CN107889056B

CN107889056B - Method and device for collecting indoor position data of multi-story building and readable medium

Info

Publication number: CN107889056B
Application number: CN201710850285.1A
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: 2020-09-29
Anticipated expiration: 2037-09-20
Also published as: CN107889056A

Abstract

The invention provides a method, equipment and a readable medium for acquiring indoor position data of a multi-storey building. The method comprises the following steps: acquiring an acquisition starting point and a geographical coordinate of the acquisition starting point marked by an acquisition person from an initial acquisition layer of a multi-story building to be acquired; taking the acquisition starting point as the origin of a reference coordinate system of Tango, and acquiring the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction according to the geographical direction identified by the direction sensor; and acquiring the three-dimensional coordinates of each acquisition point in each floor of the multi-storey building according to the obtained deviation value, the geographic coordinates of the acquisition starting point and the air pressure value acquired by the air pressure sensor. According to the technical scheme, the indoor position data of the multi-story building are collected based on the Tango technology, the collection error of the indoor position data can be reduced, the accuracy of indoor position data collection is improved, and further the accuracy of indoor positioning is improved based on the collected indoor position data.

Description

Method and device for collecting indoor position data of multi-story building 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, equipment and a readable medium for acquiring indoor position data of a multi-storey building.

[ 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 comprises the steps of collecting position data, namely geographical coordinates, of each position point in advance and WIFI fingerprints of each position point, then establishing a corresponding relation between the coordinates of each position point and the corresponding WIFI fingerprints, using the coordinates of each position point and the corresponding WIFI fingerprints as positioning data of the position point, and storing 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 geographic coordinates, of each indoor position point is relatively complicated. For example, when the indoor location data of multi-storey building was gathered, gather according to every floor is independent usually, and different floors all need carry out artifical the collection many times like this, and the complexity of gathering is higher. In addition, when the position data of each floor is collected, a position point needs to be marked at the position of the key inflection point in a manual mode, and the geographic coordinate of the position point is obtained in a manual mode. 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. By adopting the method, the geographic coordinates of each position point in the floor can be acquired.

Based on the above, the WIFI indoor position data of the existing multi-story building are collected through whole-course manual operation, and the error of the collected position data is very large.

[ summary of the invention ]

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

The invention provides a method for acquiring indoor position data of a multi-story building, which comprises the following steps:

acquiring an acquisition starting point marked by an acquisition person from an initial acquisition layer of a multi-story building to be acquired and a geographic coordinate of the acquisition starting point;

taking the acquisition starting point as an origin of a reference coordinate system of Tango, and acquiring a deviation value between the geographic direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction according to the geographic direction identified by the direction sensor;

and acquiring three-dimensional coordinates of each acquisition point in each indoor floor of the multi-story building by acquiring the Tango coordinate of each acquisition point in the reference coordinate system of the Tango and the air pressure value acquired by an air pressure sensor according to the deviation value between the geographical direction and the due north direction identified by the 0-degree direction of the reference coordinate system of the Tango and the geographical coordinates of the acquisition starting point, wherein the three-dimensional coordinates comprise the geographical coordinates and the floor identification.

Further optionally, in the method, taking the collection starting point as an origin of a reference coordinate system of Tango, and obtaining a deviation value between a geographic direction identified by a 0-degree direction of the reference coordinate system of Tango and a due north direction according to the geographic direction identified by the direction sensor specifically includes:

selecting an acquisition direction by taking the acquisition starting point as a starting point, acquiring a preset distance, and acquiring a 0-degree direction of the reference coordinate system of Tango;

acquiring the geographic direction of the 0-degree direction of the reference coordinate system of the Tango of the direction sensor identifier;

and acquiring a deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of the Tango and the due north direction.

Further optionally, in the method as described above, acquiring three-dimensional coordinates of each acquisition point in each floor of the multi-story building by acquiring a Tango coordinate of each acquisition point in the reference coordinate system of the Tango and an air pressure value acquired by an air pressure sensor according to a deviation value between a geographic direction identified by the 0 degree direction of the reference coordinate system of the Tango and a due north direction and a geographic coordinate of the acquisition starting point, specifically includes:

receiving a reference floor identification set for the initial acquisition layer by the acquisition personnel;

collecting geographical coordinates of each acquisition point in the initial acquisition layer by collecting the Tango coordinates of each acquisition point of the initial acquisition layer in the Tango reference coordinate system according to the deviation value between the geographical direction identified by the 0-degree direction of the Tango reference coordinate system and the due north direction and the geographical coordinates of the acquisition starting point; simultaneously collecting a first air pressure value of each collecting point in the initial collecting layer by using the air pressure sensor;

collecting the geographic coordinates and the floor identifications of all the collection points in other collection layers of the multi-storey building by collecting the Tango coordinates of all the collection points in the reference coordinate system of the Tango and the second air pressure values in the other collection layers collected by the air pressure sensor according to the deviation value between the geographic direction and the due north direction identified by the 0-degree direction of the reference coordinate system of the Tango, the geographic coordinates of the collection starting point, the first air pressure value of all the collection points in the initial collection layer and the reference floor identification.

Further optionally, in the method as described above, the acquiring the geographical coordinates of each acquisition point in the initial acquisition layer by acquiring a Tango coordinate of each acquisition point in the initial acquisition layer in the Tango reference coordinate system according to a deviation value between the geographical direction identified by the 0 degree direction of the Tango reference coordinate system and a due north direction and the geographical coordinates of the acquisition starting point specifically includes:

collecting Tango coordinates of all collection points in the starting collection layer under the reference coordinate system of Tango;

and acquiring the geographic coordinates of each acquisition point in the initial acquisition layer by acquiring the Tango coordinates of each acquisition point in the initial acquisition layer in the Tango reference coordinate system according to the Tango coordinates of each acquisition point in the initial acquisition layer, the deviation value of the 0-degree direction of the Tango reference coordinate system and the due north direction of the geographic coordinate system and the geographic coordinates of the acquisition starting point.

Further optionally, in the method as described above, acquiring, according to a deviation value between a geographic direction and a due north direction identified by a 0-degree direction of the reference coordinate system of the Tango, the geographic coordinate of the acquisition starting point, the first air pressure value of each acquisition point in the initial acquisition level, and the reference floor identification, the geographic coordinate and the floor identification of each acquisition point in the other acquisition levels by acquiring a Tango coordinate of each acquisition point in the reference coordinate system of the Tango and the second air pressure value of each acquisition point in the other acquisition levels acquired by the air pressure sensor to acquire the geographic coordinate and the floor identification of each acquisition point in the other acquisition levels of the multi-story building specifically includes:

acquiring a reference air pressure value of the initial acquisition layer according to the first air pressure value of each acquisition point in the initial acquisition layer;

collecting the geographical coordinates of each acquisition point in other acquisition layers by collecting the Tango coordinates of each acquisition point in the reference coordinate system of the Tango according to the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of the Tango and the due north direction and the geographical coordinates of the acquisition starting point; simultaneously collecting second air pressure values of all the collection points in the other collection layers by using the air pressure sensor;

and setting corresponding target floor identifications for the acquisition points in the other acquisition layers according to the second air pressure values, the reference air pressure values and the reference floor identifications of the acquisition points in the other acquisition layers.

Further optionally, in the method, according to the second air pressure value of each acquisition point in the other acquisition layers, the reference air pressure value, and the reference floor identifier, setting a corresponding target floor identifier for each acquisition point in the other acquisition layers specifically includes:

according to the second air pressure values of the acquisition points in the other acquisition layers, taking at least two second air pressure difference values with the difference value of the second air pressure values within a preset threshold range as the air pressure value of the same acquisition layer;

obtaining a target air pressure value of each acquisition layer according to at least two second air pressure difference values of the same acquisition layer;

acquiring the pressure difference of two air pressure values with the minimum pressure difference from the target air pressure value of each acquisition layer and the reference air pressure value as the pressure difference between floors;

and acquiring the target floor identification of each acquisition point in the corresponding acquisition layer according to the target air pressure value of each acquisition layer, the reference air pressure value, the inter-floor air pressure difference and the reference floor identification.

The invention provides a device for acquiring indoor position data of a multi-story building, 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 a collecting starting point marked by a collecting person from a starting collecting layer of the multi-story building to be collected and a geographical coordinate of the collecting starting point;

the deviation acquisition module is used for acquiring a deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of the Tango and the due north direction according to the geographical direction identified by the direction sensor by taking the acquisition starting point as the origin of the reference coordinate system of the Tango;

and the acquisition module is used for acquiring three-dimensional coordinates of each acquisition point in each indoor floor of the multi-story building by acquiring a Tango coordinate of each acquisition point in the reference coordinate system of the Tango and an air pressure value acquired by an air pressure sensor according to a deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of the Tango and the due north direction and the geographical coordinates of the acquisition starting point, wherein the three-dimensional coordinates comprise the geographical coordinates and the floor identification.

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

Further optionally, in the apparatus described above, the acquisition module specifically includes:

the initial acquisition layer acquisition unit is used for receiving a reference floor identifier set for the initial acquisition layer by the acquisition personnel; collecting geographical coordinates of each acquisition point in the initial acquisition layer by collecting the Tango coordinates of each acquisition point of the initial acquisition layer in the Tango reference coordinate system according to the deviation value between the geographical direction identified by the 0-degree direction of the Tango reference coordinate system and the due north direction and the geographical coordinates of the acquisition starting point; simultaneously collecting a first air pressure value of each collecting point in the initial collecting layer by using the air pressure sensor;

and the other acquisition layer acquisition unit is used for acquiring the geographic coordinates and the floor identifications of the acquisition points in the other acquisition layers of the multi-storey building by acquiring the Tango coordinates of the acquisition points in the reference coordinate system of the other acquisition layers in the reference coordinate system of the Tango and the second air pressure values acquired by the air pressure sensor in the other acquisition layers according to the deviation value between the geographic direction identified by the 0-degree direction of the reference coordinate system of the Tango and the due north direction, the geographic coordinates of the acquisition starting point, the first air pressure values of the acquisition points in the starting acquisition layer and the reference floor identifications.

Further optionally, in the apparatus as described above, the starting acquisition layer acquisition unit is specifically configured to:

Further optionally, in the apparatus as described above, the other acquisition layer acquisition units are 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,

the air pressure sensor is used for collecting an air pressure value; the air pressure sensor is in communication connection with the processor so as to transmit the acquired air pressure value to the processor;

a direction sensor for identifying a geographic direction; the direction sensor is in communication connection with the processor so as to transmit the acquired geographic direction to the processor;

when the one or more programs are executed by the one or more processors, the one or more processors implement the method of acquiring indoor location data of a multi-storey building as described above.

The invention also provides a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method of acquiring indoor position data of a multi-storey building as described above.

The invention relates to a method, a device and a readable medium for acquiring indoor position data of a multi-story building, which are characterized in that an acquisition starting point and a geographical coordinate of the acquisition starting point marked by an acquisition person from an initial acquisition layer of the multi-story building to be acquired are acquired; taking the acquisition starting point as the origin of a reference coordinate system of Tango, and acquiring the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction according to the geographical direction identified by the direction sensor; and acquiring three-dimensional coordinates of each acquisition point in each indoor floor of the multi-storey building according to a deviation value between the geographic direction and the due north direction identified by the 0-degree direction of the reference coordinate system of Tango, the geographic coordinates of the acquisition starting point and the air pressure value acquired by the air pressure sensor, wherein the three-dimensional coordinates comprise the geographic coordinates and the floor identification. According to the technical scheme, the indoor position data of the multi-story building 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. Moreover, the technical scheme of the invention is very simple to operate and very convenient to use when being realized.

[ description of the drawings ]

Fig. 1 is a flowchart of an embodiment of a method for collecting indoor position data of a multi-story building according to the present invention.

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

Fig. 3 is a block diagram of a first embodiment of an apparatus for acquiring indoor position data of a multistoried building according to the present invention.

Fig. 4 is a structural view of a second embodiment of the device for acquiring indoor position data of a multistoried building according to the present invention.

FIG. 5 is a block diagram of an embodiment of a computer device of the present invention.

Fig. 6 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 collecting indoor position data of a multi-story building according to the present embodiment is to collect indoor position data of a multi-story building based on the Tango technology, and reference may be made to the following description of the embodiments.

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

100. acquiring an acquisition starting point and a geographical coordinate of the acquisition starting point marked by an acquisition person from an initial acquisition layer of a multi-story building to be acquired;

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

The device for acquiring indoor position data of a multi-story building of the present embodiment is to acquire three-dimensional coordinates including geographic coordinates and floor marks of each acquisition point in each floor, and the floor marks are obtained by an air pressure value acquired by an air pressure sensor. The air pressure sensor is a part of the acquisition device of the indoor position data of the multi-storey building, can be arranged into an integrated structure, or can also use an external air pressure sensor, and is connected with the main body of the acquisition device of the indoor position data of the multi-storey building through WIFI or Bluetooth.

When the device for acquiring indoor position data Of a multi-story building Of this embodiment is implemented, the device can acquire position data Of each position Point that can be reached by a user in each floor Of the multi-story building, including position data Of a Position Of Interest (POI) in a corridor Of the floor and each Point Of Interest (e.g., a shop, a restaurant, etc.) in the floor.

In specific implementation, a user can carry the acquisition device of the indoor position data of the multi-story building to the position of the acquisition starting point in the initial acquisition layer of the multi-story building to be acquired, open Tango, and then acquire the acquisition starting point in the initial acquisition layer of the multi-story building to be acquired. And the geographic coordinates, namely longitude and latitude coordinates, of the acquisition starting point are acquired according to the electronic map in Tango; the geographical coordinates of the acquisition origin may be obtained, for example, by GPS positioning or other related techniques. The longitude and latitude coordinates of the acquisition starting point are identified by adopting a geographic coordinate system, and the geographic coordinate system is a reference coordinate system shared all over the world and used as a reference, so that the longitude and latitude coordinates of any geographic position in the world can be identified. The initial acquisition layer of the present embodiment is preferably a ground floor layer of a multi-story building, although other acquisition layers may be selected as the initial acquisition layer.

In addition, if the acquisition starting point is located at the indoor central position of the building, the acquisition of the geographical coordinates of the acquisition starting point may be inaccurate if the GPS positioning is used to acquire the geographical coordinates of the acquisition starting point. Therefore, in this embodiment, a point in the building that is not far from the entrance is preferably selected as the collection starting point of the annotation.

101. Taking the acquisition starting point as the origin of a reference coordinate system of Tango, and acquiring the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction according to the geographical direction identified by the direction sensor;

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 a specific operation, the Tango application can be controlled to be opened at the position of the acquisition starting point, and then the position of the acquisition starting point can be taken as the origin of a reference coordinate system of the Tango. During collection, a collection person can carry the collection device of the indoor position data of the multi-story building to a selected collection starting point, and open the Tango application. At the moment, the acquisition device of the indoor position data of the multi-story building can know that the acquisition personnel selects the current position as the acquisition starting point and acquire the geographic coordinate of the acquisition starting point. Then, the device for acquiring indoor position data of the multi-story building starts to acquire the indoor position data of the multi-story building with the current position, i.e., the acquisition starting point, as the origin of the reference coordinate system of Tango.

Since in the reference coordinate system of Tango, the Tango coordinates of the respective acquisition points acquired are recorded with a displacement d from the origin and a rotation angle α with respect to 0 degrees. Wherein the forward direction of the y axis is 0 degree selected from 0 degree of the reference coordinate system of Tango. And when positioning by Tango, the direction acquired for the first time is taken as the direction of 0 degree, and is irrelevant to the actual geographic direction in the direction. 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.

In this embodiment, the 0 degree direction in the reference coordinate system of Tango may be a direction acquired for the first time after the Tango application is opened by the acquisition device of the indoor position data of the multi-story building, and there is no relation to the actual geographical direction corresponding to the direction. In this embodiment, a direction sensor such as an electronic compass is further disposed in the device for acquiring indoor position data of a multi-story building, so that the current geographic direction can be monitored in real time. For example, the acquisition device for the indoor position data of the multistory building is oriented toward 0 degree in the reference coordinate system of Tango when acquiring for the first time. The geographical direction of the current heading, i.e. the geographical direction corresponding to the 0 degree direction in the reference coordinate system of Tango, can now be detected using the direction sensor. At this time, the deviation value between the geographical direction identified by the 0 degree direction of the reference coordinate system of Tango and the due north direction of the geographical direction can be obtained. Specifically, when the deviation value is obtained, a positive direction may be identified in the geographic direction, for example, when the direction rotating clockwise from north to east is located as the positive direction, if the geographic direction identified by the 0-degree direction of the reference coordinate system of Tango is east, the deviation value between the geographic direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction of the geographic direction is 270 degrees; if the geographic direction identified by the 0-degree direction of the reference coordinate system of Tango is west, the deviation value between the geographic direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction of the geographic direction is 90 degrees.

For example, the step 101 may specifically include the following steps:

(a1) selecting an acquisition direction by taking the acquisition starting point as a starting point, acquiring a preset distance, and acquiring a 0-degree direction of a reference coordinate system of Tango;

(b1) acquiring the geographic direction of the 0-degree direction of the reference coordinate system of the Tango of the direction sensor identifier;

(c1) and acquiring the deviation value of the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction.

In this embodiment, the acquisition starting point may be used as the starting point, one acquisition direction may be selected from the periphery of the starting point, and the acquisition device that controls the indoor position data of the multi-story building may acquire the preset distance, for example, only 5 to 6 meters may be acquired, and the acquisition direction may be determined, so that a section of straight line trajectory in the reference coordinate system of Tango may be obtained. According to the strategy of Tango, at the moment, the linear track is a track in the first direction acquired by opening the application of the Tango, the linear track is positioned on the positive direction of the y axis, one end of the linear track is positioned at the original point of the reference coordinate system of the Tango, the other end of the linear track is positioned at the position which is away from the original point in the positive direction of the y axis by a preset distance, the rotating angle corresponding to the linear track is 0 degree, and the acquisition direction is the 0-degree direction of the reference coordinate system of the Tango at the moment. Whereas, according to the geographical coordinate system of the electronic map, the y-axis forward direction generally represents a direction north in the geographical direction. Whereas in Tango's reference frame, the straight-line trajectory does not identify a direction. At this time, the direction sensor may be used to detect the actual geographic direction of the current Tango reference coordinate system in the 0-degree direction, and obtain the deviation value between the geographic direction identified by the 0-degree direction of the Tango reference coordinate system and the true north direction.

102. And acquiring three-dimensional coordinates of each acquisition point in each indoor floor of the multi-storey building according to a deviation value between the geographic direction and the due north direction identified by the 0-degree direction of the reference coordinate system of Tango, the geographic coordinates of the acquisition starting point and the air pressure value acquired by the air pressure sensor, wherein the three-dimensional coordinates comprise the geographic coordinates and the floor identification.

According to the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of the Tango and the due north direction, the relation between the Tango coordinate system and the geographical coordinate system can be determined, so that when the geographical coordinates of the origin of the Tango coordinate system are known, the geographical coordinates corresponding to the Tango coordinate mapping of each position point of the Tango coordinate system can be realized. The device for acquiring the indoor position data of the multi-storey building further comprises an air pressure sensor, wherein the air pressure value of the same storey is very close, and the difference is within a very small threshold range; the air pressure value difference of different floors is larger than a certain threshold value. Therefore, the floor corresponding to the acquisition point can be deduced according to the air pressure sensor detected by the air pressure sensor.

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

(a2) receiving a reference floor mark set for a starting acquisition layer by an acquisition person;

the device for acquiring indoor position data of a multi-story building of the embodiment may be provided with a human-computer interface module for receiving a reference floor identifier set by an initial acquisition floor input by an acquisition person. The reference floor identification is used as a reference for the acquisition device of the indoor position data of the multi-story building to identify the floors corresponding to other acquisition floors. For example, the reference floor may be floor F1.

(b2) Collecting the geographical coordinates of each collection point in the initial collection layer according to the deviation value between the geographical direction and the due north direction identified by the 0-degree direction of the reference coordinate system of Tango and the geographical coordinates of the collection starting point; simultaneously, collecting a first air pressure value of each collecting point in the initial collecting layer by using an air pressure sensor;

for example, the step (b2) of "acquiring the geographical coordinates of each acquisition point in the initial acquisition layer according to the deviation value of the geographical direction identified by the 0 degree direction of the reference coordinate system of Tango from the due north direction and the geographical coordinates of the acquisition starting point" may specifically include the following steps: collecting Tango coordinates of all collection points in the initial collection layer under a reference coordinate system of Tango; and acquiring the geographical coordinates of each acquisition point in the initial acquisition layer according to the Tango coordinates of each acquisition point in the initial acquisition layer, the deviation value between the 0-degree direction of the reference coordinate system of the Tango and the true north direction of the geographical coordinate system and the geographical coordinates of the acquisition starting point.

The acquisition starting point is used as the origin of the reference coordinate system of the Tango, namely the Tango coordinate (0,0) of the origin of the reference coordinate system of the Tango and the geographic coordinate, namely the longitude and latitude coordinate are known, so that during acquisition, the Tango coordinate of an acquisition point can be acquired in the reference coordinate system of the Tango, for example, the Tango coordinate of a certain acquisition point is (d, alpha), namely the acquisition point extends the origin outwards by a displacement d and rotates the angle alpha along the forward direction of rotation.

Further, the geographical coordinates of each acquisition point in the initial acquisition layer are acquired according to the Tango coordinates of each acquisition point in the initial acquisition layer, the deviation value between the 0 degree direction of the Tango reference coordinate system and the due north direction of the geographical coordinate system, and the geographical coordinates of the acquisition starting point, specifically, for a certain acquisition point, the rotation angle of the Tango coordinates can be rotated by the deviation value according to the deviation value between the 0 degree direction of the Tango reference coordinate system and the due north direction of the geographical coordinate system, such as γ, and the modified Tango coordinates of the acquisition point can be represented as (d, α + γ), at this time, the direction of the modified Tango coordinates of the acquisition point is consistent with the direction of the geographical coordinate system. The geographical coordinates of the origin point can now be mapped by extending the displacement d outwards in the same way, and then rotating it a + y in the positive direction. According to the method, the geographic coordinates of each acquisition point in the initial acquisition layer can be acquired.

In the embodiment, in order to establish a corresponding relationship between the collected geographic coordinates of each collection point and the corresponding floor identification, the geographic coordinates and the time stamps are output when the geographic coordinates of each collection point are collected; similarly, the air pressure sensor also outputs the air pressure value and the time stamp when detecting the air pressure value. In the acquisition process, the acquisition device of the indoor position data of the multi-story building comprising the air pressure sensor is of an integrated structure, and the geographic coordinates and the air pressure value acquired by the same timestamp necessarily represent the information of the same acquisition point. Therefore, the geographic coordinates and the air pressure value with the same time stamp can be associated to be used as the information of the same acquisition point.

(c2) And collecting the geographic coordinates and the floor marks of all the collection points in other collection layers of the multi-storey building according to the deviation value between the geographic direction and the due north direction marked by the 0-degree direction of the reference coordinate system of Tango, the geographic coordinates of the collection starting point, the first air pressure value of each collection point in the initial collection layer, the reference floor mark and the second air pressure value in other collection layers collected by the air pressure sensor.

In the acquisition of the Tango technology, an acquisition device of indoor position data of a multi-story building can start from an acquisition starting point, a line which can be acquired is searched, an acquisition point is selected at a certain distance interval until the acquisition of the current initial acquisition layer is finished, the acquisition device of the indoor position data of the multi-story building is controlled to move to other acquisition layers for continuous acquisition, no matter whether the acquisition device of the indoor position data of the multi-story building moves to other acquisition layers through a walking ladder or an elevator, the deviation value of the geographical direction marked by the 0-degree direction of the reference coordinate system of the Tango and the due north direction can not be changed, the acquisition can be carried out by referring to the acquisition mode of the initial acquisition layer, and the geographical coordinates of all the acquisition points in each other acquisition layer can be obtained.

For example, the step (c2) may specifically include the following steps:

(a3) acquiring a reference air pressure value of the initial acquisition layer according to the first air pressure value of each acquisition point in the initial acquisition layer;

specifically, after the initial acquisition layer finishes acquiring, the reference air pressure value of the initial acquisition layer may be obtained according to the first air pressure value of each acquisition point in the initial acquisition layer, for example, the reference air pressure value may be averaged, or a most reasonable reference air pressure value in the initial acquisition layer may be obtained by using a calculation method such as a mean square error.

(b3) Collecting the geographical coordinates of each collection point in other collection layers according to the deviation value between the geographical direction and the due north direction identified by the 0-degree direction of the reference coordinate system of Tango and the geographical coordinates of the collection starting point; simultaneously, collecting a second air pressure value of each collecting point in other collecting layers by using an air pressure sensor;

reference is made to the manner of acquiring the geographic coordinates of the acquisition points in the initial acquisition layer in the step (b2), which is not described herein again. Similarly, the geographic coordinates of the acquisition points of the other acquisition layers and the second air pressure value may be associated by the timestamp in the manner of the above-described embodiment.

(c3) And setting corresponding target floor identifications for the acquisition points in other acquisition layers according to the second air pressure values, the reference air pressure values and the reference floor identifications of the acquisition points in other acquisition layers.

For example, the step (c3) may specifically include the following steps:

(a4) according to the second air pressure values of all the acquisition points in other acquisition layers, taking at least two second air pressure difference values of which the difference value is within a preset threshold value range as the air pressure value of the same acquisition layer;

after all the other acquisition layers except the initial acquisition layer are acquired, all the acquisition points can be classified according to the acquisition layers according to the condition that the difference value of the second air pressure value of the same acquisition layer is within the preset threshold range and the second air pressure value of each acquisition point in all the other acquisition layers.

(b4) Acquiring a target air pressure value of each acquisition layer according to at least two second air pressure difference values of the same acquisition layer;

the target air pressure value for each acquisition layer may be obtained in particular from at least two second air pressure difference values for the same acquisition layer in the manner of step (a3) above.

(c4) Acquiring the pressure difference of two air pressure values with the minimum pressure difference from the target air pressure value and the reference air pressure value of each acquisition layer as the pressure difference between floors;

according to the above steps, in addition to the reference air pressure value of the starting acquisition layer, also a target air pressure value for each other acquisition layer can be obtained. For example, for a building with N floors, if indoor position data of each floor are collected, one reference air pressure value and N-1 target air pressure values can be obtained. In N air pressure values of the reference air pressure value and the N-1 target air pressure values, the reference air pressure values and the N-1 target air pressure values can be arranged according to the size sequence, and if each layer of the multi-layer building is collected, adjacent pressure differences in the sequence are approximately equal; if not every floor in the multi-storey building is collected, the adjacent pressure differences in the sequence are not equal, and in the embodiment, the pressure difference of the two air pressure values with the minimum pressure difference can be obtained as the inter-floor pressure difference.

(d4) And acquiring the target floor identification of each acquisition point in the corresponding acquisition layer according to the target air pressure value, the reference air pressure value, the inter-floor air pressure difference and the reference floor identification of each acquisition layer.

Specifically, according to a target air pressure value and a reference air pressure value of the acquisition layer, determining the air pressure difference between the acquisition layer and a plurality of buildings relative to the initial acquisition layer difference; and determining whether the current acquisition layer is a higher layer or a lower layer relative to the initial acquisition layer according to the target air pressure value and the reference air pressure value of the acquisition layer. Then, according to the reference floor identifier, the target floor identifier of the acquisition layer can be acquired.

According to the above embodiments, it can be known that the indoor position data of the multi-story building collected in the present embodiment specifically includes the geographic coordinates and the three-dimensional coordinates of the floor identification of each collection point in each indoor floor of the multi-story building. In addition, it should be noted that, while the indoor position data of the multi-story building is collected according to the above embodiment, WIFI fingerprints of each collection point in each floor also need to be collected; and then storing the position data of each acquisition point and the corresponding WIFI fingerprint according to the corresponding relation to serve as the positioning data of the corresponding acquisition point. That is, the location data for each location point within the multi-story building room is collected in synchronization with the time of the WIFI fingerprint for that location point. For example, in the collection process, the position data of each position point and the timestamp of collecting the position data can be collected, and meanwhile, the fingerprint collection module collects the WIFI fingerprint of each position point and the timestamp of collecting the WIFI fingerprint. Because the position data and the WIFI fingerprint of each acquisition point are synchronously acquired, the time stamp for acquiring the position data and the time stamp for acquiring the WIFI fingerprint are the same, and the corresponding position data and the corresponding WIFI fingerprint serve as the information of the same acquisition point to establish the corresponding relation between the position data and the WIFI fingerprint. And finally, storing the position data of each acquisition point and the corresponding WIFI fingerprint according to the established corresponding relation to serve as the 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 acquisition Point are not necessarily the same, so that the WIFI fingerprints acquired by different devices may be different at the same acquisition Point. Therefore, in the positioning data of each acquisition point, the acquisition point of the same position data 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 in the indoor map is accurately acquired, when indoor positioning can be carried out according to the positioning data of each indoor position point of the multi-storey building, the WIFI fingerprint received by the equipment to be positioned can be detected firstly, then according to the corresponding relation between the stored WIFI fingerprint and the position data of the corresponding position point, the position data, namely the three-dimensional coordinate, corresponding to the equipment to be positioned can be positioned, and therefore the positioning of the equipment to be positioned is achieved.

According to the method for acquiring the indoor position data of the multi-story building, the acquisition starting point and the geographic coordinate of the acquisition starting point marked by the acquisition personnel from the initial acquisition layer of the multi-story building to be acquired are acquired; taking the acquisition starting point as the origin of a reference coordinate system of Tango, and acquiring the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction according to the geographical direction identified by the direction sensor; and acquiring three-dimensional coordinates of each acquisition point in each indoor floor of the multi-storey building according to a deviation value between the geographic direction and the due north direction identified by the 0-degree direction of the reference coordinate system of Tango, the geographic coordinates of the acquisition starting point and the air pressure value acquired by the air pressure sensor, wherein the three-dimensional coordinates comprise the geographic coordinates and the floor identification. The technical scheme of this embodiment realizes the collection to the indoor position data of multi-storey building based on the Tango technique, can compensate among the prior art great technical defect of error of artifical collection, reduces indoor position data's collection error, improves indoor position data acquisition's accuracy, and then can improve indoor positioning's accuracy based on the indoor position data who gathers. Moreover, the technical scheme of the embodiment is very simple to operate and very convenient to use when being realized.

Fig. 3 is a block diagram of a first embodiment of an apparatus for acquiring indoor position data of a multistoried building according to the present invention. As shown in fig. 3, the device for acquiring indoor position data of a multi-story building of this embodiment may specifically include: a starting point information obtaining module 10, a deviation obtaining module 11 and an acquisition module 12.

The starting point information acquisition module 10 is used for acquiring an acquisition starting point and a geographical coordinate of the acquisition starting point, which are marked by an acquisition person from an initial acquisition layer of a multi-story building to be acquired;

the deviation acquiring module 11 is configured to use the acquisition starting point acquired by the starting point information acquiring module 10 as an origin of a reference coordinate system of Tango, and acquire a deviation value between a geographic direction identified by a 0-degree direction of the reference coordinate system of Tango and a due north direction according to the geographic direction identified by the direction sensor;

the acquisition module 12 is configured to acquire three-dimensional coordinates of each acquisition point in each indoor floor of the multi-story building, where the three-dimensional coordinates include geographic coordinates and floor identifiers, according to a deviation value between a geographic direction identified by a 0-degree direction of the reference coordinate system of Tango and a due north direction acquired by the deviation acquisition module 11, a geographic coordinate of an acquisition start point acquired by the start point information acquisition module 10, and an air pressure value acquired by the air pressure sensor.

The implementation principle and technical effect of the device for acquiring indoor position data of a multi-story building according to the present embodiment of the invention, which uses the modules to acquire indoor position data of a multi-story building, are the same as those of the related method embodiments described above, and reference may be made to the description of the related method embodiments in detail, which is not described herein again.

Fig. 4 is a structural view of a second embodiment of the device for acquiring indoor position data of a multistoried building according to the present invention. As shown in fig. 4, the device for acquiring indoor position data of a multi-story building of the present embodiment may further include the following technical solutions on the basis of the technical solution of the embodiment shown in fig. 3.

In the device for acquiring indoor position data of a multi-story building of this embodiment, the deviation acquiring module 11 is specifically configured to:

selecting an acquisition direction by taking the acquisition starting point acquired by the starting point information acquisition module 10 as a starting point, acquiring a preset distance, and acquiring a 0-degree direction of a Tango reference coordinate system;

and acquiring the deviation value of the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction.

Further optionally, as shown in fig. 4, in the acquisition apparatus for indoor position data of a multi-story building of this embodiment, the acquisition module 12 specifically includes:

the initial acquisition layer acquisition unit 121 is used for receiving a reference floor identifier set for an initial acquisition layer by an acquisition person; collecting the geographical coordinates of each collection point in the initial collection layer according to the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction acquired by the deviation acquisition module 11 and the geographical coordinates of the collection starting point acquired by the starting point information acquisition module 10; simultaneously, collecting a first air pressure value of each collecting point in the initial collecting layer by using an air pressure sensor;

the other collection layer collection unit 122 is configured to collect the geographic coordinates and the floor identifications of the collection points in the other collection layers of the multi-story building according to the deviation value between the geographic direction and the due north direction, which is identified by the 0 degree direction of the reference coordinate system of Tango and is obtained by the deviation obtaining module 11, the geographic coordinate of the collection starting point, which is obtained by the starting point information obtaining module 10, the first air pressure value of each collection point in the starting collection layer, which is collected by the starting collection layer collection unit 121, the reference floor identification, and the second air pressure value in the other collection layers, which is collected by the air pressure sensor.

Further optionally, in the device for acquiring indoor position data of a multi-story building of this embodiment, the starting acquisition layer acquisition unit 121 is specifically configured to:

collecting Tango coordinates of all collection points in the initial collection layer under a reference coordinate system of Tango;

and acquiring the geographical coordinates of each acquisition point in the initial acquisition layer according to the Tango coordinates of each acquisition point in the initial acquisition layer, the deviation value between the 0-degree direction of the Tango reference coordinate system and the north-south direction of the geographical coordinate system, which is acquired by the deviation acquisition module 11, and the geographical coordinates of the acquisition starting point, which is acquired by the starting point information acquisition module 10.

Further optionally, in the device for acquiring indoor position data of a multi-story building of this embodiment, the other acquisition layer acquisition units 122 are specifically configured to:

acquiring a reference air pressure value of the initial acquisition layer according to the first air pressure value of each acquisition point in the initial acquisition layer acquired by the initial acquisition layer acquisition unit 121;

collecting the geographical coordinates of each collection point in other collection layers according to the deviation value between the geographical direction identified by the 0-degree direction of the reference coordinate system of Tango and the due north direction acquired by the deviation acquisition module 11 and the geographical coordinates of the collection starting point acquired by the starting point information acquisition module 10; simultaneously, collecting a second air pressure value of each collecting point in other collecting layers by using an air pressure sensor;

and setting corresponding target floor identifications for the acquisition points in other acquisition layers according to the second air pressure values, the reference air pressure values and the reference floor identifications of the acquisition points in other acquisition layers.

according to the second air pressure values of all the acquisition points in other acquisition layers, taking at least two second air pressure difference values of which the difference value is within a preset threshold value range as the air pressure value of the same acquisition layer;

acquiring a target air pressure value of each acquisition layer according to at least two second air pressure difference values of the same acquisition layer;

acquiring the pressure difference of two air pressure values with the minimum pressure difference from the target air pressure value and the reference air pressure value of each acquisition layer as the pressure difference between floors;

and acquiring the target floor identification of each acquisition point in the corresponding acquisition layer according to the target air pressure value, the reference air pressure value, the inter-floor air pressure difference and the reference floor identification of each acquisition layer.

FIG. 5 is a block diagram of an embodiment of a computer device of the present invention. As shown in fig. 5, the computer device of the present embodiment includes: one or more processors 30, and a memory 40, an air pressure sensor 50, and a direction sensor 60, the air pressure sensor 50 for collecting air pressure values; the air pressure sensor 50 is communicatively coupled to the processor 30 to transmit the collected air pressure values to the processor 30. The orientation sensor 60 is used to identify a geographic orientation; the orientation sensor 60 is communicatively coupled to the processor 30 to transmit the collected geographic orientation to the processor 30. The direction sensor 60 in the computer device of the present embodiment may employ a sensor capable of identifying a direction, such as an electronic compass.

The memory 40 is used for storing one or more programs, when the one or more programs stored in the memory 40 are executed by the one or more processors 30, the one or more processors 30 combine the geographic direction transmitted by the direction sensor 60 and the air pressure value transmitted by the air pressure sensor 50 to implement the method for collecting indoor position data of the multi-story building according to the embodiment shown in fig. 1. In the embodiment shown in fig. 5, a plurality of processors 30 are included as an example. For example, the computer device of the present embodiment may be a mobile device such as a mobile phone with a barometric pressure sensor, an electronic compass, and a Tango application.

For example, fig. 6 is an exemplary diagram of a computer device provided by the present invention. FIG. 6 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. 6 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.

As shown in FIG. 6, 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. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, 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 various embodiments of the invention described above in fig. 1-4.

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. 1-4 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 a program stored in the system memory 28a to execute various functional applications and data processing, for example, to implement the method for collecting indoor position data of a multi-story building 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 position data of a multi-story building 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. 6 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 collecting indoor location data of a multi-story building, the method comprising:

2. The method as claimed in claim 1, wherein the step of obtaining the deviation value between the geographic direction identified by the 0 degree direction of the reference coordinate system of Tango and the due north direction according to the geographic direction identified by the direction sensor with the collection starting point as the origin of the reference coordinate system of Tango comprises:

3. The method as claimed in claim 1, wherein collecting three-dimensional coordinates of each collecting point in each floor of the multi-story building by collecting a Tango coordinate of each collecting point in the reference coordinate system of the Tango and an air pressure value collected by an air pressure sensor according to a deviation value of the geographical direction identified by the 0 degree direction of the reference coordinate system of the Tango from the due north direction and the geographical coordinates of the collecting start point comprises:

4. The method of claim 3, wherein collecting the geographical coordinates of each acquisition point in the initial acquisition layer by collecting the Tango coordinates of each acquisition point of the initial acquisition layer in the Tango reference frame according to the deviation value of the geographical direction identified by the 0 degree direction of the Tango reference frame from the due north direction and the geographical coordinates of the acquisition origin comprises:

5. The method of claim 3 or 4, wherein the step of collecting the geographic coordinates and the floor identification of each of the other collection levels of the multi-story building by collecting the Tango coordinates of each of the other collection levels in the reference coordinate system of the Tango and the second air pressure values of the other collection levels collected by the air pressure sensor according to the deviation value of the geographic direction identified by the 0 degree direction of the reference coordinate system of the Tango from the due north direction, the geographic coordinates of the collection starting point, the first air pressure value of each of the collection points in the starting collection level, the reference floor identification, specifically comprises the steps of:

6. The method of claim 5, wherein setting a corresponding target floor identifier for each of the acquisition points in the other acquisition layers according to the second air pressure value, the reference air pressure value and the reference floor identifier of each of the acquisition points in the other acquisition layers specifically comprises:

7. An apparatus for acquiring indoor position data of a multi-story building, the apparatus comprising:

8. The apparatus of claim 7, wherein the deviation obtaining module is specifically configured to:

9. The apparatus according to claim 7, wherein the acquisition module specifically includes:

and the other acquisition layer acquisition unit is used for acquiring the geographic coordinates and the floor identifications of all the acquisition points in other acquisition layers of the multi-storey building by acquiring the Tango coordinates of all the acquisition points in the other acquisition layers in the reference coordinate system of the Tango and the second air pressure values acquired by the air pressure sensor in other acquisition layers according to the deviation value between the geographic direction and the due north direction identified by the 0-degree direction of the reference coordinate system of the Tango, the geographic coordinates of the acquisition starting point, the first air pressure values of all the acquisition points in the starting acquisition layer and the reference floor identifications.

10. Device according to claim 9, wherein the starting acquisition layer acquisition unit is in particular adapted to:

11. The apparatus according to claim 9 or 10, wherein the further acquisition layer acquisition units are specifically configured to:

12. The apparatus of claim 11, wherein said further acquisition layer acquisition units are specifically configured to:

13. 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 1-6.

14. 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 1-6.