CN108534776B - Device for detecting traveling direction of target terminal at intersection, electronic equipment and system - Google Patents
Device for detecting traveling direction of target terminal at intersection, electronic equipment and system Download PDFInfo
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- CN108534776B CN108534776B CN201710127048.2A CN201710127048A CN108534776B CN 108534776 B CN108534776 B CN 108534776B CN 201710127048 A CN201710127048 A CN 201710127048A CN 108534776 B CN108534776 B CN 108534776B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
Abstract
The embodiment of the invention provides a device, an electronic device and a system for detecting the advancing direction of a target terminal at an intersection, by arranging magnetic field sources at intersections so that the magnetic field distribution on each path is different from each other, determining the magnetic field distribution by using the magnetic field information detected by the target terminal and matching the magnetic field distribution with the magnetic field distribution in a magnetic field database established in advance, determining the advancing direction according to the matching result, not depending on positioning information obtained based on positioning technologies such as a wireless network, an IMU and the like, realizing the advancing direction detection of the target terminal at various intersections only according to the magnetic field information, and performing the direction detection in a magnetic field distribution information matching mode, the requirements for the device difference and the posture of the target terminal are low, the calculation complexity is low, the detection result is accurate and reliable, and in addition, the method is easy to combine with other positioning technologies when needed.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a device, an electronic device and a system for detecting the advancing direction of a target terminal at an intersection.
Background
As the demand for location-based services increases, the use of location technology is becoming widespread. The indoor positioning technology is widely concerned with the increase of the demand and the popularization of the intelligent terminal. The fusion of multiple modes and multiple information becomes a technical trend for obtaining high-precision positioning, and a magnetic field is effective information widely applied to indoor and outdoor positioning.
In indoor and outdoor positioning research, attention and interest of domestic and foreign institutions and scholars are obtained through a positioning technology of magnetic field matching positioning, and the method has wide development and application prospects. In the indoor positioning process, the detection of the traveling direction of the target terminal at the intersection is an important part and directly affects the positioning accuracy. When matching, the indoor positioning technology based on magnetic field matching generally needs to be combined with positioning technologies based on a wireless network and an Inertial Measurement Unit (IMU).
It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.
Disclosure of Invention
When the existing indoor positioning technology based on magnetic field matching is used for detecting the traveling direction of a target terminal at an intersection, the indoor environment magnetic field is complex only based on the existing indoor magnetic field, so that an obvious matching error exists during magnetic field matching, and the detection result is unreliable; and, it is generally desirable to incorporate positioning techniques based on IMUs or wireless networks.
The embodiment of the invention provides a device, an electronic device and a system for detecting the advancing direction of a target terminal at an intersection, by arranging magnetic field sources at intersections so that the magnetic field distribution on each path is different from each other, determining the magnetic field distribution by using the magnetic field information detected by the target terminal and matching the magnetic field distribution with the magnetic field distribution in a magnetic field database established in advance, determining the advancing direction according to the matching result, not depending on positioning information obtained based on positioning technologies such as a wireless network, an IMU and the like, realizing the advancing direction detection of the target terminal at various intersections only according to the magnetic field information, and performing the direction detection in a magnetic field distribution information matching mode, the requirements for the device difference and the posture of the target terminal are low, the calculation complexity is low, the detection result is accurate and reliable, and in addition, the method is easy to combine with other positioning technologies when needed.
According to a first aspect of embodiments of the present invention, there is provided a device for detecting a traveling direction of a target terminal at an intersection, in which a magnetic field source is preset within a predetermined distance range from the intersection to each route so that magnetic field distributions within the predetermined distance range from the intersection to each route are different from each other, the device including: an acquisition unit for acquiring magnetic field information detected by a target terminal; a first determination unit configured to determine magnetic field distribution information of the target terminal in a traveling direction based on the obtained magnetic field information; and the matching unit is used for matching the determined magnetic field distribution information with the magnetic field distribution information in a magnetic field database established in advance and determining the advancing direction of the target terminal at the intersection according to the matching result.
According to a second aspect of embodiments of the present invention, there is provided an electronic device comprising the apparatus according to the first aspect of embodiments of the present invention.
According to a third aspect of the embodiments of the present invention, there is provided a system for detecting a traveling direction of a target terminal at an intersection, the system including: a magnetic field source preset in a predetermined distance range from the intersection to each path so that the magnetic field distribution in the predetermined distance range from the intersection to each path is different from each other; and an electronic device according to the second aspect of the embodiments of the present invention.
The invention has the beneficial effects that: the magnetic field sources are arranged at the intersections to enable the magnetic field distribution on each path to be different, the magnetic field distribution is determined by utilizing the magnetic field information detected by the target terminal and is matched with the magnetic field distribution in a magnetic field database established in advance, the advancing direction is determined according to the matching result, the positioning information obtained based on the positioning technologies such as a wireless network and an IMU is not relied on, the advancing direction detection of the target terminal at various intersections can be realized only according to the magnetic field information, in addition, the direction detection is carried out in a magnetic field distribution information matching mode, the requirements on the equipment difference and the posture of the target terminal are lower, the calculation complexity is lower, the detection result is accurate and reliable, and in addition, the magnetic field sources can be easily combined with other positioning technologies when needed.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a schematic view of a traveling direction detection device of a target terminal at an intersection according to embodiment 1 of the present invention;
fig. 2 is a schematic view of an intersection in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of the obtaining unit 101 according to embodiment 1 of the present invention;
fig. 4 is another schematic diagram of the acquisition unit 101 of embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a third determination unit 401 according to embodiment 1 of the present invention;
fig. 6 is a schematic diagram of the establishing unit 104 according to embodiment 1 of the present invention;
fig. 7 is another schematic diagram of the establishing unit 104 according to embodiment 1 of the present invention;
fig. 8 is a schematic diagram of the matching unit 103 according to embodiment 1 of the present invention;
fig. 9 is a schematic view of an electronic device according to embodiment 2 of the present invention;
fig. 10 is a schematic block diagram of a system configuration of an electronic apparatus according to embodiment 2 of the present invention;
fig. 11 is a schematic view of a method for detecting a traveling direction of a target terminal at an intersection according to embodiment 4 of the present invention;
fig. 12 is a schematic diagram of a method for detecting a traveling direction of a target terminal at an intersection according to embodiment 5 of the present invention.
Detailed Description
The foregoing and other features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
Example 1
Fig. 1 is a schematic view of a traveling direction detection device of a target terminal at an intersection according to embodiment 1 of the present invention. The magnetic field source is preset in a predetermined distance range from the intersection to each path so that the magnetic field distribution in the predetermined distance range from the intersection to each path is different. As shown in fig. 1, the apparatus 100 includes:
an acquisition unit 101 for acquiring magnetic field information detected by a target terminal;
a first determining unit 102 configured to determine magnetic field distribution information of the target terminal in a traveling direction based on the obtained magnetic field information;
a matching unit 103 for matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance, and determining the traveling direction of the target terminal at the intersection according to the matching result.
It can be known from the above embodiments that, by setting magnetic field sources at intersections so as to make magnetic field distributions on respective paths different from each other, magnetic field distributions are determined by using magnetic field information detected by a target terminal and are matched with magnetic field distributions in a magnetic field database established in advance, and a traveling direction is determined according to a matching result, without depending on positioning information obtained based on positioning technologies such as a wireless network and an IMU, traveling direction detection of the target terminal at various intersections can be achieved only according to the magnetic field information, and direction detection is performed by means of magnetic field distribution information matching, requirements for device differences and postures of the target terminal are low, calculation complexity is low, detection results are accurate and reliable, and in addition, the method can be easily combined with other positioning technologies when necessary.
In the present embodiment, the intersection may be various types of intersections, for example, the intersection is a four-branch intersection having four paths.
In the present embodiment, a four-branch road will be described as an example. Fig. 2 is a schematic view of an intersection in embodiment 1 of the present invention. As shown in fig. 2, the center point of the intersection is O, which has four paths.
In this embodiment, the magnetic field sources are preset within a predetermined distance range from the intersection to each path, so that the magnetic field distribution within the predetermined distance range from the intersection to each path is different, wherein the predetermined distance may be set according to actual needs, for example, the predetermined distance is 5 meters.
In this embodiment, the magnetic field source may be a continuous magnetic field source, such as a wire, or a discrete magnetic field source, such as a magnet. The embodiment of the present invention does not limit the types and the number of the magnetic field sources, as long as the magnetic field distributions in the predetermined distances on the respective paths are different from each other.
As shown in FIG. 2, the end points of the predetermined distances on the four paths are marked as 1-4 respectively, and the predetermined distance is LOiAnd i is 1, 2, 3, 4. Magnetic field sources are respectively arranged in the ranges of O1, O2, O3 and O4, so that the magnetic field distributions in the ranges of O1, O2, O3 and O4 are different from each other. Wherein the possible directions of travel include: 1 to 2, 1 to 3, 1 to 4, 2 to 1, 2 to 3, 2 to 4, 3 to 1, 3 to 2, 3 to 4, 4 to 1, 4 to 2, 4 to 3.
In this embodiment, the target terminal is, for example, a terminal device carried by a user, and the target terminal is located and the traveling direction is detected, so that the user carrying the target terminal is located and the traveling direction is detected.
In this embodiment, the obtaining unit 101 is configured to obtain magnetic field information detected by a target terminal, for example, a magnetic sensor in the target terminal detects a magnetic field around the target terminal during traveling of a user carrying the target terminal, and the obtaining unit 101 obtains the detected magnetic field information from the target terminal. In the present embodiment, the magnetic field information is, for example, the total intensity of the magnetic field.
In this embodiment, the acquiring unit 101 may acquire all the magnetic field information detected by the target terminal, and may also set a start time and an end time for acquiring the magnetic field information detected by the target terminal, that is, the acquiring unit 101 acquires the magnetic field information detected by the target terminal within a period of time for calculating and matching the magnetic field distribution information.
In this embodiment, the target terminal may always detect the magnetic field information, and the acquisition unit 101 may acquire the detection data during a period from the start time to the end time, for example, the acquisition unit 101 may store the detection data during the period from the start time to the end time. The target terminal may detect the magnetic field information only during the period from the start time to the end time, and acquiring section 101 may acquire the magnetic field information.
By setting the start time and the end time in this manner, it is possible to reduce the complexity of calculation at the time of matching and improve the accuracy of matching, thereby further improving the accuracy of the travel direction detection.
The structure of the acquisition unit 101 of the present embodiment and the method of determining the start time and the end time are exemplarily described below.
Fig. 3 is a schematic diagram of the obtaining unit 101 according to embodiment 1 of the present invention. As shown in fig. 3, the acquisition unit 101 includes:
a second determining unit 301, configured to determine, according to the positioning information of the target terminal, a start time and an end time for obtaining the magnetic field information detected by the target terminal;
a first obtaining unit 302, configured to obtain magnetic field information detected by the target terminal in a period from the start time to the end time.
In the present embodiment, the positioning information of the target terminal may be obtained by a conventional method, for example, a positioning technique based on wireless positioning, and the positioning information of the target terminal is obtained by setting a time when the target terminal reaches a position at the predetermined distance from the intersection as a start time and a time when the target terminal leaves the position at the predetermined distance from the intersection as an end time. As shown in fig. 2, for example, the time at which point 1 is reached is defined as the start time, and the time at which point 2 is reached is defined as the end time.
Fig. 4 is another schematic diagram of the acquisition unit 101 according to embodiment 1 of the present invention. As shown in fig. 4, the acquisition unit 101 includes:
a third determining unit 401, configured to determine, according to trigger information of trigger points preset on each path, a start time and an end time for obtaining magnetic field information detected by the target terminal;
a second obtaining unit 402, configured to obtain magnetic field information detected by the target terminal in a period from the start time to the end time.
In this embodiment, the preset trigger points on the respective paths may be respectively set within a range from the intersection to the predetermined distance on the respective paths. For example, as shown in FIG. 2, the trigger points may be set between O and 1, O and 2, O and 3, and O and 4, respectively.
In the present embodiment, the trigger points may be respectively set at the predetermined distances from the intersection on the respective paths, for example, as shown in fig. 2, the trigger points are respectively set at points 1, 2, 3, and 4. The present embodiment is exemplarily described by taking this as an example.
In this embodiment, the trigger point is, for example, a magnetic field source disposed at the predetermined distance from the intersection, and when a user carrying the target terminal passes through the magnetic field source, the trigger point is triggered by a change of a magnetic field characteristic, so as to generate trigger information.
Fig. 5 is a schematic diagram of the third determining unit 401 in embodiment 1 of the present invention. As shown in fig. 5, the third determination unit 401 includes:
a fourth determining unit 501, configured to determine the start time according to trigger information of a first trigger point preset on the first path;
a fifth determining unit 502, configured to determine the end time according to trigger information of a second trigger point preset on the second path.
For example, as shown in fig. 2, a user carrying a target terminal first generates trigger information by a trigger point set at point 1, determines a time at this moment as a start time, and the user generates trigger information by a trigger point set at point 4, determines a time at this moment as an end time.
In this embodiment, the fifth determining unit 502 is further configured to determine the end of the predetermined time period as the end time in a case that the trigger information of the second trigger point is not received within the predetermined time period after the start time. In this way, the end time can be determined even when the trigger information of the second trigger point is not received for some reason, thereby enabling detection of the traveling direction.
For example, after the user carrying the target terminal passes the first trigger point, the user stays near the intersection without moving, and after a predetermined period of time has elapsed, the magnetic field information in the period of time is used for detecting the traveling direction.
In the present embodiment, after the acquisition unit 101 acquires the magnetic field information detected by the target terminal, the first determination unit 102 determines the magnetic field distribution information of the target terminal in the traveling direction based on the acquired magnetic field information.
In this embodiment, the magnetic field distribution information represents the trend of the magnetic field over time. For example, the first determination unit 102 determines magnetic field distribution information in which the total magnetic field strength varies with time, based on a plurality of total magnetic field strengths detected by the target terminal during a period of time in which the user travels. The amount of the total intensity of the detected magnetic field may be determined by the sampling rate of the magnetic sensor in the target terminal.
In this embodiment, the magnetic field distribution information may be a sequence formed by sequentially acquiring X, Y, Z three-dimensional magnetic field components in three axes and calculating the total strength of the magnetic field.
In the present embodiment, after the first determination unit 102 determines the magnetic field distribution information of the target terminal in the traveling direction, the matching unit 103 matches the determined magnetic field distribution information with the magnetic field distribution information in the magnetic field database established in advance, and determines the traveling direction of the target terminal at the intersection according to the result of the matching.
In this way, the magnetic field distribution information representing the magnetic field variation trend is used for matching, even if the performances of the magnetic field sensors of different target terminals have differences, as long as the magnetic field variation trends are the same or similar, the matching results are also the same, so that the requirement on the device differences in the targets is lower; moreover, the gesture of the target terminal is not dependent, and the requirement on the gesture is low. In addition, the magnetic field distribution information is used for matching, so long as the change trend of the magnetic field is matched, the calculation complexity is low, and the detection result is accurate and reliable.
In this embodiment, the apparatus 100 may further include: a building unit 104 for building the magnetic field database. In the apparatus 100, the establishing unit 104 is an optional component, which is indicated by a dashed box in fig. 1.
The structure of the creating unit 104 and the method of creating the magnetic field database of the present embodiment are exemplarily described below.
Fig. 6 is a schematic diagram of the establishing unit 104 according to embodiment 1 of the present invention. As shown in fig. 6, the establishing unit 104 includes:
a first calculation unit 601 for calculating magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection based on the set magnetic field source;
a first corresponding unit 602 for corresponding the calculated magnetic field distribution information to the respective traveling directions, thereby building the magnetic field database.
For example, since the magnetic field source is fixed, its parameters related to the magnetic field may also be known, for example, the distribution of the magnetic field strength. Therefore, the magnetic field distribution information in each traveling direction can be calculated according to the set parameters of the magnetic field source, and a magnetic field database is established by corresponding each calculated magnetic field distribution information to each traveling direction.
Fig. 7 is another schematic diagram of the establishing unit 104 according to embodiment 1 of the present invention. As shown in fig. 7, the establishing unit 104 includes:
a measuring unit 701 for measuring magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection under a condition of uniform movement;
a second correspondence unit 702 for corresponding the measured magnetic field distribution information to the respective traveling directions, thereby building the magnetic field database.
For example, under the condition of uniform movement, the measurement unit 701 acquires magnetic field information in the process and determines magnetic field distribution information according to a certain sampling rate from a predetermined distance end point on any one path to a predetermined distance end point on another path through an intersection.
Taking the intersection shown in fig. 2 as an example, magnetic field information on a path from a point i to a point j (i is 1, 2, 3, 4, j is 1, 2, 3, 4) is collected. In the acquisition process, for each sampling point, the obtained magnetic field information is three-dimensional magnetic field intensity components (M) of three axes of the magnetic sensor X, Y, Zx，My，Mz) When the magnetic field database is established, in order to avoid the limitation on the posture of the magnetic sensor, the total magnetic field strength is selected as the characteristic data when matching, for example, the total magnetic field strength can be calculated according to the following formula (1):
wherein M represents the total intensity of the magnetic field, Mx，My，MzRespectively, represent the three-axis magnetic field strength components of the magnetic sensor X, Y, Z.
The second corresponding unit 702 may establish a magnetic field database according to the following formula (2) according to the magnetic field information collected from the starting point i to the ending point j:
FMij＝{oreij，(Mij，1，Mij，2，…，Mij，m)} (2)
wherein, FMijFingerprint indicating a direction of travel from i to j, oreijIndicating a direction of travel from i to j, sequence (M)ij，1，Mij，2，…，Mij，m) The sequence of the total intensity of the magnetic field representing the direction of travel, i.e. the magnetic field distribution information, M being the number of sample points, Mij，mIs the total intensity of the magnetic field at the m-th sampling point in the traveling direction from the point i to the point j, and m is a positive integer.
Thus, the second correspondence unit 702 creates a magnetic field database in which the magnetic field distribution information corresponds to all possible traveling directions.
In the present embodiment, the matching unit 103 matches the magnetic field distribution information determined by the first determining unit 102 with magnetic field distribution information in a magnetic field database established in advance, and determines the traveling direction of the target terminal at the intersection according to the result of the matching.
For example, the magnetic field distribution information determined by the first determination unit 102 may be represented by the following formula (3):
V＝(M1，M2，…，Mn) (3)
wherein V represents the determined magnetic field distribution information, n is the number of sampling points in the magnetic field information obtained from the target terminal, MnThe total strength of the magnetic field at the nth sample point.
In this embodiment, due to differences of devices, the number n of sampling points in the magnetic field information obtained from the target terminal may be the same as or different from the number m of sampling points in the magnetic field database.
The structure and matching method of the matching unit 103 of the present embodiment are exemplarily described below.
Fig. 8 is a schematic diagram of the matching unit 103 according to embodiment 1 of the present invention. As shown in fig. 8, the matching unit 103 includes:
a second calculation unit 801 configured to calculate distances between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance, by using a Dynamic Time Warping (DTW) method;
a sixth determining unit 802, configured to determine, as the traveling direction of the target terminal, the traveling direction corresponding to the magnetic field distribution information with the smallest distance in the magnetic field database.
A method for calculating the distance between the magnetic field distribution information by the second calculation unit 801 using the dynamic time warping method will be exemplarily described below.
For example, assume FM in a magnetic field databaseij＝(Mij，1，Mij，2，…，Mij，m) The first p points and the magnetic field distribution information V ═ (M) determined by the first determination unit 1021，M2，…，Mn) The similarity of the first q points is dij(p, q) the combination of the magnetic field collection points that may have been previously passed before reaching (p, q) is (p-1, q), (p-1, q-1) and (p, q-1), and therefore, the similarity d can be calculated according to the following formula (4)ij(p，q)：
dij(p，q)＝min(dij(p-1，q)，dij(p-1，q-1)，dij(p-1，q-1))+Dij(p，q) (4)
Wherein d isij(p, q) denotes FM in magnetic field databaseij＝(Mij，1，Mij，2，…，Mij，m) The first p points and the magnetic field distribution information V ═ (M) determined by the first determination unit 1021，M2，…，Mn) Similarity of first q points, Dij(p, q) denotes an acquisition Point Mij，pAnd MqThe Euclidean distance between p and q is a positive integer.
Sequentially calculating according to the sequence of the acquisition points according to the formula (4), and finally calculating to obtain the distance d between the determined magnetic field distribution information and the magnetic field distribution information with the advancing direction from i to j in a magnetic field database established in advanceij＝dij(n，m)。
In this way, after the second calculation unit 801 calculates the distances between the determined magnetic field distribution information and the magnetic field distribution information of all the travel directions in the magnetic field database, the sixth determination unit 802 determines the travel direction corresponding to the magnetic field distribution information having the smallest distance as the travel direction of the target terminal.
In this embodiment, as described above, the fifth determining unit 502 is further configured to determine the end of the predetermined time period as the end time in the case that the trigger information of the second trigger point is not received within the predetermined time period after the start time. In this case, after the distances between the determined magnetic field distribution information and the magnetic field distribution information in all the travel directions in the magnetic field database are calculated, it is determined whether or not the minimum distance among the distances is significantly smaller than the other distances, and if the determination result is yes, the travel direction corresponding to the magnetic field distribution information of the minimum distance is determined as the travel direction of the target terminal, and if the determination result is no, the travel direction of the target terminal can be determined with assistance from the positioning information obtained by the positioning technology such as wireless positioning. For example, a position estimate of the target terminal within the predetermined time period is obtained through wireless positioning, and a track traveled by the target terminal is obtained according to the position estimate, thereby determining a traveling direction of the target terminal.
In this embodiment, when determining whether the minimum distance of the distances is significantly smaller than the other distances, the determination may be performed by determining whether a difference between the minimum distance and the other distances is greater than a preset threshold, and the preset threshold may be set according to actual needs.
It can be known from the above embodiments that, by setting magnetic field sources at intersections so as to make magnetic field distributions on respective paths different from each other, magnetic field distributions are determined by using magnetic field information detected by a target terminal and are matched with magnetic field distributions in a magnetic field database established in advance, and a traveling direction is determined according to a matching result, without depending on positioning information obtained based on positioning technologies such as a wireless network and an IMU, traveling direction detection of the target terminal at various intersections can be achieved only according to the magnetic field information, and direction detection is performed by means of magnetic field distribution information matching, requirements for device differences and postures of the target terminal are low, calculation complexity is low, detection results are accurate and reliable, and in addition, the method can be easily combined with other positioning technologies when necessary.
Example 2
An embodiment of the present invention further provides an electronic device, and fig. 9 is a schematic diagram of the electronic device in embodiment 2 of the present invention. As shown in fig. 9, the electronic device 900 includes a traveling direction detection device 901 of a target terminal at an intersection, wherein the structure and function of the traveling direction detection device 901 of the target terminal at the intersection are the same as those described in embodiment 1, and are not described again here.
Fig. 10 is a schematic block diagram of a system configuration of an electronic apparatus according to embodiment 2 of the present invention. As shown in fig. 10, the electronic device 1000 may include a central processing unit 1001 and a memory 1002; the memory 1002 is coupled to the cpu 1001. The figure is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
As shown in fig. 10, the electronic device 1000 may further include: an input unit 1003, a display 1004, and a power supply 1005.
In one embodiment, the function of the traveling direction detection device of the target terminal at the intersection described in example 1 may be integrated into the cpu 1001. Among them, the cpu 1001 may be configured to: acquiring magnetic field information detected by a target terminal; determining magnetic field distribution information of the target terminal in the traveling direction according to the obtained magnetic field information; and matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance, and determining the traveling direction of the target terminal at the intersection according to the matching result.
The cpu 1001 may be further configured to: establishing the magnetic field database; the establishing of the magnetic field database comprises: calculating magnetic field distribution information in each traveling direction within the preset distance range from the intersection according to the set magnetic field sources; and corresponding the calculated magnetic field distribution information to each traveling direction, thereby establishing the magnetic field database.
The cpu 1001 may be further configured to: establishing the magnetic field database; the establishing of the magnetic field database comprises: measuring magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection under the condition of uniform movement; and corresponding the measured magnetic field distribution information to each traveling direction, thereby establishing the magnetic field database.
The obtaining of the magnetic field information detected by the target terminal includes: determining the starting time and the ending time of obtaining the magnetic field information detected by the target terminal according to the positioning information of the target terminal; and obtaining the magnetic field information detected by the target terminal in the period from the starting time to the ending time.
The obtaining of the magnetic field information detected by the target terminal includes: determining the starting time and the ending time of obtaining the magnetic field information detected by the target terminal according to the trigger information of the trigger points preset on each path; and obtaining the magnetic field information detected by the target terminal in the period from the starting time to the ending time.
The trigger points preset on each path are respectively arranged in the range from the intersection to the preset distance on each path.
Wherein, the determining the start time and the end time of the target terminal detecting the magnetic field information according to the trigger information of the preset trigger point on each path includes: determining the starting time according to trigger information of a first trigger point preset on a first path; and determining the end time according to the trigger information of a second trigger point preset on the second path.
Wherein, determining the end time according to the trigger information of a second trigger point preset on a second path includes: and determining the end point of the predetermined time period as the end time under the condition that the trigger information of the second trigger point is not received in the predetermined time period after the start time.
Wherein the matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance and determining the traveling direction of the target terminal at the intersection according to the matching result includes: calculating the distance between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance by using a dynamic time warping method; and determining the traveling direction corresponding to the magnetic field distribution information with the minimum distance in the magnetic field database as the traveling direction of the target terminal.
It is not necessary for the electronic device 1000 to include all of the components shown in fig. 10 in this embodiment.
As shown in fig. 10, the central processing unit 1001, sometimes referred to as a controller or operation control, may include a microprocessor or other processor device and/or logic device, and the central processing unit 1001 receives inputs and controls the operation of the various components of the electronic device 1000.
The memory 1002, for example, may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. And the cpu 1001 can execute the program stored in the memory 1002 to realize information storage or processing, or the like. The functions of other parts are similar to the prior art and are not described in detail here. The various components of the electronic device 1000 may be implemented in dedicated hardware, firmware, software, or combinations thereof, without departing from the scope of the invention.
It can be known from the above embodiments that, by setting magnetic field sources at intersections so as to make magnetic field distributions on respective paths different from each other, magnetic field distributions are determined by using magnetic field information detected by a target terminal and are matched with magnetic field distributions in a magnetic field database established in advance, and a traveling direction is determined according to a matching result, without depending on positioning information obtained based on positioning technologies such as a wireless network and an IMU, traveling direction detection of the target terminal at various intersections can be achieved only according to the magnetic field information, and direction detection is performed by means of magnetic field distribution information matching, requirements for device differences and postures of the target terminal are low, calculation complexity is low, detection results are accurate and reliable, and in addition, the method can be easily combined with other positioning technologies when necessary.
Example 3
The embodiment of the invention also provides a system for detecting the advancing direction of the target terminal at the intersection, which comprises the following components: the magnetic field sources are preset in a preset distance range from the intersection to each path, so that the magnetic field distribution in the preset distance range from the intersection to each path is different; and the electronic device according to embodiment 2.
In this embodiment, the type and the arrangement of the magnetic field source are the same as those described in embodiment 1, and are not described herein again.
It can be known from the above embodiments that, by setting magnetic field sources at intersections so as to make magnetic field distributions on respective paths different from each other, magnetic field distributions are determined by using magnetic field information detected by a target terminal and are matched with magnetic field distributions in a magnetic field database established in advance, and a traveling direction is determined according to a matching result, without depending on positioning information obtained based on positioning technologies such as a wireless network and an IMU, traveling direction detection of the target terminal at various intersections can be achieved only according to the magnetic field information, and direction detection is performed by means of magnetic field distribution information matching, requirements for device differences and postures of the target terminal are low, calculation complexity is low, detection results are accurate and reliable, and in addition, the method can be easily combined with other positioning technologies when necessary.
Example 4
The embodiment of the invention also provides a method for detecting the advancing direction of the target terminal at the intersection, which corresponds to the device for detecting the advancing direction of the target terminal at the intersection in the embodiment 1. The magnetic field source is preset in a predetermined distance range from the intersection to each path so that the magnetic field distribution in the predetermined distance range from the intersection to each path is different. Fig. 11 is a schematic diagram of a method for detecting a traveling direction of a target terminal at an intersection according to embodiment 4 of the present invention. As shown in fig. 11, the method includes:
step 1101: acquiring magnetic field information detected by a target terminal;
step 1102: determining magnetic field distribution information of the target terminal in the traveling direction according to the obtained magnetic field information;
step 1103: and matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance, and determining the traveling direction of the target terminal at the intersection according to the matching result.
In this embodiment, the method for obtaining the magnetic field information detected by the target terminal, the method for determining the magnetic field distribution information according to the obtained magnetic field information, the method for matching the magnetic field distribution information, and the method for establishing the magnetic field database are the same as those described in embodiment 1, and are not described herein again.
It can be known from the above embodiments that, by setting magnetic field sources at intersections so as to make magnetic field distributions on respective paths different from each other, magnetic field distributions are determined by using magnetic field information detected by a target terminal and are matched with magnetic field distributions in a magnetic field database established in advance, and a traveling direction is determined according to a matching result, without depending on positioning information obtained based on positioning technologies such as a wireless network and an IMU, traveling direction detection of the target terminal at various intersections can be achieved only according to the magnetic field information, and direction detection is performed by means of magnetic field distribution information matching, requirements for device differences and postures of the target terminal are low, calculation complexity is low, detection results are accurate and reliable, and in addition, the method can be easily combined with other positioning technologies when necessary.
Example 5
The embodiment of the invention also provides a method for detecting the advancing direction of the target terminal at the intersection, which corresponds to the system for detecting the advancing direction of the target terminal at the intersection in the embodiment 3. Fig. 12 is a schematic diagram of a method for detecting a traveling direction of a target terminal at an intersection according to embodiment 5 of the present invention. As shown in fig. 12, the method includes:
step 1201: presetting a magnetic field source in a preset distance range from the intersection to each path, so that the magnetic field distribution in the preset distance range from the intersection to each path is different;
step 1202: establishing a magnetic field database based on the set magnetic field source;
step 1203: determining the starting time for obtaining the magnetic field information detected by the target terminal according to the trigger information of a first trigger point preset on a first path;
step 1204: starting to obtain the magnetic field information detected by the target terminal;
step 1205: judging whether trigger information of a second trigger point preset on the second path is received within a preset time period after the starting time, entering a step 1206 when the judgment result is yes, and entering a step 1210 when the judgment result is no;
step 1206: determining the end time for obtaining the magnetic field information detected by the target terminal according to the trigger information of a second trigger point preset on a second path;
step 1207: determining magnetic field distribution information of the target terminal in the traveling direction according to the obtained magnetic field information detected by the target terminal from the starting time to the ending time;
step 1208: calculating the distance between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance by using a dynamic time warping method;
step 1209: determining the traveling direction corresponding to the magnetic field distribution information with the minimum distance in the magnetic field database as the traveling direction of the target terminal;
step 1210: determining the end point of the preset time period as the end time for obtaining the magnetic field information detected by the target terminal;
step 1211: determining magnetic field distribution information of the target terminal in the traveling direction according to the obtained magnetic field information detected by the target terminal from the starting time to the ending time;
step 1212: calculating the distance between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance by using a dynamic time warping method;
step 1213: judging whether the minimum distance in the distances is obviously smaller than other distances, entering a step 1214 when the judgment result is yes, and entering a step 1215 when the judgment result is no;
step 1214: determining the traveling direction corresponding to the magnetic field distribution information with the minimum distance in the magnetic field database as the traveling direction of the target terminal;
step 1215: and judging the traveling direction of the target terminal in an auxiliary manner according to the obtained positioning information.
In this embodiment, the specific methods used in the above steps are the same as those described in embodiment 1, and are not described herein again.
It can be known from the above embodiments that, by setting magnetic field sources at intersections so as to make magnetic field distributions on respective paths different from each other, magnetic field distributions are determined by using magnetic field information detected by a target terminal and are matched with magnetic field distributions in a magnetic field database established in advance, and a traveling direction is determined according to a matching result, without depending on positioning information obtained based on positioning technologies such as a wireless network and an IMU, traveling direction detection of the target terminal at various intersections can be achieved only according to the magnetic field information, and direction detection is performed by means of magnetic field distribution information matching, requirements for device differences and postures of the target terminal are low, calculation complexity is low, detection results are accurate and reliable, and in addition, the method can be easily combined with other positioning technologies when necessary.
An embodiment of the present invention also provides a computer-readable program, wherein when the program is executed in a traveling direction detection apparatus or an electronic device of an intersection at a target terminal, the program causes a computer to execute the traveling direction detection method of the target terminal at the intersection described in embodiment 4 in the traveling direction detection apparatus or the electronic device of the intersection.
An embodiment of the present invention further provides a storage medium storing a computer-readable program, where the computer-readable program enables a computer to execute the method for detecting a traveling direction of an object terminal at an intersection according to embodiment 4 in a device or an electronic device for detecting a traveling direction of an object terminal at an intersection.
The detection method performed in the traveling direction detection apparatus or the electronic device of the target terminal at the intersection described in connection with the embodiments of the present invention may be directly embodied as hardware, a software module executed by a processor, or a combination of both. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in fig. 1 may correspond to individual software modules of a computer program flow or may correspond to individual hardware modules. These software modules may correspond to the steps shown in fig. 11, respectively. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the apparatus (e.g., mobile terminal) employs a relatively large capacity MEGA-SIM card or a large capacity flash memory device, the software module may be stored in the MEGA-SIM card or the large capacity flash memory device.
One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
While the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that these descriptions are illustrative and not intended to limit the scope of the invention. Various modifications and alterations of this invention will become apparent to those skilled in the art based upon the spirit and principles of this invention, and such modifications and alterations are also within the scope of this invention.
With respect to the embodiments including the above embodiments, the following remarks are also disclosed:
the device comprises:
an acquisition unit for acquiring magnetic field information detected by a target terminal;
a first determination unit configured to determine magnetic field distribution information of the target terminal in a traveling direction based on the obtained magnetic field information;
and the matching unit is used for matching the determined magnetic field distribution information with the magnetic field distribution information in a magnetic field database established in advance and determining the advancing direction of the target terminal at the intersection according to the matching result.
Supplementary note 2, the apparatus according to supplementary note 1, wherein the apparatus further comprises:
an establishing unit for establishing the magnetic field database;
the establishing unit includes:
a first calculation unit configured to calculate magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection, based on the set magnetic field source;
a first correspondence unit for corresponding the calculated magnetic field distribution information to respective traveling directions, thereby creating the magnetic field database.
an establishing unit for establishing the magnetic field database;
the establishing unit includes:
a measuring unit configured to measure magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection under a condition of uniform movement;
a second correspondence unit for corresponding the measured magnetic field distribution information to each traveling direction, thereby creating the magnetic field database.
Supplementary note 4, the apparatus according to supplementary note 1, wherein the acquisition unit includes:
a second determining unit, configured to determine, according to the positioning information of the target terminal, a start time and an end time for obtaining the magnetic field information detected by the target terminal;
a first acquisition unit for acquiring magnetic field information detected by the target terminal during a period from the start time to the end time.
Supplementary note 5, the apparatus according to supplementary note 1, wherein the acquisition unit includes:
a third determining unit configured to determine a start time and an end time for obtaining the magnetic field information detected by the target terminal, based on trigger information of a trigger point preset on each path;
a second acquisition unit for acquiring magnetic field information detected by the target terminal during a period from the start time to the end time.
Supplementary note 6 and the apparatus according to supplementary note 5, wherein the trigger points preset on the respective routes are respectively set within a range from the intersection to the predetermined distance on the respective routes.
Supplementary note 7, the apparatus according to supplementary note 5, wherein the third determining unit includes:
a fourth determining unit, configured to determine the start time according to trigger information of a first trigger point preset on the first path;
a fifth determining unit, configured to determine the end time according to trigger information of a second trigger point preset on the second path.
Reference numeral 8, and an apparatus according to reference numeral 7, wherein,
the fifth determining unit is further configured to determine, as the end time, an end point of a predetermined time period after the start time when the trigger information of the second trigger point is not received within the predetermined time period.
Supplementary note 9, the apparatus according to supplementary note 1, wherein the matching unit includes:
a second calculation unit for calculating distances between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance by using a dynamic time warping method;
a sixth determining unit, configured to determine, as the travel direction of the target terminal, a travel direction corresponding to the magnetic field distribution information with the smallest distance in the magnetic field database.
Supplementary note 10, an electronic device comprising the apparatus according to supplementary note 1.
Note 11 that a system for detecting a traveling direction of a target terminal at an intersection, the system includes:
a magnetic field source preset in a predetermined distance range from the intersection to each path so that the magnetic field distribution in the predetermined distance range from the intersection to each path is different from each other; and
the electronic device according to supplementary note 10.
Note 12 that a method of detecting a traveling direction of a target terminal at an intersection, in which a magnetic field source is set in advance within a predetermined distance range from the intersection to each route so that magnetic field distributions within the predetermined distance range from the intersection to each route are different from each other,
the method comprises the following steps:
acquiring magnetic field information detected by a target terminal;
determining magnetic field distribution information of the target terminal in the traveling direction according to the obtained magnetic field information;
and matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance, and determining the traveling direction of the target terminal at the intersection according to the matching result.
Supplementary note 13, the method according to supplementary note 12, wherein the method further comprises:
establishing the magnetic field database;
the establishing of the magnetic field database comprises:
calculating magnetic field distribution information in each traveling direction within the preset distance range from the intersection according to the set magnetic field sources;
and corresponding the calculated magnetic field distribution information to each traveling direction, thereby establishing the magnetic field database.
Supplementary note 14, the method according to supplementary note 12, wherein the method further comprises:
establishing the magnetic field database;
the establishing of the magnetic field database comprises:
measuring magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection under the condition of uniform movement;
and corresponding the measured magnetic field distribution information to each traveling direction, thereby establishing the magnetic field database.
Supplementary note 15, the method according to supplementary note 12, wherein the obtaining magnetic field information detected by the target terminal includes:
determining the starting time and the ending time of obtaining the magnetic field information detected by the target terminal according to the positioning information of the target terminal;
and obtaining the magnetic field information detected by the target terminal in the period from the starting time to the ending time.
Supplementary note 16, the method according to supplementary note 12, wherein the obtaining magnetic field information detected by the target terminal includes:
determining the starting time and the ending time of obtaining the magnetic field information detected by the target terminal according to the trigger information of the trigger points preset on each path;
and obtaining the magnetic field information detected by the target terminal in the period from the starting time to the ending time.
Note 17 that the method according to note 16, in which the trigger points preset on the respective routes are respectively set within a range from the intersection to the predetermined distance on the respective routes.
Supplementary note 18, the method according to supplementary note 16, wherein the determining a start time and an end time for obtaining the magnetic field information detected by the target terminal according to the trigger information of the trigger point preset on each path includes:
determining the starting time according to trigger information of a first trigger point preset on a first path;
and determining the end time according to the trigger information of a second trigger point preset on the second path.
Supplementary note 19, the method according to supplementary note 18, wherein determining the end time according to trigger information of a second trigger point preset on a second path includes:
and determining the end point of the predetermined time period as the end time under the condition that the trigger information of the second trigger point is not received in the predetermined time period after the start time.
Note 20 that the method according to note 12, in which the matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance and determining the traveling direction of the target terminal at the intersection based on the matching result, includes:
calculating the distance between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance by using a dynamic time warping method;
and determining the traveling direction corresponding to the magnetic field distribution information with the minimum distance in the magnetic field database as the traveling direction of the target terminal.
Claims (7)
1. A device for detecting the direction of travel of a target terminal at an intersection, wherein a magnetic field source is provided in advance within a predetermined distance range from the intersection to each route so that the magnetic field distribution within the predetermined distance range from the intersection to each route is different from each other,
the device comprises:
an acquisition unit for acquiring magnetic field information detected by a target terminal;
a first determination unit configured to determine magnetic field distribution information of the target terminal in a traveling direction based on the obtained magnetic field information;
a matching unit for matching the determined magnetic field distribution information with magnetic field distribution information in a magnetic field database established in advance and determining a traveling direction of the target terminal at the intersection according to a result of the matching,
wherein the acquisition unit includes:
a third determining unit configured to determine a start time and an end time at which the magnetic field information detected by the target terminal is obtained, based on trigger information of a trigger point within the predetermined distance range from the intersection, which is set in advance on each path;
a second acquisition unit for acquiring magnetic field information detected by the target terminal during a period from the start time to the end time,
wherein the third determination unit includes:
a fourth determining unit, configured to determine the start time according to trigger information of a first trigger point preset on the first path;
a fifth determining unit, configured to determine the end time according to trigger information of a second trigger point preset on the second path.
2. The apparatus of claim 1, wherein the apparatus further comprises:
an establishing unit for establishing the magnetic field database;
the establishing unit includes:
a first calculation unit configured to calculate magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection, based on the set magnetic field source;
a first correspondence unit for corresponding the calculated magnetic field distribution information to respective traveling directions, thereby creating the magnetic field database.
3. The apparatus of claim 1, wherein the apparatus further comprises:
an establishing unit for establishing the magnetic field database;
the establishing unit includes:
a measuring unit configured to measure magnetic field distribution information in each traveling direction within the predetermined distance range from the intersection under a condition of uniform movement;
a second correspondence unit for corresponding the measured magnetic field distribution information to each traveling direction, thereby creating the magnetic field database.
4. The apparatus of claim 1, wherein,
the fifth determining unit is further configured to determine, as the end time, an end point of a predetermined time period after the start time when the trigger information of the second trigger point is not received within the predetermined time period.
5. The apparatus of claim 1, wherein the matching unit comprises:
a second calculation unit for calculating distances between the determined magnetic field distribution information and each magnetic field distribution information in a magnetic field database established in advance by using a dynamic time warping method;
a sixth determining unit, configured to determine, as the travel direction of the target terminal, a travel direction corresponding to the magnetic field distribution information with the smallest distance in the magnetic field database.
6. An electronic device comprising the apparatus of claim 1.
7. A system for detecting a direction of travel of a target terminal at an intersection, the system comprising:
a magnetic field source preset in a predetermined distance range from the intersection to each path so that the magnetic field distribution in the predetermined distance range from the intersection to each path is different from each other; and
the electronic device of claim 6.
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