CN109031383B - Indoor and outdoor navigation seamless switching method and control system - Google Patents

Indoor and outdoor navigation seamless switching method and control system Download PDF

Info

Publication number
CN109031383B
CN109031383B CN201810813783.3A CN201810813783A CN109031383B CN 109031383 B CN109031383 B CN 109031383B CN 201810813783 A CN201810813783 A CN 201810813783A CN 109031383 B CN109031383 B CN 109031383B
Authority
CN
China
Prior art keywords
scene
indoor
outdoor
change
signal intensity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810813783.3A
Other languages
Chinese (zh)
Other versions
CN109031383A (en
Inventor
向泽君
刘浩
周智勇
陈良超
梁建国
胡开全
张俊前
马红
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Institute Of Surveying And Mapping Science And Technology Chongqing Map Compilation Center
Original Assignee
Chongqing Survey Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Survey Institute filed Critical Chongqing Survey Institute
Priority to CN201810813783.3A priority Critical patent/CN109031383B/en
Publication of CN109031383A publication Critical patent/CN109031383A/en
Application granted granted Critical
Publication of CN109031383B publication Critical patent/CN109031383B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides an indoor and outdoor navigation seamless switching method and a control system, wherein the method comprises the following steps: collecting scene data in real time, and judging whether the scene is suspected to be changed currently; comparing and analyzing the acquired scene data with the scene data at the last moment t0, preliminarily judging whether the scene changes or not, acquiring the scene data at the moment t2, comparing the scene data at the moment t2 with the scene data at the moment t1, determining that the scene changes at the moment, and controlling navigation switching. The seamless switching method for indoor and outdoor navigation is simple, navigation switching is realized by the steps of suspected scene change- > preliminarily judging the scene change at the moment- > determining the scene change at the moment, the time error of indoor and outdoor positioning navigation switching is small, the ping-pong effect which possibly occurs in the indoor and outdoor positioning switching process can be effectively eliminated, seamless smooth transition of indoor and outdoor positioning navigation is realized, and the experience of a user is improved.

Description

Indoor and outdoor navigation seamless switching method and control system
Technical Field
The invention relates to the field of indoor and outdoor seamless navigation, in particular to an indoor and outdoor seamless navigation switching method and a control system.
Background
An outdoor satellite positioning navigation system based on a global navigation satellite system (GNSS for short) is developed rapidly and tends to be mature, in recent years, with the increasing demand of people for indoor positioning navigation, an indoor positioning navigation technology is also developed rapidly in recent years, but the indoor positioning navigation and the outdoor positioning navigation are always in respective independent development states, how to integrate the indoor positioning navigation and the outdoor positioning navigation to realize seamless smooth transition of the indoor and outdoor positioning navigation, namely, the indoor and outdoor navigation seamless switching technology becomes a research hotspot.
With the development of smart phones, sensors such as GNSS satellite navigation, bluetooth technology, wiFi, optical sensors, barometric pressure sensors and the like have become standard configurations of smart phones on the market at present, and meanwhile, public WiFi hotspots are more and more densely deployed, and the sensors provide efficient and reliable technical means for realizing seamless switching of indoor and outdoor navigation through a mobile phone terminal. At present, some researchers analyze and judge the change of indoor and outdoor scenes through a single sensor and realize the switching of indoor and outdoor navigation methods, but the reliability and smooth transition aspects are limited.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an indoor and outdoor navigation seamless switching method and a control system.
In order to achieve the above purpose of the present invention, the present invention provides a seamless switching method for indoor and outdoor navigation, which comprises the following steps:
s1, collecting scene data in real time, judging that the scene data is a suspected scene change situation at present when the scene data exceeds a set scene data threshold, recording the scene data at the moment t1, and executing a step S2, wherein if the scene data is not the suspected scene change situation, the scene is not changed;
s2, comparing and analyzing the collected scene data with the scene data at the last moment T0, calculating a difference value to obtain a first change value, preliminarily judging that the scene is changed at the moment when the first change value exceeds a set change threshold T, and executing the step S3; when the first change value does not exceed the set change threshold, judging that the scene is not changed, and executing the step S1;
s3, acquiring scene data at the time T2, comparing the scene data at the time T2 with the scene data at the time T1, calculating a difference value to obtain a second change value, determining that the scene changes at the time when the change trend of the second change value is consistent with that of the first change value and exceeds a set change threshold T, and executing the step S5; when the second variation value is consistent with the variation trend of the first variation value and the second variation value does not continuously exceed the set variation threshold value T, determining that the scene is suspected to be changed, executing a step S4, when the second variation value is inconsistent with the variation trend of the first variation value, determining that the scene is not changed, and executing a step S1;
s4, acquiring scene data at the next moment t3, comparing and verifying the scene data at the moment t3 and the scene data at the moment t2 according to the method in the step S3, and executing the step S5 until the scene is verified to be changed;
s5, controlling navigation switching: if the indoor map is changed to the outdoor map, the satellite positioning is adopted, and if the outdoor map is changed to the indoor map, the wifi or Bluetooth positioning is adopted.
The seamless switching method for indoor and outdoor navigation is simple, navigation switching is realized by the steps of suspected scene change- > preliminarily judging the scene change at the moment- > determining the scene change at the moment, the time error of indoor and outdoor positioning navigation switching is small, the ping-pong effect which possibly occurs in the indoor and outdoor positioning switching process can be effectively eliminated, seamless smooth transition of indoor and outdoor positioning navigation is realized, and the experience of a user is improved.
Further, the acquired scene data includes at least two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux, and barometric pressure value.
The method collects scene data from five aspects of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value, particularly the collection of the luminous flux and the air pressure value, and can detect small changes of scene characteristics, such as small changes of indoor and outdoor light sources, difference of automobile driving speed and human walking speed, air pressure changes of ground and underground garages, air pressure changes of different floors and the like, so that the method has higher sensitivity.
Further, in step S1, when 2 or more than 2 scene data among GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux, and barometric pressure value exceed a set threshold of corresponding scene data, it is determined that the current scene is a suspected scene change situation, and the scene data at the current time t1 is recorded;
in the step S2, when the first change value of 2 or more than 2 scene data in the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value exceeds a set change threshold value T, the scene change at the moment is preliminarily judged;
in step S3, when a second variation value of 2 or more than 2 scene data among GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux, and barometric pressure value is consistent with a first variation value variation trend and exceeds a set threshold of corresponding scene data, it is determined that the scene at that time is changed, otherwise, it is determined that the scene is a suspected scene change situation.
The scene change condition is judged through 2 or more than 2 scene data, and the accuracy is improved.
Further, in step S2, the method for preliminarily determining whether the scene changes at this time includes:
when in use
Figure BDF0000012358120000041
When the temperature is higher than the set temperature
Figure BDF0000012358120000042
When in use
Figure BDF0000012358120000043
When in use
Figure BDF0000012358120000044
/>
When in use
Figure BDF0000012358120000045
A is a change threshold value set for GNSS satellite positioning navigation signal intensity, B is a change threshold value set for Bluetooth signal intensity, C is a change threshold value set for WiFi signal intensity, D is a change threshold value set for luminous flux, E is a change threshold value set for air pressure value, and A, B, C, D and E are positive real numbers.
Further, when any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be from outdoor to indoor, and other scene parameters do not change from indoor to outdoor or the scene does not change, the scene is preliminarily judged to be from outdoor to indoor;
when any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be from indoor to outdoor, and other scene parameters do not change from outdoor to indoor or the scene does not change, the scene is preliminarily judged to be from indoor to outdoor;
when the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value have 1 item or more than 1 item, the scene is judged to be unchanged, the current judgment conclusion is considered to be in doubt, and new scene data needs to be collected again for judgment.
This improves the accuracy of preliminarily determining whether or not the scene changes, and determines how the scene changes.
Further, in the step S3,
when in use
Figure BDF0000012358120000051
Judging whether the indoor space is outdoor or indoor;
when the temperature is higher than the set temperature
Figure BDF0000012358120000052
Judging whether the outdoor space is indoor or outdoor;
as GNSS satellite navigation signal strength t2 And GNSS satellite navigation signal strength t1 Consistent trend of change and | GNSS satellite navigation signal strength t2 -GNSS satellite navigation signal strength t1 |<When A is detected, the scene change situation is judged to be suspected;
as GNSS satellite navigation signal strength t2 And GNSS satellite navigation signal strength t1 If the variation trends are not consistent, judging that the scene is not changed;
when the temperature is higher than the set temperature
Figure BDF0000012358120000053
Judging whether the outdoor space is indoor or outdoor;
when the temperature is higher than the set temperature
Figure BDF0000012358120000054
When the indoor and outdoor signals are received, judging that the indoor and outdoor signals are received;
when the Bluetooth signal strength t2 And intensity of Bluetooth signal t1 The variation trend is consistent and
i Bluetooth Signal Strength t2 -Bluetooth signal strength t1 |<When A, judging the scene is a suspected scene change situation;
when the Bluetooth signal strength t2 And intensity of Bluetooth signal t1 If the variation trends are not consistent, judging that the scene is not changed;
when in use
Figure BDF0000012358120000061
When the indoor temperature is higher than the preset temperature, judging that the indoor temperature is higher than the preset temperature;
when in use
Figure BDF0000012358120000062
Judging whether the indoor space is outdoor or indoor; />
When WiFi signal strength t2 And WiFi Signal Strength t1 The variation trend is consistent and
i WiFi Signal Strength t2 WiFi Signal Strength t1 |<When A is detected, the scene change situation is judged to be suspected;
when WiFi signal strength t2 And WiFi Signal Strength t1 If the variation trends are consistent, judging that the scene is not changed;
when in use
Figure BDF0000012358120000063
Judging whether the indoor space is outdoor or indoor;
when in use
Figure BDF0000012358120000064
Judging whether the outdoor space is indoor or outdoor;
when the luminous flux is t2 And luminous flux t1 Uniform trend of change and | luminous flux t2 -luminous flux t1 |<When A is detected, the scene change situation is judged to be suspected;
when the luminous flux is t2 And luminous flux t1 If the variation trends are not consistent, judging that the scene is not changed;
when in use
Figure BDF0000012358120000065
Judging whether the indoor space is outdoor or indoor;
when the temperature is higher than the set temperature
Figure BDF0000012358120000066
When the indoor temperature is higher than the preset temperature, judging that the indoor temperature is higher than the preset temperature;
when the air pressure value t2 And air pressure value t1 Luminous flux t1 Consistent trend and | barometric pressure t2 Air pressure value t1 |<When A is detected, the scene change situation is judged to be suspected;
when the air pressure value t2 And air pressure value t1 Luminous flux t1 If the variation trends are not consistent, the scene is judged not to be changed.
Whether the scene changes or not can be known more accurately by analyzing the specific scene data.
Further, when determining whether the scene changes, an α filter function is established, where the α filter function is defined as:
Figure BDF0000012358120000071
where L is a discrete time variable, RSSI is an indication of the strength of the received signal, RSSI (L) is an indication of the strength of the received signal at time L, and T is the time T rssi Is the signal strength threshold, and α (L) is the ratio T of the RSSI measurements recorded at time L rssi A large number of times; when the RSSI (L) of at least three wireless access points exceeds a signal strength threshold T rssi If so, judging that the detection condition is established, and considering that the scene is suspected to change or has changed at the moment, wherein D is a constant, and the signal refers to one of a GNSS satellite positioning navigation signal, a Bluetooth signal, a WiFi signal, a luminous flux and an air pressure value.
Further, when any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be from outdoor to indoor, and other scene parameters do not change from indoor to outdoor or the scene does not change, the scene is judged to be from outdoor to indoor;
when any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be from indoor to outdoor, and other scene parameters do not appear from outdoor to indoor or the scene does not change, the scene is judged to be from indoor to outdoor;
and when 1 or more than 1 item in the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value judges that the scene is not changed, the current judgment conclusion is regarded as suspicious, and the step S4 is executed.
This improves the accuracy of determining whether a scene has changed, and determines how the scene has changed.
The invention also provides an indoor and outdoor navigation seamless switching control system based on the indoor and outdoor navigation seamless switching method, which comprises a scene sensing module, a scene change analysis module, a controller and a positioning method switching module;
the scene sensing module collects scene data, the output end of the scene sensing module is connected to the scene change analysis module, the scene analysis module analyzes the scene data according to the method and sends an analysis result to the controller, the output end of the controller is connected with the positioning method switching module, the controller sends a navigation switching instruction to the positioning method switching module according to the received analysis result, and the positioning method switching module executes the navigation switching instruction.
The control system is simple in structure, the scene sensing module can be realized by adopting a sensor configured by the conventional mobile intelligent terminal, the practicability is high, and indoor and outdoor navigation switching can be quickly and accurately realized according to the change of the scene.
Furthermore, the scene perception module comprises a GNSS satellite navigation signal sensor, a Bluetooth signal sensor, a WiFi signal sensor, a light sensor and an air pressure sensor, or any combination of two or more than two.
The multi-sensor combined detection method has higher accuracy, and compared with a single-sensor detection method, the multi-sensor combined detection method comprehensively judges according to the analysis results of a plurality of sensors, so that the multi-sensor combined detection method has higher accuracy than the single-sensor detection method.
Furthermore, the GNSS satellite navigation signal sensor, the Bluetooth signal sensor, the WiFi signal sensor, the optical sensor and the air pressure sensor are integrated in the mobile intelligent terminal. This improves the practicality of the seamless handover control system of indoor outer navigation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an indoor and outdoor navigation seamless switching method;
FIG. 2 is a functional block diagram of an indoor and outdoor navigation seamless switching control system;
fig. 3 is a positioning handover diagram.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection through an intermediate medium, and those skilled in the art will understand the specific meaning of the terms as they are used in the specific case.
The invention provides a seamless switching method for indoor and outdoor navigation, which comprises the following steps as shown in figure 1:
s1, collecting scene data in real time, judging that the scene data is a suspected scene change situation at present when the scene data exceeds a set scene data threshold, recording the scene data at the moment t1, and executing a step S2, wherein if the scene data is not the suspected scene change situation, the scene is not changed.
S2, comparing and analyzing the acquired scene data with the scene data at the last time T0, calculating a difference value to obtain a first change value, preliminarily judging that the scene is changed at the moment when the first change value exceeds a set change threshold value T, and executing the step S3; and when the first change value does not exceed the set change threshold, judging that the scene is not changed, and executing the step S1.
S3, acquiring scene data at the time T2, comparing the scene data at the time T2 with the scene data at the time T1, calculating a difference value to obtain a second change value, determining that the scene changes at the time when the change trend of the second change value is consistent with that of the first change value and exceeds a set change threshold T, and executing the step S5; when the second variation value is consistent with the variation trend of the first variation value and the second variation value does not continuously exceed the set variation threshold value T, determining that the scene is suspected to be changed, and executing a step S4; and when the change trend of the second change value is inconsistent with that of the first change value, judging that the scene is not changed, and executing the step S1. The trend of the change here is consistent in that both the first change value and the second change value are increased or decreased.
S4, acquiring scene data at the next moment t3, comparing and verifying the scene data at the moment t3 and the scene data at the moment t2 according to the method in the step S3, and executing the step S5 until the scene is verified to be changed;
s5, controlling navigation switching: if the map is from indoor to outdoor, the map is changed into an outdoor map, and satellite positioning is adopted, and if the map is from outdoor to indoor, the map is changed into an indoor map, and wifi or Bluetooth positioning is adopted.
In practical use, the acquired scene data includes at least two scene data of GNSS satellite positioning and navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and barometric pressure value.
In step S1, when 2 or more than 2 scene data among GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux, and barometric pressure value exceed a set threshold corresponding to the scene data, it is determined that the current scene is a suspected scene change situation, and the scene data at the current time t1 is recorded.
In step S2, when the first change value of 2 or more than 2 scene data among the GNSS satellite positioning navigation signal intensity, the bluetooth signal intensity, the WiFi signal intensity, the luminous flux, and the air pressure value exceeds the set change threshold T, it is preliminarily determined that the scene at that time changes.
In step S3, when a second variation value of 2 or more than 2 scene data among GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux, and barometric pressure value is consistent with a first variation value variation trend and exceeds a set threshold of corresponding scene data, it is determined that the scene at that time is changed, otherwise, it is determined that the scene is a suspected scene change situation.
In a preferred embodiment of the present invention, when determining whether a scene changes, an α filter function is established, where the α filter function is defined as:
Figure BDF0000012358120000111
where L is a discrete time variable, RSSI is an indication of the strength of the received signal, RSSI (L) is an indication of the strength of the received signal at time L, and T is the time T rssi Is the signal strength threshold, and α (L) is the ratio T of the RSSI measurements recorded at time L rssi A large number of times; when the RSSI (L) of at least three wireless access points exceeds the signal strength threshold T rssi If the detection condition is satisfied, the scene is considered to be changed or changed, and D is a constant value representing the signal intensity of each signal dropDegree threshold T rssi The following α (L) reduction rate. The determination of the value of D depends on the required accuracy and precision, a higher value of D increases the weight of false alarm, and the selection of the value of D depends on the number of measured RSSI per second n and the speed of user movement s. If n is high and s is low, then a low value of D may be chosen for the calculation. The signal comprises one of a GNSS satellite positioning navigation signal, a Bluetooth signal, a WiFi signal, luminous flux and an air pressure value, and an alpha filter function corresponding to each signal can be calculated by the formula.
In a preferred embodiment of the present invention, how to preliminarily determine whether a scene changes at this time may be the following method:
when in use
Figure BDF0000012358120000112
When in use
Figure BDF0000012358120000113
When in use
Figure BDF0000012358120000114
When in use
Figure BDF0000012358120000121
When in use
Figure BDF0000012358120000122
The method comprises the steps that A is a change threshold set for the GNSS satellite positioning and navigation signal intensity, B is a change threshold set for the Bluetooth signal intensity, C is a change threshold set for the WiFi signal intensity, D is a change threshold set for the luminous flux, E is a change threshold set for the air pressure value, and A, B, C, D and E are all positive real numbers.
When any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be from outdoor to indoor, and other scene parameters do not change from indoor to outdoor or the scene does not change, the scene is preliminarily judged to be from outdoor to indoor.
When any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be that the scene is from indoor to outdoor, and other scene parameters do not have the scene from outdoor to indoor or the scene is not changed, the scene is preliminarily judged to be from indoor to outdoor.
When the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value have 1 item or more than 1 item, the scene is judged to be unchanged, the current judgment conclusion is considered to be in doubt, and new scene data needs to be collected again for judgment.
In order to further ensure the accuracy of judgment, when the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value are judged, the judgment is carried out according to the ranking.
In a preferred embodiment of the present invention, how to determine whether the scene changes at this time can be specifically performed, the following method can be adopted:
when in use
Figure BDF0000012358120000131
Judging whether the indoor space is outdoor or indoor; />
When in use
Figure BDF0000012358120000132
Judging whether the outdoor space is indoor or outdoor;
as GNSS satellite navigation signal strength t2 And GNSS satellite navigation signal strength t1 Consistent trend of change and | GNSS satellite navigation signal strength t2 -GNSS satellite navigation signal strength t1 |<When A is detected, the scene change situation is judged to be suspected;
as GNSS satellite navigation signal strength t2 And GNSS satellite navigation signal strength t1 If the variation trends are not consistent, judging that the scene is not changed;
when in use
Figure BDF0000012358120000133
Judging whether the outdoor space is indoor or outdoor;
when the temperature is higher than the set temperature
Figure BDF0000012358120000134
Judging whether the indoor space is outdoor or indoor;
when the Bluetooth signal strength t2 And intensity of Bluetooth signal t1 The variation trend is consistent and
i Bluetooth Signal Strength t2 -Bluetooth signal strength t1 |<When A is detected, the scene change situation is judged to be suspected;
when the Bluetooth signal strength t2 And intensity of Bluetooth signal t1 If the variation trends are not consistent, judging that the scene is not changed;
when the temperature is higher than the set temperature
Figure BDF0000012358120000135
Judging whether the outdoor space is indoor or outdoor;
when in use
Figure BDF0000012358120000136
When the indoor and outdoor signals are received, judging that the indoor and outdoor signals are received;
when WiFi signal strength t2 And WiFi Signal Strength t1 The variation trend is consistent and
i WiFi Signal Strength t2 WiFi Signal Strength t1 |<When A is detected, the scene change situation is judged to be suspected;
when WiFi signal strength t2 And WiFi Signal Strength t1 If the variation trends are consistent, judging that the scene is not changed;
when the temperature is higher than the set temperature
Figure BDF0000012358120000141
Judging whether the indoor space is outdoor or indoor;
when the temperature is higher than the set temperature
Figure BDF0000012358120000142
Judging whether the outdoor space is indoor or outdoor;
when the luminous flux is t2 And luminous flux t1 Consistent trend and luminous flux t2 Luminous flux t1 |<When A is detected, the scene change situation is judged to be suspected;
when the luminous flux is t2 And luminous flux t1 If the variation trends are not consistent, judging that the scene is not changed;
when the temperature is higher than the set temperature
Figure BDF0000012358120000143
Judging whether the indoor space is outdoor or indoor;
when in use
Figure BDF0000012358120000144
Judging whether the outdoor space is indoor or outdoor;
when the air pressure value t2 And air pressure value t1 Luminous flux t1 Consistent trend and | barometric pressure t2 -air pressure value t1 |<When A is detected, the scene change situation is judged to be suspected;
when the air pressure value t2 And air pressure value t1 Luminous flux t1 If the variation trends are not consistent, the scene is judged not to be changed.
Further, when any two or more scene data of the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value are judged to be from outdoor to indoor, and other scene parameters do not change from indoor to outdoor or the scene does not change, the scene is judged to be from outdoor to indoor.
When any two or more than two scene data of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity, wiFi signal intensity, luminous flux and air pressure value are judged to be from indoor to outdoor, and other scene parameters do not appear from outdoor to indoor or the scene does not change, the scene is judged to be from indoor to outdoor.
And when 1 or more than 1 item in the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value judges that the scene is not changed, the current judgment conclusion is regarded as suspicious, and the step S4 is executed.
The invention also provides an indoor and outdoor navigation seamless switching control system based on the indoor and outdoor navigation seamless switching method, which comprises a scene perception module, a scene change analysis module, a controller and a positioning method switching module as shown in fig. 2.
The scene sensing module collects scene data, the output end of the scene sensing module is connected to the scene change analysis module, the scene analysis module analyzes the scene data according to the method and sends an analysis result to the controller, the output end of the controller is connected with the positioning method switching module, the controller sends a navigation switching instruction to the positioning method switching module according to the received analysis result, and the positioning method switching module executes the navigation switching instruction.
And after receiving the instruction, the positioning method switching module determines whether to switch the positioning method according to the instruction. In this embodiment, the received instructions are divided into two categories, namely "no switching" and "switching", wherein the "switching" category is divided into two sub-categories, namely "outdoor switching to indoor" and "indoor switching to outdoor", and after the positioning method switching module receives a specific instruction, the map navigation APP is scheduled to switch the positioning navigation method.
In this embodiment, the scene sensing module includes two or more than two of a GNSS satellite navigation signal sensor, a bluetooth signal sensor, a WiFi signal sensor, an optical sensor, and an air pressure sensor. The GNSS satellite navigation signal sensor, the Bluetooth signal sensor, the WiFi signal sensor, the optical sensor and the air pressure sensor are integrated in a mobile intelligent terminal (such as a mobile phone).
The positioning switching is realized as shown in fig. 3, wherein a "sensing interface" is a sensing interface of various sensor devices in a sensing environment, and includes GNSS satellite navigation, bluetooth technology, wiFi, optical sensor, barometric sensor, and the like; the positioning algorithm is an abstract class of the positioning algorithm, is a virtual positioning algorithm, and requests a positioning result of a corresponding positioning method mainly by interacting with a server, wherein the existing positioning algorithm is adopted; the filter function realizes a sensor data calculation method based on an alpha filter function; the 'map data' is a tile map requester interface, and realizes an outdoor map request and an indoor map request; the switch is a core switching class, and the indoor and outdoor positioning technology and the switching of the indoor and outdoor maps are realized by calling the positioning algorithm, the map data interface, the filter function and the sensing interface.
The scene perception module sends the collected scene information to the scene change analysis module through the perception interface, the scene change analysis module analyzes the scene data, wherein the scene change analysis module comprises the calculation of the scene change analysis and the calculation of sensor data based on an alpha filter function, the controller determines whether to perform positioning switching according to the calculation result, if the positioning switching is needed, a switch in the positioning method switching module firstly reselects a corresponding positioning algorithm and map data, and then requests a positioning result and a map from the server; if the positioning switching is not needed, the current positioning algorithm and the map data are directly called to request the positioning result and the map.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (9)

1. A seamless switching method for indoor and outdoor navigation is characterized by comprising the following steps:
s1, collecting scene data in real time, wherein the scene data comprises luminous flux and/or air pressure values and one or any combination of GNSS satellite positioning and navigation signal intensity, bluetooth signal intensity and WiFi signal intensity, judging that the scene data is suspected scene change situation at present when the scene data exceeds a set scene data threshold value, recording the scene data at the moment t1, executing a step S2, and if the scene data is not suspected scene change situation, determining that the scene is not changed;
s2, comparing and analyzing the collected scene data with the scene data at the last moment T0, calculating a difference value to obtain a first change value, preliminarily judging that the scene is changed at the moment when the first change value exceeds a set change threshold T, and executing the step S3; when the first change value does not exceed the set change threshold value, judging that the scene is not changed, and executing the step S1;
s3, acquiring scene data at the time T2, comparing the scene data at the time T2 with the scene data at the time T1, calculating a difference value to obtain a second change value, determining that the scene changes at the time when the change trend of the second change value is consistent with that of the first change value and exceeds a set change threshold T, and executing the step S5; when the second variation value is consistent with the variation trend of the first variation value and the second variation value does not continuously exceed the set variation threshold value T, determining that the scene is suspected to be changed, and executing a step S4; when the second change value is inconsistent with the change trend of the first change value, judging that the scene is not changed, and executing the step S1;
s4, acquiring scene data at the next moment t3, comparing and verifying the scene data at the moment t3 and the scene data at the moment t2 according to the method in the step S3, and executing the step S5 until the scene is verified to be changed;
s5, controlling navigation switching: if the map is from indoor to outdoor, the map is changed into an outdoor map, and satellite positioning is adopted, and if the map is from outdoor to indoor, the map is changed into an indoor map, and wifi or Bluetooth positioning is adopted.
2. The indoor and outdoor navigation seamless switching method according to claim 1, wherein in step S1, when the light flux and/or air pressure value and one or any combination of the GNSS satellite positioning navigation signal intensity, the bluetooth signal intensity, and the WiFi signal intensity exceed the set threshold of the corresponding scene data, it is determined that the current scene is a suspected scene change situation, and the scene data at the current time t1 is recorded;
in the step S2, when the luminous flux and/or the air pressure value and a first change value of scene data of one or any combination of GNSS satellite positioning navigation signal intensity, bluetooth signal intensity and WiFi signal intensity exceed a set change threshold T, preliminarily judging that the scene changes at the moment;
in step S3, when the light flux and/or the air pressure value, and the second variation value of the scene data of one or any combination of the GNSS satellite positioning navigation signal intensity, the bluetooth signal intensity, and the WiFi signal intensity are consistent with the first variation value variation trend and exceed the set threshold of the corresponding scene data, it is determined that the scene at this time is changed, otherwise, it is determined that the scene is suspected to be changed.
3. The seamless switching method of indoor and outdoor navigations as claimed in claim 2, wherein in step S2, the method for preliminarily determining whether the scene is changed at this time is as follows:
when the temperature is higher than the set temperature
Figure FDA0004092261090000021
When in use
Figure FDA0004092261090000022
/>
When in use
Figure FDA0004092261090000023
When the temperature is higher than the set temperature
Figure FDA0004092261090000031
When the temperature is higher than the set temperature
Figure FDA0004092261090000032
A is a change threshold value set for GNSS satellite positioning navigation signal intensity, B is a change threshold value set for Bluetooth signal intensity, C is a change threshold value set for WiFi signal intensity, D is a change threshold value set for luminous flux, E is a change threshold value set for air pressure value, and A, B, C, D and E are positive real numbers.
4. The seamless switching method for indoor and outdoor navigation as claimed in claim 3, wherein when the scene data of one or any combination of the luminous flux and/or the air pressure value and the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity and the WiFi signal intensity is determined as the scene from outdoor to indoor, and the other scene parameters do not have the scene from indoor to outdoor or the scene is not changed, the scene is primarily determined as the scene from outdoor to indoor;
when the scene data of one or any combination of the luminous flux and/or the air pressure value and the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity and the WiFi signal intensity are judged to be from indoor to outdoor, and other scene parameters do not change from outdoor to indoor or the scene does not change, the scene is preliminarily judged to be from indoor to outdoor;
when 1 or more than 1 item in the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value judges that the scene is not changed, the current judgment conclusion is deemed to be doubtful, and new scene data needs to be collected again for judgment.
5. The seamless switching method for indoor and outdoor navigation according to claim 3, wherein in step S3,
when in use
Figure FDA0004092261090000041
Judging whether the indoor space is outdoor or indoor;
when the temperature is higher than the set temperature
Figure FDA0004092261090000042
Judging whether the outdoor space is indoor or outdoor;
as GNSS satellite navigation signal strength t2 And GNSS satellite navigation signal strength t1 Consistent trend of change and | GNSS satellite navigation signal strength t2 GNSS satellite navigation signal strength t1 |<When A is detected, the scene change situation is judged to be suspected;
as GNSS satellite navigation signal strength t2 And GNSS satellite navigation signal strength t1 If the variation trends are not consistent, judging that the scene is not changed;
when the temperature is higher than the set temperature
Figure FDA0004092261090000043
Judging whether the outdoor space is indoor or outdoor; />
When in use
Figure FDA0004092261090000044
Judging whether the indoor space is outdoor or indoor;
when the Bluetooth signal strength t2 And intensity of Bluetooth signal t1 The variation trend is consistent and
i Bluetooth Signal Strength t2 -Bluetooth signal strength t1 |<When A, judging the scene is a suspected scene change situation;
when the Bluetooth signal strength t2 And intensity of Bluetooth signal t1 If the variation trends are not consistent, judging that the scene is not changed;
when in use
Figure FDA0004092261090000045
Judging whether the outdoor space is indoor or outdoor;
when in use
Figure FDA0004092261090000046
Judging whether the indoor space is outdoor or indoor;
when WiFi signal strength t2 And WiFi Signal Strength t1 The variation trend is consistent and
i WiFi Signal Strength t2 WiFi Signal Strength t1 |<At time A, the scene change is determined to be a suspected scene change；
When WiFi signal strength t2 And WiFi Signal Strength t1 If the variation trends are consistent, judging that the scene is not changed;
when in use
Figure FDA0004092261090000051
Judging whether the indoor space is outdoor or indoor;
when the temperature is higher than the set temperature
Figure FDA0004092261090000052
Judging whether the outdoor space is indoor or outdoor;
when the luminous flux is t2 And luminous flux t1 Consistent trend and luminous flux t2 Luminous flux t1 |<When A is detected, the scene change situation is judged to be suspected;
when the luminous flux is t2 And luminous flux t1 If the variation trends are not consistent, judging that the scene is not changed;
when in use
Figure FDA0004092261090000053
When the indoor and outdoor signals are received, judging that the indoor and outdoor signals are received;
when in use
Figure FDA0004092261090000054
Judging whether the outdoor space is indoor or outdoor;
when the air pressure value t2 And air pressure value t1 Luminous flux t1 Consistent trend and | barometric pressure t2 Air pressure value t1 |<When A is detected, the scene change situation is judged to be suspected;
when the air pressure value t2 And air pressure value t1 Luminous flux t1 If the variation trends are not consistent, the scene is judged not to be changed.
6. The indoor and outdoor navigation seamless switching method according to any one of claims 2, 3 and 5, wherein when judging whether the scene changes, an α filter function is established, the α filter function being defined as:
Figure FDA0004092261090000055
where L is a discrete time variable, RSSI is an indication of the strength of the received signal, RSSI (L) is an indication of the strength of the received signal at time L, and T is the time T rssi Is the signal strength threshold, and α (L) is the ratio T of the RSSI measurements recorded at time L rssi A large number of times; when the RSSI (L) of at least three wireless access points exceeds a signal strength threshold T rssi If the detection condition is satisfied, the scene is deemed to be suspected to be changed or changed at the moment, D is a constant, and the signal refers to one of a GNSS satellite positioning navigation signal, a Bluetooth signal, a WiFi signal, a luminous flux and an air pressure value.
7. The seamless switching method for indoor and outdoor navigation as claimed in claim 5, wherein when the scene data of one or any combination of the luminous flux and/or the air pressure value and the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity and the WiFi signal intensity is judged to be from outdoor to indoor, and the other scene parameters do not have indoor to outdoor or the scene does not change, the scene is judged to be from outdoor to indoor;
when the scene data of one or any combination of the luminous flux and/or the air pressure value and the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity and the WiFi signal intensity is judged to be from indoor to outdoor, and other scene parameters do not have the condition of from outdoor to indoor or the condition that the scene is not changed, the scene is judged to be from indoor to outdoor;
and when 1 or more than 1 item in the GNSS satellite positioning navigation signal intensity, the Bluetooth signal intensity, the WiFi signal intensity, the luminous flux and the air pressure value judges that the scene is not changed, the current judgment conclusion is regarded as suspicious, and the step S4 is executed.
8. An indoor and outdoor navigation seamless switching control system based on the indoor and outdoor navigation seamless switching method of claim 1, which is characterized by comprising a scene sensing module, a scene change analysis module, a controller and a positioning method switching module;
the scene sensing module collects scene data, the output end of the scene sensing module is connected to the scene change analysis module, the scene change analysis module analyzes the scene data according to the method of the steps S1-S4 in the claim 1 and sends the analysis result to the controller, the output end of the controller is connected with the positioning method switching module, the controller sends a navigation switching instruction to the positioning method switching module according to the received analysis result, and the positioning method switching module executes the navigation switching instruction.
9. The indoor and outdoor navigation seamless switching control system according to claim 8, wherein the scene perception module comprises any combination of two or more than two of a GNSS satellite navigation signal sensor, a bluetooth signal sensor, a WiFi signal sensor, a light sensor, and a barometric pressure sensor;
the GNSS satellite navigation signal sensor, the Bluetooth signal sensor, the WiFi signal sensor, the optical sensor and the air pressure sensor are integrated in the mobile intelligent terminal.
CN201810813783.3A 2018-07-23 2018-07-23 Indoor and outdoor navigation seamless switching method and control system Active CN109031383B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810813783.3A CN109031383B (en) 2018-07-23 2018-07-23 Indoor and outdoor navigation seamless switching method and control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810813783.3A CN109031383B (en) 2018-07-23 2018-07-23 Indoor and outdoor navigation seamless switching method and control system

Publications (2)

Publication Number Publication Date
CN109031383A CN109031383A (en) 2018-12-18
CN109031383B true CN109031383B (en) 2023-04-07

Family

ID=64644305

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810813783.3A Active CN109031383B (en) 2018-07-23 2018-07-23 Indoor and outdoor navigation seamless switching method and control system

Country Status (1)

Country Link
CN (1) CN109031383B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111352142A (en) * 2018-12-24 2020-06-30 沈阳美行科技有限公司 Indoor parking positioning method and device, electronic equipment and medium
CN109699007B (en) * 2018-12-29 2021-01-15 北京航空航天大学苏州创新研究院 Indoor and outdoor seamless gradual change navigation transition method
CN112033424A (en) * 2019-06-03 2020-12-04 上海博泰悦臻网络技术服务有限公司 Method and system for switching working modes of navigation software and electronic equipment
CN112649827A (en) * 2020-11-30 2021-04-13 四川旷谷信息工程有限公司 Seamless switching real-time navigation method and equipment for indoor and outdoor rail transit
CN112651704B (en) * 2020-12-09 2022-03-15 北京博瑞彤芸科技股份有限公司 Positioning-based meeting judgment method and server
CN113534049A (en) * 2021-07-21 2021-10-22 中南大学湘雅医院 Bluetooth bidirectional positioning device and positioning method for medical treatment
CN113534226B (en) * 2021-07-30 2024-04-02 东南大学 Indoor and outdoor seamless positioning algorithm based on smart phone scene recognition
CN114745778B (en) * 2022-02-25 2024-04-23 浙江工业大学 Positioning method for indoor and outdoor seamless switching with low power consumption

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106993319A (en) * 2017-03-20 2017-07-28 吕皓 A kind of algorithm for realizing the switching of GNSS and WIFI systems seamless vertical
CN107024709A (en) * 2017-05-27 2017-08-08 北京国泰星云科技有限公司 A kind of indoor and outdoor seamless positioning system and method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6266254B2 (en) * 2013-07-30 2018-01-24 株式会社日立国際八木ソリューションズ Local wireless system, wireless terminal, local wireless system location switching method, and wireless terminal location switching method
CN105204052B (en) * 2015-09-07 2017-10-24 广东欧珀移动通信有限公司 The station-keeping mode switching method and user terminal of a kind of user terminal
CN105445776A (en) * 2015-12-28 2016-03-30 天津大学 Indoor and outdoor seamless positioning system
CN108107461B (en) * 2016-11-24 2021-08-10 星际空间（天津）科技发展有限公司 Indoor and outdoor positioning seamless switching method based on mobile terminal
CN106908821B (en) * 2017-02-28 2020-10-27 北京交通大学 Indoor and outdoor seamless positioning switching method
CN107422358A (en) * 2017-05-19 2017-12-01 上海斐讯数据通信技术有限公司 A kind of whole scene localization method and system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106993319A (en) * 2017-03-20 2017-07-28 吕皓 A kind of algorithm for realizing the switching of GNSS and WIFI systems seamless vertical
CN107024709A (en) * 2017-05-27 2017-08-08 北京国泰星云科技有限公司 A kind of indoor and outdoor seamless positioning system and method

Also Published As

Publication number Publication date
CN109031383A (en) 2018-12-18

Similar Documents

Publication Publication Date Title
CN109031383B (en) Indoor and outdoor navigation seamless switching method and control system
KR101805039B1 (en) Low power always-on determination of indoor versus outdoor state
CN106908821B (en) Indoor and outdoor seamless positioning switching method
JP5740537B2 (en) Position display control for device position
CN102881171B (en) Vehicle detecting method, vehicle detecting system and vehicle path planning system
CN108931802B (en) Indoor and outdoor scene detection method
CN105025440B (en) Indoor and outdoor scene detection method and equipment
CN109525935A (en) A kind of intelligent floor cognitive method and control system for pervasive indoor environment
CN105142216B (en) Indoor and outdoor based on characteristic signal fingerprint base positions switching method
CN106131376A (en) A kind of indoor and outdoor scene determines method and device
KR20140050639A (en) Context extraction
JP6723530B2 (en) Switching method and portable electronic device
CN109579846A (en) Mixing floor location method based on the identification of floor switching behavior
US20150160015A1 (en) Accurate Mobile Context Detection At Low Sensor Cost
US9851446B2 (en) GNSS receiver and method for determining whether to switch from one operation state to another operation state according to state switching criterion and positioning information
CN108320497A (en) Pedestrian running red light behavioral value method, apparatus and computer readable storage medium
WO2016005788A1 (en) A method and system for an accurate energy-efficient outdoor localization on a mobile device
CN103688139A (en) Method and device for detecting the gait of a pedestrian for a portable terminal
KR101580863B1 (en) Method and system for building position-measuring database by using moving pattern
KR102460360B1 (en) Apparatus and method for estimating location in wirleess communicnation system
CN208460191U (en) A kind of urban traffic accident coverage partition early warning system
KR102638409B1 (en) Indoor and outdoor integrated location recognition method and system utilizing portable complex signal collection device and qr code
TWI569225B (en) A Method of Estimating Traffic Information Based on Multiple Regression Model of Mobile Network Signaling
TWI606250B (en) Indoor positioning system and mobile terminal device
WO2018096024A1 (en) Determining coverage efficiency of an access point in a wireless network

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20240326

Address after: No. 6 Qingzhu East Road, Dazhulin Street, Yubei District, Chongqing, 400000

Patentee after: Chongqing Institute of Surveying and Mapping Science and Technology (Chongqing Map Compilation Center)

Country or region after: Zhong Guo

Address before: 401121 No. 231, diance village, Jiangbei District, Chongqing

Patentee before: CHONGQING SURVEY INSTITUTE

Country or region before: Zhong Guo