CN108168557A - Air navigation aid, device, mobile terminal and server - Google Patents

Abstract

An embodiment of the present invention provides a kind of air navigation aid, device, mobile terminal and server, wherein, a kind of air navigation aid includes：The current location and target location for determining mobile terminal mismatch, and real time image collection is carried out to the interior space of the mobile terminal current location；Obtain the information of guidance path determined according to the image acquired in real time；According to the information of the guidance path, display location of the augmented reality AR navigation objects in the image acquired in real time is determined；The AR navigation objects are drawn into the image acquired in real time according to the display location.Through the embodiment of the present invention, indoor positioning can be efficiently and accurately realized.

Description

Air navigation aid, device, mobile terminal and server

Technical field

The present embodiments relate to field of communication technology more particularly to a kind of air navigation aid, device, mobile terminal and services Device.

Background technology

With the development of the communication technology and location technology, carry out navigation using mobile terminal and be increasingly being applied to people Daily life and work in.

Wherein, carry out outdoor navigation using mobile terminal, as by being installed in mobile terminal Baidu map, high moral Comparative maturity, the trip for people bring great convenience to the technology of the outdoor navigation of the application progress such as figure.But with building High stratification, complication, indoor navigation also become it is in the urgent need to address the problem of.

It is limited to mobile terminal self poisoning equipment precision and the warp in traditional geographical location according to where mobile terminal Latitude information position the influence of this mode, and indoor positioning is carried out using mobile terminal there is presently no effective, accurate Scheme.

Invention content

In view of this, the embodiment of the present invention provides a kind of air navigation aid, device, mobile terminal and server, existing to solve Have do not have in technology it is effective, accurate using mobile terminal carry out indoor positioning scheme the problem of.

It is according to embodiments of the present invention in a first aspect, provide a kind of air navigation aid, including：Determine the current of mobile terminal Position is mismatched with target location, and real time image collection is carried out to the interior space of the mobile terminal current location；Obtain root The information for the guidance path that the image acquired when factually determines；According to the information of the guidance path, determine that augmented reality AR is led Display location of the boat object in the image acquired in real time；The AR navigation objects are drawn to real-time according to the display location In the image of acquisition.

Second aspect according to embodiments of the present invention provides another air navigation aid, including：Mobile terminal is obtained to work as The interior space image of front position；The interior space image is compared with the multiple interior space images stored, wherein, Multiple interior space images of storage include the corresponding multiple interior space images in interior where the mobile terminal；According to than Guidance path is determined to the target location of result and the mobile terminal, and the information of the guidance path is sent to the shifting Dynamic terminal.

The third aspect according to embodiments of the present invention provides a kind of navigation device, including：Image capture module is used for The current location and target location for determining mobile terminal mismatch, and the interior space of the mobile terminal current location are carried out real When Image Acquisition；First acquisition module, for obtaining the information of guidance path determined according to the image acquired in real time；Position is true Cover half block for the information according to the guidance path, determines augmented reality AR navigation objects in the image acquired in real time Display location；Display module, for being drawn the AR navigation objects into the image acquired in real time according to the display location.

Fourth aspect according to embodiments of the present invention provides another navigation device, including：Second acquisition module is used In interior space image of the acquisition mobile terminal in current location；Comparing module, for by the interior space image with storage Multiple interior space images be compared, wherein, multiple interior space images of storage are included where the mobile terminal Indoor corresponding multiple interior space images；Path determination module, for the target according to comparison result and the mobile terminal Location determination guidance path, and the information of the guidance path is sent to the mobile terminal.

5th aspect according to embodiments of the present invention, provides a kind of mobile terminal, including：Processor, memory, communication Interface and communication bus, the processor, the memory and the communication interface are completed mutual by the communication bus Communication；For the memory for storing an at least executable instruction, the executable instruction makes the processor perform such as the The corresponding operation of air navigation aid described in one side.

6th aspect according to embodiments of the present invention, provides a kind of server, including：Processor, memory, communication connect Mouth and communication bus, the processor, the memory and the communication interface are completed each other by the communication bus Communication；For the memory for storing an at least executable instruction, the executable instruction makes the processor perform such as second The corresponding operation of air navigation aid described in aspect.

The navigation scheme provided according to embodiments of the present invention, when carrying out indoor navigation, if current location and target location It mismatches, that is, not arriving at also, then interior space Image Acquisition is carried out to the current location where mobile terminal, into And the information of the guidance path determined according to the realtime graphic of acquisition can be obtained, e.g., by by realtime graphic with reach target The information for obtaining guidance path is compared in multiple images on the path of position；It is possible to further according to the guidance path Information determine to need the display location of AR navigation objects drawn in realtime graphic, by display location draw AR navigation Object carries out indoor navigation for the user of mobile terminal.As it can be seen that scheme through the embodiment of the present invention, it can be efficiently and accurately Realize indoor positioning.

Description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments described in inventive embodiments for those of ordinary skill in the art, can also be obtained according to these attached drawings Obtain other attached drawings.

Fig. 1 is the step flow chart according to a kind of air navigation aid of the embodiment of the present invention one；

Fig. 2 is the step flow chart according to a kind of air navigation aid of the embodiment of the present invention two；

Fig. 3 is the step flow chart according to a kind of air navigation aid of the embodiment of the present invention three；

Fig. 4 is the step flow chart according to a kind of air navigation aid of the embodiment of the present invention four；

Fig. 5 is the step flow chart according to a kind of air navigation aid of the embodiment of the present invention five；

Fig. 6 is the structure diagram according to a kind of navigation device of the embodiment of the present invention six；

Fig. 7 is the structure diagram according to a kind of navigation device of the embodiment of the present invention seven；

Fig. 8 is the structure diagram according to a kind of mobile terminal of the embodiment of the present invention eight；

Fig. 9 is the structure diagram according to a kind of server of the embodiment of the present invention nine.

Specific embodiment

In order to which those skilled in the art is made to more fully understand the technical solution in the embodiment of the present invention, below in conjunction with the present invention The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing in embodiment, it is clear that described reality It is only part of the embodiment of the embodiment of the present invention to apply example, instead of all the embodiments.Based on the implementation in the embodiment of the present invention Example, those of ordinary skill in the art's all other embodiments obtained should all belong to the range that the embodiment of the present invention is protected.

Embodiment specific implementation is further illustrated the present invention with reference to attached drawing of the embodiment of the present invention.

Embodiment one

With reference to Fig. 1, a kind of step flow chart of according to embodiments of the present invention one air navigation aid is shown.

The present embodiment illustrates air navigation aid provided by the invention from mobile terminal side, the air navigation aid of the present embodiment Include the following steps：

Step S102：The current location and target location for determining mobile terminal mismatch, to mobile terminal current location The interior space carries out real time image collection.

The air navigation aid of the embodiment of the present invention is applied to indoor navigation scene, when the current location of mobile terminal and target position When putting mismatch, that is, when mobile terminal does not arrive at also, the interior space of mobile terminal current location is carried out real-time Image Acquisition by the image acquired in real time, on the one hand can determine the specific indoor location that mobile terminal is currently located；It is another Aspect can be using the position as according to determining feasible guidance path.

Wherein, the current location of mobile terminal and the whether matched judgement in target location can be judged by server Afterwards, it will determine that result is sent to mobile terminal, e.g., the interior space image of current location is sent to server by mobile terminal, Server judges that image image corresponding with target location mismatches, it is determined that the current location and target location of mobile terminal It mismatches.In this way, the data processing load of mobile terminal side is alleviated, also, can be stored in server a large amount of The image for indoor navigation, images match is carried out by server, more accurate matching result can be obtained.But it is not limited to This, when specifically being judged, the geographical location information that can be combined with mobile terminal is judged, can also be according only to movement The geographical location information of terminal is judged.

Alternatively, the current location and the whether matched judgement in target location to mobile terminal can also be by mobile terminal realities Existing, e.g., server is behind the target location for getting mobile terminal transmission, by the corresponding one or more images in the target location Mobile terminal is sent to, by mobile terminal to the corresponding image progress of the interior space image of current location and target location Match, whether matched with target location with the current location for determining mobile terminal.In this way, mobile terminal can be obtained quickly Matching result is obtained, and then subsequent operation is carried out according to the matching result.When specifically being judged, can be combined with mobile whole The geographical location information at end is judged, can also be judged according only to the geographical location information of mobile terminal.

The image in mobile terminal can be passed through by carrying out real time image collection to the interior space of mobile terminal current location Collecting device such as camera is acquired, and mobile terminal position can be obtained by the collected live video stream of camera Realtime graphic.

Step S104：Obtain the information of guidance path determined according to the image acquired in real time.

In the present embodiment, guidance path is determined according to the image that mobile terminal acquires in real time.

In a kind of feasible program, the image acquired in real time can be sent to server by mobile terminal, be led to by server It crosses image and compares the determining mobile terminal currently specific location at least one path from initial position to target location, into And according to the specific location, it determines to reach the specific path of target location, i.e. guidance path, the information of the guidance path is sent To mobile terminal.

In another feasible program, mobile terminal can be determined to whether there is in image and be led by the detection to image Navigate marker；If there are navigation marker object, by the image comprising the navigation marker object and/or the navigation marker object detected Information is sent to server, and to carry out, further image compares and guidance path determines to handle；If there is no if navigation marker object It is considered that there is only an outlets for mobile terminal present position, then guidance path can be directly determined.Wherein, clearing mark Will object includes but not limited to：Stair, fork in the road, elevator, door, etc..

Step S106：According to the information of guidance path, displaying position of the AR navigation objects in the image acquired in real time is determined It puts.

AR (Augmented Reality, augmented reality) technology is a kind of by real world information and virtual world information " seamless " integrated new technology, in the certain time spatial dimension of real world be difficult script the information experienced (e.g., Visual information, acoustic information etc.), it is added in true information after analog simulation, true environment and virtual object are real-time Ground has been added to same picture or space exists simultaneously.

After the information of guidance path is obtained, you can path direction and/or path outlet are determined, by AR navigation objects It is plotted in the path direction of realtime graphic and/or the corresponding position of path outlet, you can path is carried out by AR navigation objects Instruction.

Step S108：AR navigation objects are drawn into the image acquired in real time according to display location.

Through this embodiment, when carrying out indoor navigation, if current location is mismatched with target location, that is, not arriving also Up to destination, then interior space Image Acquisition is carried out to the current location where mobile terminal, and then, it can obtain according to acquisition The information of guidance path that determines of realtime graphic；It is possible to further determine to need in reality according to the information of the guidance path When image in the display location of AR navigation objects drawn, by drawing the use that AR navigation objects are mobile terminal in display location Family carries out indoor navigation.As it can be seen that scheme through this embodiment, can efficiently and accurately realize indoor positioning.

Embodiment two

With reference to Fig. 2, a kind of step flow chart of according to embodiments of the present invention two air navigation aid is shown.

The present embodiment still from the angle of mobile terminal, illustrates air navigation aid provided by the invention.The present embodiment Air navigation aid includes the following steps：

Step S202：Determine that mobile terminal gets in navigation pattern.

In a kind of feasible pattern, mobile terminal can determine to get in and lead according to the information of the target location of input Model plane formula.For example, mobile terminal is if it is determined that include the indoor navigation keyword of setting, then in the information of the target location of input It determines to get in navigation pattern.Wherein, indoor navigation keyword may be used any suitable mode and set or obtain, e.g., The data either provided by third party are obtained by big data analysis to obtain or rule of thumb set by those skilled in the art Fixed, etc., indoor navigation keyword can be any suitable keyword that may indicate that and carry out indoor navigation, including but it is unlimited In：Floor, area, sales counter, outlet, elevator ＆ stairs, door or specific zone name or sales counter title or Merchant name, etc. Deng.By this kind of mode, it can be automatically determined whether to get in navigation pattern according to target location, improve indoor navigation Automatization level alleviates burden for users.

In another feasible pattern, the option of indoor navigation pattern, such as room can be set in the interface of navigation application Interior the navigation button, when user needs to carry out indoor navigation, by getting in navigation pattern to the triggering of the option.Pass through this Kind mode, has provided more operating flexibilities to the user, but also to whether getting in subject to the judgement more of navigation pattern Really.

But not limited to this, it can also be determined whether to get in navigation pattern according to the current location of mobile terminal, e.g., if It determines that user enters a market according to the current location of mobile terminal, then can prompt the user whether to need indoor navigation, After receiving confirmation reply, you can get in navigation pattern or automatically switch to indoor navigation pattern.

Step S204：When determining that current location is mismatched with target location under navigation pattern indoors, mobile terminal is worked as The interior space of front position carries out real time image collection.

As previously mentioned, current location and the whether matched judgement in target location can be realized by mobile terminal, it can also It is realized by server.

When determining that current location and target location mismatch, it indicates that mobile terminal to the interior space of current location into Row real time image collection.In a kind of feasible pattern, instruction mobile terminal carries out navigation marker to the interior space of current location The real time image collection of object.Wherein, navigation marker object can be the marker that sets in the interior space, e.g., stair, fork in the road, Elevator, door, etc..On the one hand, it can quickly determine mobile terminal indoors the location of in space by navigation marker object； On the other hand, the appearance of navigation marker object might mean that the outlet more than one that user faces, and need according to navigation marker object Correct path is determined for user.For example, the position before user is currently at elevator, it is a path before elevator, has to the left Both direction to the right, to the right elevator, to the left path and path are respectively directed to different indoor locations, need according to needed for user Target location carries out indoor navigation guide for user.

But those skilled in the art it should be apparent that mobile terminal current location the interior space may also not have lead Navigate marker, e.g., when user goes ahead along a paths, if the only paths, mobile terminal in the certain distance of front There is no navigation marker object in the image acquired in real time, at this point, indicating user along the paths to moving ahead by mobile terminal Into.

Step S206：Obtain the information of guidance path determined according to the image acquired in real time.

As previously mentioned, there may be navigation marker objects in the image acquired in real time, it is also possible to not deposit navigation marker object.

In the case of there is no navigation marker object, in the first feasible pattern, mobile terminal can be by the figure of acquisition As being uploaded to server, a large amount of interior space images corresponding with building are stored in server, are initiated including mobile terminal One or more (the two and more than two) path that may relate to when carrying out indoor navigation from initial position to target location On multiple interior space images.For server in the case where determining no navigation marker object, the result compared by image is straight It connects and provides corresponding feedback, e.g., advance along when front direction, walk to the left, walk to the right or other appropriate response datas or information, tool The response data of body or the way of realization embodiment of the present invention of information are not restricted.It, can also be by second of feasible pattern Mobile terminal carries out the detection and identification of navigation marker object, and in the case where determining no navigation marker object, mobile terminal is direct It determines to the forward path of target location.

In the case of there are navigation marker object, the navigation marker object that can be obtained in the image acquired in real time determines Guidance path information.

In a kind of feasible pattern, navigation marker analyte detection can be carried out to the image acquired in real time by mobile terminal, and After navigation marker object is detected, the information of the image for including navigation marker object and/or navigation marker object is sent to service Then device receives the navigation road that server is determined according to the image and/or the information of navigation marker object that include navigation marker object The information of diameter.

In the case where only sending the image comprising navigation marker object, server can be by the image and the slave start bit of storage The multiple interior space images put to one or more paths of target location are compared, and determine that mobile terminal is currently located Interior space position, and then according to the next guidance path of interior space location determination, determine in image with the navigation The corresponding navigation marker object in path carries the information of the corresponding navigation marker object in the information of guidance path or with leading The information of bit path sends jointly to mobile terminal.Wherein, the information of navigation marker object includes but not limited to the navigation marker object Location information in the picture.By this kind of mode, the image of navigation marker object is only included to server transmission, alleviates number According to interaction and processing load.

In the case where only sending the information of navigation marker object, server can be directly according to the information of the navigation marker object The information of navigation marker object corresponding with the image of storage is matched, and determines to lead with what mobile terminal was sent according to matching result Navigate marker information match image, and then the interior space position that mobile terminal is currently located is determined according to the image, According to the next guidance path of interior space location determination, the information of the guidance path is sent to mobile terminal.Only to Server sends the information of navigation marker object, can further mitigate data interaction and transmission burden.

And in the case where the information of existing navigation marker object has the image comprising navigation marker object, server can be only Image matching operations are carried out according to one of which, matching operation can also be carried out to both of which, matching is promoted accurately with further Degree and after corresponding image is matched, determines the interior space position that mobile terminal is currently located, according to this according to the image The information of the guidance path is sent to mobile terminal by the next guidance path of interior space location determination.

In another feasible pattern, the image acquired in real time can be sent to server by mobile terminal, receive service Device is according to the information of guidance path for carrying out determining after navigation marker analyte detection to described image.In this kind of mode, mobile terminal All realtime graphics of acquisition can be all sent to server, images match is carried out by server and whether there is navigation marker object Detection.Server can be by the image and multiple rooms on one or more paths from initial position to target location of storage Interior spatial image is compared, and determines the interior space position that mobile terminal is currently located, and then according to the interior space position Determine next guidance path.In the case of not having navigation marker object, it may be used that there is no navigation marker principle conditions Under the first feasible pattern handled, i.e., by image compare result directly give corresponding feedback；It is led for having It navigates the situation of marker, it may be determined that navigation marker object corresponding with guidance path in image, by the information of guidance path and right The information of navigation marker object answered is sent to mobile terminal, alternatively, carrying the information of corresponding navigation marker object on navigation road Mobile terminal is sent in the information of diameter.In this way, data processing and the transmission burden in mobile terminal can be mitigated, And the data processing performance of server is much better than mobile terminal, indoor navigation speed can effectively be promoted by carrying out processing by server Degree and performance.

Step S208：According to the information of guidance path, displaying position of the AR navigation objects in the image acquired in real time is determined It puts.

Next path direction can determine according to the information of guidance path, e.g., the information of guidance path is indicated along current Path continues on, then mobile terminal can determine the display location of AR navigation objects in any position of current path.

Optionally, if comprising navigation marker object in image, can corresponding navigation be determined according to the information of guidance path Position of the marker in the image acquired in real time；And then the position according to navigation marker object in the image acquired in real time, really Determine display location of the AR navigation objects in the image acquired in real time.For example, if the information instruction of guidance path passes through three electricity Five buildings on No. 2 elevators in ladder, then mobile terminal can go out the position of No. 2 elevators in image according to the infomation detection, and then will The display location of AR navigation objects determine with No. 2 corresponding appropriate locations of elevator；If server both returns guidance path Information also returned to the information of navigation marker object, then can directly determine position of the navigation marker object in the image acquired in real time It puts, and then the display location according to location determination AR navigation objects in the image acquired in real time.

In a kind of feasible pattern, in the information according to guidance path, determine AR navigation objects in the image acquired in real time In display location while, Voice Navigation prompting can also be generated, to improve navigation efficiency, promote user's navigation experience.

Optionally, in addition, AR navigation objects can be the personage's 3-D view generated by three-dimensional reconstruction.Wherein, it is three-dimensional The mode of reconstruction can be realized by those skilled in the art according to actual demand using any suitable mode, the embodiment of the present invention This is not restricted.Personage's 3-D view can be true man's 3-D view or cartoon figure's 3-D view.When AR navigates During Object Selection true man's 3-D view, the effect of indoor navigation is more true to nature, and the user that can further promote indoor navigation uses Experience.

Step S210：AR navigation objects are drawn into the image acquired in real time according to determining display location.

Because the image acquired in real time is continuous, that is, showing as the form of video flowing, therefore, through this embodiment The above process, the real-time navigation to true indoor scene can be formed, AR navigation objects be true man's 3-D view when, effect It is especially prominent.

In addition, in the case where there is Voice Navigation prompting, if being led that is, also generating voice according to the information of guidance path Boat prompting can then be broadcast while according to determining display location, AR navigation objects are drawn into the image acquired in real time Put Voice Navigation prompting.

It should be noted that if user fail according to navigation directions path traveling, i.e., user may take the wrong road or During person's road, in a kind of mode, miscue information can be provided；It, can be with return to step S204, again really in another way Settled front position for user's path planning and carries out indoor navigation again, and details are not described herein.

Through this embodiment, when carrying out indoor navigation, if current location is mismatched with target location, that is, not arriving also Up to destination, then interior space Image Acquisition is carried out to the current location where mobile terminal, and then, it can obtain according to acquisition The information of guidance path that determines of realtime graphic；It is possible to further determine to need in reality according to the information of the guidance path When image in the display location of AR navigation objects drawn, by drawing the use that AR navigation objects are mobile terminal in display location Family carries out indoor navigation.As it can be seen that scheme through this embodiment, can efficiently and accurately realize indoor positioning.

Embodiment three

With reference to Fig. 3, a kind of step flow chart of according to embodiments of the present invention three air navigation aid is shown.

The present embodiment illustrates air navigation aid provided by the invention from the angle of server, the navigation side of the present embodiment Method includes the following steps：

Step S302：Obtain interior space image of the mobile terminal in current location.

In the present embodiment, mobile terminal can indoors under navigation pattern into server dispatcher's office spatial image.Server In addition to it would know that the information that mobile terminal gets in navigation pattern, the initial position of indoor navigation and target position can be also obtained It puts.The great amount of images for carrying out multiple Indoor environment navigation is stored in server, each building is corresponding with a fixed number The image of amount.

Indoors in navigation procedure, mobile terminal can send the interior space image acquired in real time, server to server After getting interior space image, the figure on one or more path that can be related with initial position and target location with storage As being matched, the position of the interior space according to residing for matching result determines mobile terminal, and provide the information of guidance path.

Step S304：By mobile terminal current location interior space image with storage multiple interior space images into Row compares.

Wherein, multiple interior space images of storage include the corresponding multiple interior space figures in interior where mobile terminal Picture.Specifically, as previously mentioned, one related with initial position and target location that can be by the interior space image with storing Or the image on mulitpath is compared, the position in the interior space being currently located with determining mobile terminal, and according to this Location determination guidance path.

Step S306：Guidance path is determined according to the target location of comparison result and mobile terminal, and by guidance path Information is sent to mobile terminal.

Be stored in server multiple path nodes of Indoor environment information and it is corresponding with each path node extremely A few interior space image, after determining to carry out indoor navigation, initial position that server can be sent according to mobile terminal And target location, generate one or more guidance path according to certain coordinates measurement algorithm.It, can be according to movement in this step The comparison result of the image of the interior space image for the current location that terminal is sent and the path node on the guidance path of storage, Determine a bar navigation path.After guidance path is determined, the information of guidance path can be sent to mobile terminal by server, with Indoor navigation is provided a user for mobile terminal to guide, alternatively, providing interior to the user by AR navigation objects for mobile terminal Navigation directions.

Through this embodiment, when carrying out indoor navigation, server can be according to the real-time interior space of mobile terminal upload Image determines the interior space position that mobile terminal is presently in, and then determines guidance path and send out the information of guidance path Mobile terminal is given, providing indoor navigation to the user by mobile terminal guides.

Example IV

With reference to Fig. 4, a kind of step flow chart of according to embodiments of the present invention four air navigation aid is shown.

The present embodiment still illustrates air navigation aid provided by the invention from the angle of server, the navigation of the present embodiment Method includes the following steps：

Step S402：The information for the target location that mobile terminal is sent is obtained, determines to move according to the information of target location Terminal is currently at indoor navigation pattern.

In the present embodiment, mobile terminal sends out the information of the target location after target location input by user is received Server is given, server determines that mobile terminal is currently at indoor navigation pattern according to the information of the target location.In one kind In feasible pattern, whether can include the indoor navigation keyword of setting in the information according to target location to determine movement eventually Whether end is in indoor navigation pattern, that is, server is if it is determined that the indoor navigation for including setting in the information of target location is closed Keyword, it is determined that mobile terminal is currently at indoor navigation pattern.Wherein, indoor navigation keyword may be used any suitable Mode sets or obtains, and indoor navigation keyword can be any suitable keyword that may indicate that and carry out indoor navigation, including But it is not limited to：Floor, area, sales counter, outlet, elevator ＆ stairs, door or specific zone name or sales counter title or businessman's name Claim, etc..By this kind of mode, it can automatically determine whether mobile terminal gets in navigation pattern according to target location, carry The intelligence degree of indoor navigation is risen.

But not limited to this, can also according to the geographical location information of mobile terminal (there is certain precision, such as 10 meters with It is interior), alternatively, the information that the option for pattern of being navigated indoors according to mobile terminal is sent after being triggered to server, determines movement Terminal is in indoor navigation pattern.

In the case where determining that mobile terminal is currently at indoor navigation pattern, instruction mobile terminal is to the room of current location Interior space carries out real time image collection.

Step S404：Indoor multiple interior space images where obtaining mobile terminal.

It is alternatively possible to obtain the information of indoor multiple path nodes where mobile terminal and with each path node A corresponding at least interior space image.

The interior space image for being largely used to indoor navigation is stored in server, building is currently located including mobile terminal The indoor interior space image of object.When needing to carry out Indoor environment navigation, the corresponding multiple paths of the building are obtained The information of node and an at least interior space image corresponding with each path node.Wherein, path node can be arbitrary It is appropriate can identification path position, the position of the part building in including but not limited to fixed object such as building is e.g., fixed Sales counter, stair, elevator, channel, doorway, setting identification, etc. position.Usually, user is needed there are many selections When (if any multiple branch roads), guide is provided, path node had both included branch road node or including non-branch road node, and can order substantially Middle user demand, and data processing amount can be effectively reduced, improve data-handling efficiency.

Optionally, in addition to the corresponding at least interior space image of each path node, between each path node also An at least interior space image can be corresponding with, for auxiliary positioning.

Step S406：When being mismatched in the current location for determining mobile terminal and target location, obtain mobile terminal and working as The interior space image of front position.

If the current location of mobile terminal and target location mismatch, illustrate that mobile terminal does not arrive at also, need It obtains interior space image of the mobile terminal in current location and carries out indoor navigation.

In a kind of feasible pattern, the first geographical location information that can obtain mobile terminal (has certain precision, such as Within 10 meters) and/or current location the first interior space image；By the first geographical location information and/or first interior space Spatial image is compared in image the second geographical location information corresponding with target location and/or second Room；It is tied according to comparing Fruit, the current location and target location for determining mobile terminal mismatch.On the one hand, what server can be current according to mobile terminal Whether geographical location information and the geographical location information of target location are consistent, to judge the current location of mobile terminal and target position It puts and whether matches；On the other hand, it is stored in server corresponding with needing the building for carrying out indoor navigation big for carrying out Measure interior space image, by compare mobile terminal be presently in position interior space image it is one corresponding with target location Or multiple images, to judge whether the current location of mobile terminal and target location match；In another aspect, server can also be same When judged according to geographical location information and interior space image, both compared geographical location information or compared interior space figure Picture, to promote the accuracy judged.

Step S408：Multiple Interior Spaces that mobile terminal is stored in the interior space image and server of current location Between image be compared.

Wherein, the interior where the multiple interior space images stored in server include the mobile terminal is corresponding more A interior space image.It is alternatively possible to the corresponding interior space image of path node obtained is compared.

Still optionally further, navigation marker quality testing can be carried out to interior space image of the mobile terminal in current location It surveys；According to testing result, the interior space image phase with the current location is determined from multiple interior space images of storage Matched image.By carrying out navigation marker analyte detection to image, position of the mobile terminal indoors in space can be quickly determined It puts.

Step S410：Guidance path is determined according to the target location of comparison result and mobile terminal, and by guidance path Information is sent to mobile terminal.

Optionally, information based on the indoor multiple path nodes stored in server and with each path node pair At least interior space image answered can determine the corresponding current path in current location of mobile terminal according to comparison result Node according to the information of current path node and target location, generates at least one guidance path；According to setting rule from least A bar navigation path is selected in one bar navigation path；The information of the guidance path of selection is sent to mobile terminal.Wherein, it generates The mode and setting rule of guidance path can be appropriately arranged with, and be supplied to use by those skilled in the art according to actual demand Family selects, e.g., walking distance is most short, the time is most fast, navigation marker object at most, etc., the embodiment of the present invention is not restricted this.

It,, can in a kind of feasible pattern when the information of guidance path is sent to mobile terminal after guidance path is determined To obtain multiple path nodes of the guidance path of selection；Determine the letter of the next path node adjacent with current path node Breath；According to the information of current path node and the information of next path node, the information for generating guidance path (includes but not limited to Path prompt message and/or the corresponding image of next path node) and it is sent to mobile terminal.In such mode, once only need Small number of information is transmitted, information transmission speed is fast, and interaction and processing load are small.

It, can be according to the information of the guidance path of selection, to mobile terminal in current location in another feasible pattern Interior space image carry out navigation marker analyte detection；By the information of the navigation marker object detected and the guidance path of selection Information is sent to mobile terminal.Such mode is especially suitable to the situation there are navigation marker object in current indoor space, can be with It is quick to realize indoor navigation.For example, detecting that the present bit of mobile terminal is equipped with elevator, can directly indicate to arrive using the elevator Floor etc. where up to target location.

It should be noted that if information (interior space image of such as current location and/or geographical position that mobile terminal returns Confidence ceases) instruction user fails path traveling according to navigation directions, i.e. and user may take the wrong road or during road, a kind of In mode, Defect Indication information can be sent out to mobile terminal, instruction mobile terminal reminds user's path error；Another way In, can current location be redefined with return to step S406, send corresponding letter for user's path planning and to mobile terminal again Breath carries out indoor navigation, and details are not described herein.

Mobile terminal can be moved after the information of guidance path is received according to the information using AR navigation objects The AR indoor navigations of dynamic terminal, can refer to the description in embodiment one or two.

Through this embodiment, when carrying out indoor navigation, server can be according to the real-time interior space of mobile terminal upload Image determines the interior space position that mobile terminal is presently in, and then determines guidance path and send out the information of guidance path Mobile terminal is given, providing indoor navigation to the user by mobile terminal guides.

Embodiment five

With reference to Fig. 5, a kind of step flow chart of according to embodiments of the present invention five air navigation aid is shown.

The angle that the present embodiment is interacted from mobile terminal and server, with specific example to air navigation aid provided by the invention It illustrates.

The air navigation aid of the present embodiment includes the following steps：

Step S502：Mobile terminal receives final position (i.e. target location) input by user.

For example, user inputs XX markets information desk.

Step S504：Final position is sent to server by mobile terminal.

In the present embodiment, the judgement for indoor navigation is made whether, but as in the preceding embodiment by server, this is sentenced Breaking can also be by mobile terminal execution.

Step S506：Server parses final position, by the parsing to final position, judge terminal whether position In interior.

For example, server after the parsing to final position " XX markets information desk " and retrieval specific location by judging terminal Positioned at interior.

Step S508：The information related with final position is sent to shifting by server if final position is located at interior Dynamic terminal.

Wherein, the information related with final position includes but not limited to：The more specific location information in final position, final position Image, final position navigation marker object, etc..

Step S510：Mobile terminal starts indoor navigation pattern, judges whether current location is consistent with final position；If no Unanimously, then step S512 is performed；If consistent, user is prompted to reach home, exits navigation.

Step S512：Mobile terminal starts the image that camera constantly obtains current indoor environment from camera.

Step S514：The image of the indoor environment of lasting acquisition is identified in mobile terminal.

In a kind of feasible pattern, mobile terminal handles the image of indoor environment, and room is identified by built-in recognizer Stair, crossing, door, elevator in the image of interior environment, including but not limited to image etc., to navigate.

In another feasible pattern, the image identification of this part indoor environment, which can also be placed on server, to be carried out.When It is placed on when being carried out on server, the image of indoor environment that mobile terminal can obtain camera be sent to server, server The image of indoor environment is identified by recognizer, and recognition result is returned into mobile terminal.

Step S516：Mulitpath is judged whether according to recognition result, if it is not, then performing step S518；If so, Perform step S520.

If for example, recognizing in image, there are stair, crossing, door, elevator etc. navigation marker objects, judge that there are a plurality of Path.

Step S518：If there is no mulitpath, AR navigation objects are obtained, and be plotted on current path, to refer to Show along current path and continue on.Return to step S514, until position of reaching home.

Such as, when according to recognition result determine it is unidentified to branch road when, mobile terminal can use AR navigation objects prompting use Family moves on.

Step S520：If there are mulitpaths, it is determined that guidance path, and AR is carried out according to the information of guidance path and is led Boat.Return to step S514, until position of reaching home.

In a kind of feasible pattern, if the image of indoor environment is identified in server, when recognizing branch road, The image for the position that the image of the indoor environment is stored up with server memory compares, and finds consistent position.If room There is the branch road for going to terminal in the image of interior environment, then server sends information (such as navigation marker object of the mark in the branch road Information) to mobile terminal.The information that mobile terminal is sent according to server using AR navigation objects lead using in AR rooms Boat such as prompts escalator or user is prompted to move towards the crossing that virtual arrow is directed toward that user moves towards virtual arrow direction, etc. Deng.If there is no the branch road for going to terminal in the image of indoor environment, server sends prompting data, such as to the left, to Right prompting correct direction, the prompting data that mobile terminal is sent according to server are carried out using AR navigation objects using in AR rooms Navigation such as prompts user that mobile terminal is turned to the direction that virtual arrow refers to.

In a kind of feasible pattern, if the image of indoor environment is identified in mobile terminal, when recognizing branch road When, then it will identify that the image of the indoor environment in branch road is uploaded to server and carries out further image comparison, if indoor ring Exist in the image in border and go to the branch road of terminal, then server sends the information of the mark in the branch road to mobile terminal.It is mobile whole The information sent according to server is held, carries out using AR indoor navigations using AR navigation objects.If in the image of indoor environment There is no the branch roads for going to terminal, then server, which is sent, prompts data, and the prompting data that mobile terminal is sent according to server make It is carried out using AR indoor navigations with AR navigation objects.

Through this embodiment, when mobile terminal navigates indoors, the figure of ambient indoor environment is persistently obtained using camera Picture determines guidance path according to these images, and on these images superposition draw virtual arrow or it is any it is virtual can be with It after guiding the pattern in direction, then is completely presented to the user, user is helped to reach in complex environment in a manner that AR navigates Designated position effectively realizes AR indoor navigations.

Embodiment six

With reference to Fig. 6, a kind of structure diagram of according to embodiments of the present invention six navigation device is shown.

The navigation device of the present embodiment can be set in mobile terminal, which includes：Image capture module 602, for determining that the current location of mobile terminal and target location mismatch, to the interior space of mobile terminal current location into Row real time image collection；First acquisition module 604, for obtaining the letter of guidance path determined according to the image acquired in real time Breath；Position determination module 606 for the information according to guidance path, determines AR navigation objects in the image acquired in real time Display location；Display module 608, for being drawn AR navigation objects into the image acquired in real time according to display location.

Optionally, image capture module 602 is used for the information of the target location according to input, determines to get in navigation mould Formula；When determining that current location is mismatched with target location under navigation pattern indoors, to the Interior Space of mobile terminal current location Between carry out navigation marker object real time image collection.

Optionally, image capture module 602 is used for if it is determined that including the room of setting in the information of the target location of input Interior navigation keyword, it is determined that get in navigation pattern；Determine current location with target location not under navigation pattern indoors During matching, the real time image collection of navigation marker object is carried out to the interior space of mobile terminal current location.

Optionally, the first acquisition module 604 determines for obtaining the navigation marker object in the image acquired in real time The information of guidance path.

Optionally, the first acquisition module 604 is used to carry out navigation marker analyte detection, and detecting to the image acquired in real time To after navigation marker object, the information of the image for including navigation marker object and/or navigation marker object is sent to server, is received The information of guidance path that server is determined according to the image and/or the information of navigation marker object that include navigation marker object；Or The image acquired in real time is sent to server by person, after receiving server according to navigation marker analyte detection is carried out to described image The information of determining guidance path.

Optionally, position determination module 606 is used for the information according to guidance path, determines corresponding navigation marker object in reality When the image that acquires in position；According to position of the navigation marker object in the image acquired in real time, determine that AR navigation objects exist Display location in the image acquired in real time.

Optionally, position determination module 606 is used for the information according to guidance path, determines that AR navigation objects are acquired in real time Image in display location, and generate Voice Navigation prompting；Display module 608 be used for according to display location by AR navigation pair While as drawing into the image acquired in real time, Voice Navigation prompting is played.

Optionally, AR navigation objects are the personage's 3-D view generated by three-dimensional reconstruction.

The navigation device of the present embodiment is used to implement the navigation of corresponding mobile terminal side in aforesaid plurality of embodiment of the method Method, and the advantageous effect with corresponding embodiment of the method, details are not described herein.

Embodiment seven

With reference to Fig. 7, a kind of structure diagram of according to embodiments of the present invention seven navigation device is shown.

The navigation device of the present embodiment can be set in server, which includes：Second acquisition module 702, For obtaining interior space image of the mobile terminal in current location；Comparing module 704, for by the interior space image with Multiple interior space images of storage are compared, wherein, multiple interior space images of storage are including where mobile terminal Indoor corresponding multiple interior space images；Path determination module 706, for the target position according to comparison result and mobile terminal Determining guidance path is put, and the information of guidance path is sent to mobile terminal.

Optionally, comparing module 704 is used to carry out navigation marker to interior space image of the mobile terminal in current location Analyte detection；According to testing result, the interior space image phase with current location is determined from multiple interior space images of storage Matched image.

Optionally, the navigation device of the present embodiment further includes：Mode decision module 708, in the second acquisition module 702 Mobile terminal is obtained before the interior space image of current location, obtains the information for the target location that mobile terminal is sent；If It determines that mobile terminal is currently at indoor navigation pattern according to the information of target location, then performs the second acquisition module 702.

Optionally, mode decision module 708 is used to obtain the information of the target location of mobile terminal transmission；If it is determined that target Include the indoor navigation keyword of setting in the information of position, it is determined that mobile terminal is currently at indoor navigation pattern, holds The second acquisition module of row 702.

Optionally, when the second acquisition module 702 is used to mismatch in the current location for determining mobile terminal and target location, Obtain interior space image of the mobile terminal in current location.

Optionally, the second acquisition module 702 is used to obtain the first geographical location information and/or the current location of mobile terminal The first interior space image；By the first geographical location information and/or the first interior space image corresponding with target location Spatial image is compared in two geographical location information and/or second Room；According to comparison result, the present bit of mobile terminal is determined It puts and is mismatched with target location, obtain interior space image of the mobile terminal in current location.

Optionally, the navigation device of the present embodiment further includes：Third acquisition module 710, in the second acquisition module 702 Mobile terminal is obtained before the interior space image of current location, obtain indoor multiple path nodes information and with it is every The corresponding at least interior space image of a path node.

Optionally, path determination module 706 includes：Generation module 7062, for determining mobile terminal according to comparison result The corresponding current path node in current location, according to the information of current path node and target location, generation at least one is led Bit path；Selecting module 7064, for selecting a bar navigation path from least one guidance path according to setting rule；It sends Module 7066, for the information of the guidance path of selection to be sent to mobile terminal.

Optionally, sending module 7066 is used to obtain multiple path nodes of the guidance path of selection；It determines and current road The information of the adjacent next path node of diameter node；It is raw according to the information of current path node and the information of next path node Into guidance path information and be sent to mobile terminal.

Optionally, sending module 7066 is used for the information of the guidance path according to selection, to mobile terminal in current location Interior space image carry out navigation marker analyte detection；By the information of the navigation marker object detected and the guidance path of selection Information is sent to mobile terminal.

The navigation device of the present embodiment is used to implement the navigation side of corresponding server side in aforesaid plurality of embodiment of the method Method, and the advantageous effect with corresponding embodiment of the method, details are not described herein.

Embodiment eight

With reference to Fig. 8, a kind of structure diagram of according to embodiments of the present invention eight mobile terminal is shown, the present invention is specific Embodiment does not limit the specific implementation of mobile terminal.

As shown in figure 8, the mobile terminal can include：Processor (processor) 802, communication interface (Communications Interface) 804, memory (memory) 806 and communication bus 808.

Wherein：Processor 802, communication interface 804 and memory 906 complete mutual lead to by communication bus 808 Letter.

Communication interface 804, for communicating with other mobile terminals or server.

Processor 802 for performing program 810, can specifically perform the air navigation aid embodiment of above-mentioned mobile terminal side In correlation step.

Specifically, program 810 can include program code, which includes computer-managed instruction.

Processor 802 may be central processor CPU or specific integrated circuit ASIC (Application Specific Integrated Circuit) or be arranged to implement the embodiment of the present invention one or more integrate electricity Road.The one or more processors that mobile terminal includes can be same type of processor, such as one or more CPU；Also may be used To be different types of processor, such as one or more CPU and one or more ASIC.

Memory 806, for storing program 810.Memory 806 may include high-speed RAM memory, it is also possible to further include Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.

Program 810 specifically can be used for so that processor 802 performs following operation：Determine the current location of mobile terminal with Target location mismatches, and real time image collection is carried out to the interior space of the mobile terminal current location；It obtains according in real time The information for the guidance path that the image of acquisition determines；According to the information of the guidance path, determine that AR navigation objects are adopted in real time Display location in the image of collection；The AR navigation objects are drawn into the image acquired in real time according to the display location.

In a kind of optional embodiment, program 810 is additionally operable to so that processor 802 is determining the current of mobile terminal Position is mismatched with target location, and the realtime graphic of navigation marker object is carried out to the interior space of the mobile terminal current location During acquisition, according to the information of the target location of input, determine to get in navigation pattern；Under the indoor navigation pattern When determining that current location is mismatched with target location, navigation marker object is carried out to the interior space of the mobile terminal current location Real time image collection.

In a kind of optional embodiment, program 810 is additionally operable to so that processor 802 is in the target according to input The information of position, when determining to get in navigation pattern, however, it is determined that include setting in the information of the target location of input Indoor navigation keyword, it is determined that get in navigation pattern.

In a kind of optional embodiment, program 810 is additionally operable to so that processor 802 is obtaining what basis acquired in real time During the information for the guidance path that image determines, the guidance path that the navigation marker object in the image acquired in real time determines is obtained Information.

In a kind of optional embodiment, program 810 is additionally operable to so that processor 802 is obtaining what basis acquired in real time During the information of guidance path that the navigation marker object in image determines, navigation marker analyte detection is carried out to the image acquired in real time, And after the navigation marker object is detected, the information of the image and/or the navigation marker object of navigation marker object will be included Server is sent to, the server is received and includes the image of navigation marker object and/or the navigation marker object according to The information of guidance path that determines of information；Alternatively, the image acquired in real time is sent to server, the server root is received According to the information of guidance path for carrying out determining after navigation marker analyte detection to described image.

In a kind of optional embodiment, program 810 is additionally operable to so that processor 802 is according to the guidance path Information, when determining display location of the augmented reality AR navigation objects in the image acquired in real time, according to the guidance path Information determines position of the corresponding navigation marker object in the image acquired in real time；It is adopted according to the navigation marker object in real time Position in the image of collection determines display location of the AR navigation objects in the image acquired in real time.

In a kind of optional embodiment, program 810 is additionally operable to so that processor 802 is according to the guidance path Information, when determining display location of the augmented reality AR navigation objects in the image acquired in real time, according to the guidance path Information determines display location of the augmented reality AR navigation objects in the image acquired in real time, and generates Voice Navigation prompting；Journey Sequence 810 is additionally operable to so that processor 802 is drawing the AR navigation objects to the figure acquired in real time according to the display location When as in, while the AR navigation objects are drawn into the image acquired in real time according to the display location, institute is played Predicate sound navigation hint.

In a kind of optional embodiment, AR navigation objects are the personage's 3-D view generated by three-dimensional reconstruction.

The specific implementation of each step may refer to the phase in the air navigation aid embodiment of above-mentioned mobile terminal side in program 810 Corresponding description in step and unit is answered, this will not be repeated here.It is apparent to those skilled in the art that for description Convenienct and succinct, the equipment of foregoing description and the specific work process of module, can refer to preceding method embodiment in pair Process description is answered, details are not described herein.

Through this embodiment, when carrying out indoor navigation, if current location is mismatched with target location, that is, not arriving also Up to destination, then interior space Image Acquisition is carried out to the current location where mobile terminal, and then, it can obtain according to acquisition The information of guidance path that determines of realtime graphic；It is possible to further determine to need in reality according to the information of the guidance path When image in the display location of AR navigation objects drawn, by drawing the use that AR navigation objects are mobile terminal in display location Family carries out indoor navigation.As it can be seen that scheme through this embodiment, can efficiently and accurately realize indoor positioning.

Embodiment nine

With reference to Fig. 9, a kind of structure diagram of according to embodiments of the present invention nine server is shown, the present invention is specific real Example is applied not limit the specific implementation of server.

As shown in figure 9, the server can include：Processor (processor) 902, communication interface (Communications Interface) 904, memory (memory) 906 and communication bus 908.

Wherein：Processor 902, communication interface 904 and memory 906 complete mutual lead to by communication bus 908 Letter.

Communication interface 904, for communicating with other servers or mobile terminal.

Processor 902, for performing program 910, in the air navigation aid embodiment that can specifically perform above-mentioned server side Correlation step.

Specifically, program 910 can include program code, which includes computer-managed instruction.

Processor 902 may be central processor CPU or specific integrated circuit ASIC (Application Specific Integrated Circuit) or be arranged to implement the embodiment of the present invention one or more integrate electricity Road.The one or more processors that mobile terminal includes can be same type of processor, such as one or more CPU；Also may be used To be different types of processor, such as one or more CPU and one or more ASIC.

Memory 906, for storing program 910.Memory 906 may include high-speed RAM memory, it is also possible to further include Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.

Program 910 specifically can be used for so that processor 902 performs following operation：Mobile terminal is obtained in current location Interior space image；By the interior space image with store multiple interior space images be compared, wherein, storage it is more A interior space image includes the corresponding multiple interior space images in interior where the mobile terminal；According to comparison result and The target location of the mobile terminal determines guidance path, and the information of the guidance path is sent to the mobile terminal.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is by the interior space image When being compared with multiple interior space images of storage, navigate to interior space image of the mobile terminal in current location Marker detection；According to testing result, the Interior Space with the current location is determined from multiple interior space images of storage Between the image that matches of image.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is obtaining mobile terminal current Before the interior space image of position, the information for the target location that mobile terminal is sent is obtained；If according to the target location Information determines that the mobile terminal is currently at indoor navigation pattern, then performs and obtain the mobile terminal in the room of current location The step of interior spatial image.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is according to the target location When information determines that the mobile terminal is currently at indoor navigation pattern, however, it is determined that include in the information of the target location and set Fixed indoor navigation keyword, it is determined that the mobile terminal is currently at indoor navigation pattern.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is determining the mobile terminal When current location and the target location mismatch, interior space image of the mobile terminal in current location is obtained.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is determining the mobile terminal When current location and the target location mismatch, the first geographical location information and/or present bit of the mobile terminal are obtained The first interior space image put；By first geographical location information and/or first interior space image and the mesh Spatial image is compared in corresponding second geographical location information of cursor position and/or second Room；According to comparison result, institute is determined The current location and the target location for stating mobile terminal mismatch.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is obtaining mobile terminal current Before the interior space image of position, the information of indoor multiple path nodes and corresponding with each path node is obtained An at least interior space image.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is according to comparison result and described The target location of mobile terminal determines guidance path, and when the information of the guidance path is sent to the mobile terminal, root The corresponding current path node in the current location of the mobile terminal is determined according to comparison result, according to the information of current path node With the target location, at least one guidance path is generated；One is selected from least one guidance path according to setting rule Guidance path；The information of the guidance path of selection is sent to the mobile terminal.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is by the guidance path selected When information is sent to the mobile terminal, multiple path nodes of the guidance path of selection are obtained；Determining and current path The information of the adjacent next path node of node；According to the information of the current path node and the letter of next path node Breath, generates the information of guidance path and is sent to the mobile terminal.

In a kind of optional embodiment, program 910 is additionally operable to so that processor 902 is by the guidance path selected When information is sent to the mobile terminal, according to the information of the guidance path of selection, to the mobile terminal in current location Interior space image carries out navigation marker analyte detection；By the information of the navigation marker object detected and the guidance path of selection Information be sent to the mobile terminal.

The specific implementation of each step may refer to corresponding in the air navigation aid embodiment of above-mentioned server side in program 910 Corresponding description in step and unit, this will not be repeated here.It is apparent to those skilled in the art that for description Convenienct and succinct, the equipment of foregoing description and the specific work process of module can refer to the correspondence in preceding method embodiment Process description, details are not described herein.

Through this embodiment, when carrying out indoor navigation, server can be according to the real-time interior space of mobile terminal upload Image determines the interior space position that mobile terminal is presently in, and then determines guidance path and send out the information of guidance path Mobile terminal is given, providing indoor navigation to the user by mobile terminal guides.

It may be noted that according to the needs of implementation, all parts/step described in the embodiment of the present invention can be split as more The part operation of two or more components/steps or components/steps can be also combined into new component/step by multi-part/step Suddenly, to realize the purpose of the embodiment of the present invention.

It is above-mentioned to realize or be implemented as in hardware, firmware according to the method for the embodiment of the present invention to be storable in note Software or computer code in recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optic disk) are implemented through net The original storage that network is downloaded is in long-range recording medium or nonvolatile machine readable media and will be stored in local recording medium In computer code, can be stored in using all-purpose computer, application specific processor or can compile so as to method described here Such software processing in journey or the recording medium of specialized hardware (such as ASIC or FPGA).It is appreciated that computer, processing Device, microprocessor controller or programmable hardware include can storing or receive software or computer code storage assembly (for example, RAM, ROM, flash memory etc.), when the software or computer code are by computer, processor or hardware access and when performing, realize Air navigation aid described here.In addition, when all-purpose computer access is used to implement the code for the air navigation aid being shown here, generation The execution of code is converted to all-purpose computer to perform the special purpose computer of air navigation aid being shown here.

Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein Member and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed The range of the embodiment of the present invention.

Embodiment of above is merely to illustrate the embodiment of the present invention, and is not the limitation to the embodiment of the present invention, related skill The those of ordinary skill in art field in the case where not departing from the spirit and scope of the embodiment of the present invention, can also make various Variation and modification, therefore all equivalent technical solutions also belong to the scope of the embodiment of the present invention, the patent of the embodiment of the present invention Protection domain should be defined by the claims.

Claims (38)

1. a kind of air navigation aid, including：

Determine that the current location of mobile terminal is mismatched with target location, to the interior space of the mobile terminal current location into Row real time image collection；

Obtain the information of guidance path determined according to the image acquired in real time；

According to the information of the guidance path, displaying position of the augmented reality AR navigation objects in the image acquired in real time is determined It puts；

The AR navigation objects are drawn into the image acquired in real time according to the display location.

2. according to the method described in claim 1, wherein, the current location of the determining mobile terminal and target location are not Match, the real time image collection of navigation marker object is carried out to the interior space of the mobile terminal current location, including：

According to the information of the target location of input, determine to get in navigation pattern；

When determining that current location is mismatched with target location under the indoor navigation pattern, to the mobile terminal current location The interior space carry out navigation marker object real time image collection.

3. according to the method described in claim 2, wherein, the information of the target location according to input determines to enter Indoor navigation pattern, including：

If it is determined that include the indoor navigation keyword of setting in the information of the target location of input, it is determined that get in Navigation pattern.

4. according to claim 1-3 any one of them methods, wherein, described obtain is led according to what the image acquired in real time determined The information of bit path, including：

Obtain the information of guidance path that the navigation marker object in the image acquired in real time determines.

5. according to the method described in claim 4, wherein, the navigation marker object obtained in the image acquired in real time is true The information of fixed guidance path, including：

Navigation marker analyte detection is carried out, and after the navigation marker object is detected, led including to the image acquired in real time The image of boat marker and/or the information of the navigation marker object are sent to server, receive the server according to the packet The information of guidance path that the information of image containing navigation marker object and/or the navigation marker object determines；

Alternatively,

The image acquired in real time is sent to server, the server is received and carries out navigation marker quality testing according to described image The information of the guidance path determined after survey.

6. according to the method described in claim 5, wherein, the information according to the guidance path determines augmented reality AR Display location of the navigation object in the image acquired in real time, including：

According to the information of the guidance path, position of the corresponding navigation marker object in the image acquired in real time is determined；

According to position of the navigation marker object in the image acquired in real time, determine that the AR navigation objects are acquiring in real time Display location in image.

7. according to claim 1-3 any one of them methods, wherein,

The information according to the guidance path determines displaying of the augmented reality AR navigation objects in the image acquired in real time Position, including：According to the information of the guidance path, exhibition of the augmented reality AR navigation objects in the image acquired in real time is determined Show position, and generate Voice Navigation prompting；

It is described to be drawn the AR navigation objects into the image acquired in real time according to the display location, including：According to institute While stating display location and draw the AR navigation objects into the image acquired in real time, the Voice Navigation prompting is played.

8. according to the method described in claim 7, wherein, the AR navigation objects are the personage's three-dimensional generated by three-dimensional reconstruction Image.

9. a kind of air navigation aid, including：

Obtain interior space image of the mobile terminal in current location；

The interior space image is compared with the multiple interior space images stored, wherein, multiple Interior Spaces of storage Between image include corresponding multiple interior space images in interior where the mobile terminal；

Guidance path is determined, and the information of the guidance path is sent out according to the target location of comparison result and the mobile terminal Give the mobile terminal.

It is 10. described by the interior space image and multiple Interior Spaces of storage according to the method described in claim 9, wherein Between image be compared, including：

Navigation marker analyte detection is carried out to interior space image of the mobile terminal in current location；

According to testing result, the interior space image phase with the current location is determined from multiple interior space images of storage Matched image.

11. method according to claim 9 or 10, wherein, in Interior Space of the acquisition mobile terminal in current location Between before image, the method further includes：

Obtain the information for the target location that mobile terminal is sent；

If determining that the mobile terminal is currently at indoor navigation pattern according to the information of the target location, perform and obtain institute Mobile terminal is stated the interior space image of current location the step of.

12. according to the method for claim 11, wherein, the information according to the target location determines described mobile whole End is currently at indoor navigation pattern, including：

If it is determined that include the indoor navigation keyword of setting in the information of the target location, it is determined that the mobile terminal is worked as It is preceding to be in indoor navigation pattern.

13. method according to claim 9 or 10, wherein, the interior space for obtaining mobile terminal in current location Image, including：

When determining that the current location of the mobile terminal and the target location mismatch, the mobile terminal is obtained current The interior space image of position.

14. the method according to claim 11, wherein, the current location for determining the mobile terminal and the target Position mismatches, including：

Obtain the first geographical location information of the mobile terminal and/or the first interior space image of current location；

By first geographical location information and/or first interior space image the second ground corresponding with the target location Spatial image is compared in reason location information and/or second Room；

According to comparison result, the current location and the target location for determining the mobile terminal mismatch.

15. method according to claim 9 or 10, wherein, in Interior Space of the acquisition mobile terminal in current location Between before image, the method further includes：

Obtain the information of indoor multiple path nodes and an at least interior space corresponding with each path node Image.

16. the method according to claim 11, wherein, the target location according to comparison result and the mobile terminal It determines guidance path, and the information of the guidance path is sent to the mobile terminal, including：

The corresponding current path node in the current location of the mobile terminal is determined according to comparison result, according to current path node Information and the target location, generate at least one guidance path；

A bar navigation path is selected from least one guidance path according to setting rule；

The information of the guidance path of selection is sent to the mobile terminal.

17. according to the method for claim 16, wherein, the information of the guidance path by selection is sent to the movement Terminal, including：

Obtain multiple path nodes of the guidance path of selection；

Determine the information of the next path node adjacent with current path node；

According to the information of the current path node and the information of next path node, the information for generating guidance path is concurrent Give the mobile terminal.

18. according to the method for claim 16, wherein, the information of the guidance path by selection is sent to the movement Terminal, including：

According to the information of the guidance path of selection, clearing mark is carried out to interior space image of the mobile terminal in current location Will analyte detection；

The information of the information of the navigation marker object detected and the guidance path of selection is sent to the mobile terminal.

19. a kind of navigation device, including：

Image capture module for determining that the current location of mobile terminal is mismatched with target location, works as the mobile terminal The interior space of front position carries out real time image collection；

First acquisition module, for obtaining the information of guidance path determined according to the image acquired in real time；

Position determination module for the information according to the guidance path, determines that augmented reality AR navigation objects are acquired in real time Image in display location；

Display module, for being drawn the AR navigation objects into the image acquired in real time according to the display location.

20. device according to claim 19, wherein, described image acquisition module, for the target according to input The information of position determines to get in navigation pattern；Determine current location with target location not under the indoor navigation pattern During matching, the real time image collection of navigation marker object is carried out to the interior space of the mobile terminal current location.

21. device according to claim 20, wherein, described image acquisition module, for if it is determined that the mesh of input Include the indoor navigation keyword of setting in the information of cursor position, it is determined that get in navigation pattern；It is led in the interior When determining that current location is mismatched with target location under model plane formula, the interior space of the mobile terminal current location is led The real time image collection of boat marker.

22. according to claim 19-21 any one of them devices, wherein, first acquisition module, for obtaining according to reality When the image that acquires in the information of guidance path that determines of navigation marker object.

23. device according to claim 22, wherein, first acquisition module, for the image acquired in real time into Row navigation marker analyte detection, and after the navigation marker object is detected will include the image of navigation marker object and/or described The information of navigation marker object is sent to server, receive the server include according to navigation marker object image and/ Or the information of guidance path that the information of the navigation marker object determines；Alternatively, the image acquired in real time is sent to server, The server is received according to the information of guidance path for carrying out determining after navigation marker analyte detection to described image.

24. device according to claim 23, wherein, the position determination module, for according to the guidance path Information determines position of the corresponding navigation marker object in the image acquired in real time；It is adopted according to the navigation marker object in real time Position in the image of collection determines display location of the AR navigation objects in the image acquired in real time.

25. according to claim 19-21 any one of them devices, wherein,

The position determination module for the information according to the guidance path, determines augmented reality AR navigation objects real-time Display location in the image of acquisition, and generate Voice Navigation prompting；

The display module, for drawing the AR navigation objects into the image acquired in real time according to the display location While, play the Voice Navigation prompting.

26. device according to claim 25, wherein, the AR navigation objects are the personage three generated by three-dimensional reconstruction Tie up image.

27. a kind of navigation device, including：

Second acquisition module, for obtaining interior space image of the mobile terminal in current location；

Comparing module, for the interior space image to be compared with the multiple interior space images stored, wherein, storage Multiple interior space images include corresponding multiple interior space images in interior where the mobile terminal；

Path determination module, for determining guidance path according to the target location of comparison result and the mobile terminal, and by institute The information for stating guidance path is sent to the mobile terminal.

28. device according to claim 27, wherein, the comparing module, for mobile terminal in current location Interior space image carries out navigation marker analyte detection；According to testing result, from multiple interior space images of storage determine with The image that the interior space image of the current location matches.

29. the device according to claim 27 or 28, wherein, described device further includes：

Mode decision module, for second acquisition module obtain mobile terminal current location interior space image it Before, the information of the target location of acquisition mobile terminal transmission；If the mobile terminal is determined according to the information of the target location Indoor navigation pattern is currently at, then performs second acquisition module.

30. device according to claim 29, wherein, the mode decision module, for obtaining mobile terminal transmission The information of target location；If it is determined that include the indoor navigation keyword of setting in the information of the target location, it is determined that institute It states mobile terminal and is currently at indoor navigation pattern, perform second acquisition module.

31. the device according to claim 27 or 28, wherein, second acquisition module, for determining the movement When the current location of terminal and the target location mismatch, interior space figure of the mobile terminal in current location is obtained Picture.

32. device according to claim 31, wherein, second acquisition module, for obtaining the mobile terminal First geographical location information and/or the first interior space image of current location；By first geographical location information and/or institute State in the first interior space image the second geographical location information corresponding with the target location and/or second Room spatial image into Row compares；According to comparison result, the current location and the target location for determining the mobile terminal mismatch, and obtain the shifting Dynamic terminal is in the interior space image of current location.

33. the device according to claim 27 or 28, wherein, described device further includes：

Third acquisition module, for second acquisition module obtain mobile terminal current location interior space image it Before, obtain the information of indoor multiple path nodes and an at least interior space figure corresponding with each path node Picture.

34. device according to claim 33, wherein, the path determination module includes：

Generation module, for determining the corresponding current path node in the current location of the mobile terminal, root according to comparison result Information and the target location according to current path node generate at least one guidance path；

Selecting module, for selecting a bar navigation path from least one guidance path according to setting rule；

Sending module, for the information of the guidance path of selection to be sent to the mobile terminal.

35. device according to claim 34, wherein, the sending module, for obtaining the guidance path of selection Multiple path nodes；Determine the information of the next path node adjacent with current path node；According to the current path section The information of point and the information of next path node, generate the information of guidance path and are sent to the mobile terminal.

36. device according to claim 34, wherein, the sending module, for the letter of the guidance path according to selection Breath carries out navigation marker analyte detection to interior space image of the mobile terminal in current location；The clearing mark that will be detected The information of will object and the information of the guidance path of selection are sent to the mobile terminal.

37. a kind of mobile terminal, including：Processor, memory, communication interface and communication bus, the processor, the storage Device and the communication interface complete mutual communication by the communication bus；

For the memory for storing an at least executable instruction, the executable instruction makes the processor perform right such as will Ask the corresponding operation of 1-8 any one of them air navigation aids.

38. a kind of server, including：Processor, memory, communication interface and communication bus, the processor, the memory Mutual communication is completed by the communication bus with the communication interface；

For the memory for storing an at least executable instruction, the executable instruction makes the processor perform right such as will Ask the corresponding operation of 9-18 any one of them air navigation aids.