the Tango corresponding to the target geographic direction.

FIG. 9 is a block diagram of an embodiment of a computer device of the present invention. As shown in fig. 9, the computer device of the present embodiment includes: one or more processors 30, and a memory 40, the memory 40 being configured to store one or more programs, which when executed by the one or more processors 30, cause the one or more processors 30 to implement the method for acquiring indoor location data of the embodiment shown in fig. 1, as described above. The embodiment shown in fig. 9 includes a plurality of processors 30 as an example. For example, the computer device of this embodiment may be a mobile device such as a mobile phone installed with a Tango application.

For example, fig. 10 is an exemplary diagram of a computer device provided by the present invention. FIG. 10 illustrates a block diagram of an exemplary computer device 12a suitable for use in implementing embodiments of the present invention. The computer device 12a shown in fig. 10 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.

As shown in FIG. 10, computer device 12a is in the form of a general purpose computing device. The components of computer device 12a may include, but are not limited to: one or more processors 16a, a system memory 28a, and a bus 18a that connects the various system components (including the system memory 28a and the processors 16 a).

Bus 18a represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12a typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12a and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28a may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30a and/or cache memory 32 a. Computer device 12a may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34a may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 10, and commonly referred to as a "hard drive"). Although not shown in FIG. 10, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18a by one or more data media interfaces. System memory 28a may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the embodiments of the invention described above in fig. 1-8.

A program/utility 40a having a set (at least one) of program modules 42a may be stored, for example, in system memory 28a, such program modules 42a including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 42a generally perform the functions and/or methodologies described above in connection with the various embodiments of fig. 1-8 of the present invention.

Computer device 12a may also communicate with one or more external devices 14a (e.g., keyboard, pointing device, display 24a, etc.), with one or more devices that enable a user to interact with computer device 12a, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12a to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22 a. Also, computer device 12a may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) through network adapter 20 a. As shown, network adapter 20a communicates with the other modules of computer device 12a via bus 18 a. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12a, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processor 16a executes programs stored in the system memory 28a to execute various functional applications and data processing, for example, to implement the method for acquiring indoor position data shown in the above-described embodiment.

The present invention also provides a computer-readable medium on which a computer program is stored, which when executed by a processor implements the method of acquiring indoor location data as shown in the above embodiments.

The computer-readable media of this embodiment may include RAM30a, and/or cache memory 32a, and/or storage system 34a in system memory 28a in the embodiment illustrated in fig. 10 described above.

With the development of technology, the propagation path of computer programs is no longer limited to tangible media, and the computer programs can be directly downloaded from a network or acquired by other methods. Accordingly, the computer-readable medium in the present embodiment may include not only tangible media but also intangible media.

The computer-readable medium of the present embodiments may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A method for acquiring indoor location data, the method comprising:

2. The method according to claim 1, wherein the adjusting, according to the initial geographic coordinate of the acquisition starting point, the preset initial geographic direction in which the 0-degree direction of the Tango reference coordinate system is located, the Tango trajectory, and the road network of the indoor map of the building, the initial geographic coordinate of the acquisition starting point and the initial geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system are adjusted so that all acquisition points in the Tango trajectory fall into the road network of the indoor map of the building, and the obtaining the adjusted target geographic coordinate of the acquisition starting point and the target geographic direction corresponding to the 0-degree direction of the Tango reference coordinate system specifically comprises:

if not, determining a target adjustment direction of the geographic coordinate;

3. The method of claim 2, wherein if the proportion of acquisition points in the Tango trajectory that fall into the road network of the indoor graph of the building reaches 100%, the method further comprises:

4. The method according to claim 2, wherein determining the target adjustment direction of the geographic coordinates specifically comprises:

5. The method according to any one of claims 1 to 4, wherein acquiring the position data of each indoor position point of the building according to the target geographical coordinates of the acquisition starting point and the target geographical direction corresponding to the 0-degree direction of the reference coordinate system of Tango specifically comprises:

6. An apparatus for acquiring indoor position data, the apparatus comprising:

7. The apparatus according to claim 6, wherein the target information obtaining module specifically includes:

8. The apparatus according to claim 7, wherein the target information obtaining unit is further configured to, if the determining unit determines and determines that the proportion of the acquisition points falling into the road network of the indoor graph of the building in the Tango trajectory reaches 100%, take an initial geographic coordinate of the acquisition start point as the target geographic coordinate, and take the initial geographic direction in which the 0-degree direction of the reference coordinate system of the Tango is located as the target geographic direction.

9. The apparatus according to claim 7, wherein the target adjustment direction determining unit is specifically configured to:

10. The apparatus according to any one of claims 6 to 9, wherein the acquisition module is specifically configured to:

11. A computer device, the device comprising:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.

12. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.