CN109239659A - Indoor navigation method, device, computer equipment and storage medium - Google Patents
Indoor navigation method, device, computer equipment and storage medium Download PDFInfo
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- CN109239659A CN109239659A CN201811008385.0A CN201811008385A CN109239659A CN 109239659 A CN109239659 A CN 109239659A CN 201811008385 A CN201811008385 A CN 201811008385A CN 109239659 A CN109239659 A CN 109239659A
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- 238000000034 method Methods 0.000 title claims abstract description 83
- 238000003860 storage Methods 0.000 title claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000007637 random forest analysis Methods 0.000 claims abstract description 21
- 238000003066 decision tree Methods 0.000 claims description 44
- 238000012549 training Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 19
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- 238000013459 approach Methods 0.000 description 13
- 238000012790 confirmation Methods 0.000 description 8
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Classifications
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
-
- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- 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
Abstract
The invention discloses a kind of indoor navigation method, device, computer equipment and storage mediums, wherein the indoor navigation method includes: to obtain follow shot end in the actual measurement WIFI signal cluster of current location；Compare default random forest based on actual measurement WIFI signal cluster, obtain follow shot end in pre-set navigational map corresponding fixed point coordinate as starting point coordinate；Terminal point coordinate is obtained, at least two recommendation navigation routines are generated；Obtain the avoidance detection result that navigation routine is recommended at least two at follow shot end, selection avoidance detection result is free of obstacles and the shortest recommendation navigation routine of distance is target navigation route, and target navigation route is sent to follow shot end, control follow shot end is mobile according to target navigation route.The indoor navigation method positions the current location at follow shot end using WIFI signal, is not limited by hardware detection range, positioning method is simple and fast.
Description
Technical field
The present invention relates to intelligent navigation field more particularly to a kind of indoor navigation method, device, computer equipment and storages
Medium.
Background technique
Path planning is one of the important link of avoidance vehicle navigation research.When avoidance vehicle executes task, it is desirable that avoidance vehicle
In the work environment the moment optimal path from current location to target location can be searched for according to current road conditions.Therefore to keeping away
The current location of barrier vehicle position becoming in path planning and primarily solve the problems, such as.
Existing indoor orientation method include bluetooth positioning, RFID (Radio Frequency Identification, wirelessly
Radio frequency identification) positioning and infrared positioning etc., and bluetooth positioning system stability is bad, RFID positioning does not have ability to communicate, and
And infrared positioning when encountering barrier penetrability it is bad.How to ensure the stability of avoidance vehicle indoor positioning and communicates energy in time
Power obtains the problem of optimal travel route becomes urgent need to resolve according to road conditions in real time to improve avoidance vehicle.
Summary of the invention
The embodiment of the present invention provides a kind of indoor navigation method, device, computer equipment and storage medium, to solve avoidance
The problem of vehicle obtains optimal travel route according to road conditions in real time.
A kind of indoor navigation method, comprising:
Obtain WIFI signal intensity of the follow shot end between current location and at least three specified hotspot；
Based on WIFI signal intensity, follow shot end is obtained in the actual measurement WIFI signal cluster of current location；
Default random forest is compared based on actual measurement WIFI signal cluster, it is corresponding in pre-set navigational map to obtain follow shot end
Fixed point coordinate as starting point coordinate；
Terminal point coordinate is obtained, at least two recommendation navigation routines are generated according to starting point coordinate and terminal point coordinate；
The avoidance detection result that navigation routine is recommended at least two at follow shot end is obtained, choosing avoidance detection result is
Free of obstacles and the shortest recommendation navigation routine of distance are target navigation route, and target navigation route is sent to mobile bat
End is taken the photograph, control follow shot end is mobile according to target navigation route.
A kind of indoor navigation device, comprising:
Obtain signal strength module, for obtain follow shot end current location and at least three specified hotspot it
Between WIFI signal intensity；
WIFI signal cluster module is obtained, for being based on WIFI signal intensity, obtains follow shot end in the reality of current location
Survey WIFI signal cluster；
Starting point coordinate module is obtained, for comparing default random forest based on actual measurement WIFI signal cluster, obtains follow shot
End in pre-set navigational map corresponding fixed point coordinate as starting point coordinate；
Terminal point coordinate module is obtained, for obtaining terminal point coordinate, generates at least two according to starting point coordinate and terminal point coordinate
Recommend navigation routine；
Navigation routine module is obtained, for obtaining follow shot end at least two are recommended with the avoidance detection knot of navigation routine
Fruit, choosing avoidance detection result is free of obstacles and the shortest recommendation navigation routine of distance is target navigation route, and by mesh
Mark navigation routine is sent to follow shot end, and control follow shot end is mobile according to target navigation route.
A kind of computer equipment, including memory, processor and storage can be run in memory and on a processor
Computer program, the step of realizing above-mentioned indoor navigation method when processor executes computer program.
A kind of computer readable storage medium, computer-readable recording medium storage have computer program, computer program
The step of above-mentioned indoor navigation method is realized when being executed by processor.
Above-mentioned indoor navigation method, device, computer equipment and storage medium are obtained by follow shot end in current location
The actual measurement WIFI signal cluster between at least three specified hotspot taken is compared with default random forest, is moved with obtaining
Corresponding fixed point coordinate is as starting point coordinate in pre-set navigational map at dynamic shooting end, the method positioned using WIFI signal
The current location at follow shot end is positioned, is not limited by hardware detection range, positioning method is simple and fast.Meanwhile
The indoor navigation method, device, computer equipment and storage medium can be sat according to the corresponding starting point coordinate in current location and terminal
Mark is cooked up can be with the target navigation route of avoidance, so that follow shot is short based on target navigation route movement, Ke Yishi
When according to road conditions adjust target navigation route, influence its navigation procedure by hardware detection range equally, navigation mode spirit
It is living reliable.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the application environment schematic diagram of indoor navigation method in one embodiment of the invention；
Fig. 2 is the flow chart of indoor navigation method in one embodiment of the invention；
Fig. 3 is the WIFI signal for pinpointing coordinate (0,0) in one embodiment of the invention and obtaining three specified hotspot respectively
Schematic diagram；
Fig. 4 is that starting point coordinate is illustrated to the two target recommended routes generated between terminal point coordinate in one embodiment of the invention
Figure；
Fig. 5 is another flow chart of indoor navigation method in one embodiment of the invention；
Fig. 6 is another flow chart of indoor navigation method in one embodiment of the invention；
Fig. 7 is another flow chart of indoor navigation method in one embodiment of the invention；
Fig. 8 is another flow chart of indoor navigation method in one embodiment of the invention；
Fig. 9 is another flow chart of indoor navigation method in one embodiment of the invention；
Figure 10 is the neighboring pixel schematic diagram in one embodiment of the invention around candidate point；
It using characteristic point is four points in the circle in the center of circle to schematic diagram that Figure 11, which is in one embodiment of the invention,；
Figure 12 is the schematic diagram of indoor navigation device in one embodiment of the invention；
Figure 13 is the schematic diagram of computer equipment in one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Indoor navigation method provided in an embodiment of the present invention can be applicable in the application environment such as Fig. 1, the indoor navigation side
Indoors in navigation system, which includes client and server for method application, wherein client by network with
Server is communicated.Wherein, client is also known as user terminal, refers to corresponding with server, provides local service for client
Program.The client it is mountable but be not limited to various personal computers, laptop, smart phone, tablet computer and
In the computer equipments such as portable wearable device.Server can use the either multiple server compositions of independent server
Server cluster is realized.
In one embodiment, as shown in Fig. 2, providing a kind of indoor navigation method, the service in Fig. 1 is applied in this way
It is illustrated, includes the following steps: for device
S10. WIFI signal intensity of the follow shot end between current location and at least three specified hotspot is obtained.
Wherein, hotspot (WirelessAccessPoint, hereinafter referred to as AP) refers to and provides in public places wirelessly
The terminal of local area network (WLAN) access Internet service.Follow shot end is the mobile terminal for carrying hotspot in itself, the shifting
It moved end can be with transmitting/receiving wireless information between the hotspot that is arranged in ambient enviroment.
The present embodiment using WIFI signal intensity carry out position positioning thought be exactly according to follow shot end indoors
Different location, with interior, there are different signal strengths between unused hotspot, are collected according to different radio hot spot
Signal strength and hotspot layout indoors, determine the position of follow shot end indoors.It is to be appreciated that chamber interior
The hotspot of administration is more, and server is more by the WIFI signal intensity record that follow shot end obtains, then server is to shifting
The positioning of dynamic shooting end position is also more accurate.It proves after tested, five or six hotspot of indoor deployment can be to follow shot
The positioning at end is more accurate.The general indoor environment for carrying out position positioning by WIFI signal intensity needs every 3 meters to be arranged one
AP, and at least there are three AP for interior.By interior there are three for specified AP, just there are three groups of WIFI letters in mobile terminal in current location
Number, this three groups of WIFI signals constitute the actual measurement WIFI signal cluster of current location.For ease of description, the present embodiment can portion indoors
Three hotspot are affixed one's name to, the position where follow shot end is positioned to server.
Each AP carries the unique equipment factory serial number namely MAC (Medium of manufacturer's perfusion when leaving the factory
Access Control) address, to distinguish different AP.It, can be using the MAC Address of every AP as specified nothing in the present embodiment
The distinguishing identifier of line hot spot.
WIFI signal intensity (also referred to as wireless reception of signals intensity, Received Signal Strength Indicator,
Hereinafter referred to as RSSI) in a cdma network, the range of RSSI is between -110dbm to -20dbm.In general, if RSSI <-
95dbm illustrates that the covering of current network signal is very poor, does not almost have signal；- 95dmb < RSSI < -90dbm illustrates current network signal
It covers very weak；RSSI > -90dbm illustrates that the covering of current network signal is preferable.So typically using -90dbm as critical point,
Just slightly to judge that current network covering is horizontal.
Specifically, the present embodiment using " location fingerprint " mode where indoor each default fixed point fixed point coordinate and
" location fingerprint " RSSI is associated, and each fixed point coordinate pair answers a unique fingerprint.This fingerprint can be one-dimensional (one
The RSSI of AP) or multidimensional (RSSI of multiple AP).The present embodiment at least disposes two AP, therefore each fixed point coordinate indoors
Corresponding " fingerprint " is multidimensional.
In step S10, server is by follow shot end WIFI corresponding with the specified hotspot in interior at least three
Signal strength is recorded, and is conducive to subsequent server and is based on above-mentioned WIFI signal intensity contrast " location fingerprint " confirmation follow shot
Fixed point coordinate where holding.
S20. it is based on WIFI signal intensity, obtains follow shot end in the actual measurement WIFI signal cluster of current location.
Wherein, actual measurement WIFI signal cluster is that follow shot end corresponds to indoor each hotspot in current location and all exists
Follow shot end is recorded in all signal strengths that current location obtains, be can be obtained by one signal strength, server
Actual measurement WIFI signal cluster of the follow shot end in current location.
It specifically, can when measuring WIFI signal intensity between the server test relatively each hotspot in follow shot end
The sample average for the WIFI signal intensity for repeatedly calculating all measurements after measurement is recorded, strong with more accurate ground tracer signal
Degree.Wherein, the sample average of the signal strength of each hotspot can be realized by following formula:
1/n*∑x(i)
Wherein, x (i) be follow shot end to specified hotspot by specified times of collection measuring signal intensity when it is every
Secondary to measure obtained signal strength indication, n is specified times of collection.
The realization process for illustrating actual measurement WIFI signal cluster is as follows, as shown in Figure 3:
1. signal acquisition terminal successively in the corresponding fixed point coordinate (0,0) of default fixed point, (may be configured as by default times of collection
10 times) it obtains and the standard signal intensity between each specified hotspot MAC1, MAC2 and MAC3 and records:
Measured signal intensity between the fixed point coordinate (0,0) collected and MAC1 is successively are as follows:
X1, X2, X3, X4 ... X9 and X10 brings X1 to X10 into formula 1/n* ∑ x (i), wherein x (i)=X1,
X2, X3, X4 ... X10 }, n=10, obtain fixed point coordinate (0,0) and MAC1 between measured signal intensity sample average
For X.
The sample average that can must similarly pinpoint the measured signal intensity between coordinate (0,0) and MAC2 is Y, pinpoints coordinate
(0,0) sample average of the measured signal intensity between MAC3 is Z.
2. the sample average of the measured signal intensity between combination fixed point coordinate (0,0) and each specified hotspot, shape
It is (X, Y, Z) at coordinate (0,0) is pinpointed in the corresponding actual measurement WIFI signal cluster in current location.
In the present embodiment, server is by obtaining signal acquisition terminal in the actual measurement of each fixed point coordinate by default times of collection
WIFI signal cluster, to the subsequent indoor location preparation techniques basis for comparing acquisition place with training WIFI signal cluster.
S30. default random forest is compared based on actual measurement WIFI signal cluster, obtains follow shot end in pre-set navigational map
Corresponding fixed point coordinate is as starting point coordinate.
Wherein, random forest is the classifier comprising multiple decision trees, and classification of its output is by setting individually
Depending on the mode of the classification of output.In the present embodiment, each fixed point coordinate corresponds to a decision tree, which determined by this
The training WIFI signal cluster that the signal strength mean value (" location fingerprint ") of point coordinate and each specified AP are constituted.
Pre-set navigational map is preset in server, pinpoints with coordinate system with default to what indoor area of feasible solutions was established
The grid map of (namely grid intersection point).Wherein, each default fixed point (namely grid intersection point) corresponds to one in a coordinate system and determines
Point coordinate.
In step S30, the actual measurement WIFI signal cluster comparison that server can be obtained based on follow shot end in current location is pre-
If " location fingerprint " of every tree record, calculates the Europe between actual measurement WIFI signal cluster and each " location fingerprint " in random forest
Formula distance sets the smallest fixed point coordinate of Euclidean distance difference to the starting point coordinate at follow shot end.The mode of above-mentioned positioning
Without installing additional positioning device, server is by the signal strength between follow shot end and each specified hotspot
Starting point coordinate can be obtained, saves positioning cost, and positioning method is reliable and stable.
S40. terminal point coordinate is obtained, at least two recommendation navigation routines are generated according to starting point coordinate and terminal point coordinate.
Wherein, terminal point coordinate is the seat for being used to determine the terminal for wishing that follow shot end eventually arrives at that server receives
Mark, that is, wish follow shot end on pre-set navigational map along specified default fixed point move after the terminal that reaches.Recommend navigation
Route is set out the route of coordinate of reaching home along each movable direction of pre- starting point coordinate, wherein in all routes at least
Including the shortest route of a paths, as shown in Figure 4.
In step S40, server can calculate starting point coordinate and terminal point coordinate input A star algorithm, can obtain movement
Shoot at least two recommendation navigation routines of the end on each movable direction.Wherein, A star algorithm is popular heuristic
One of searching algorithm is widely used in path optimization field.The unique distinction of A star algorithm is to check each may be used in shortest path
Can default fixed point when introduce global information in pre-set navigational map, to the distance of current starting point coordinate from home coordinate
Estimation is made, and as the measurement for evaluating a possibility that default fixed point is on minimal path.
S50. the avoidance detection result for follow shot end at least two being recommended with navigation routine is obtained, avoidance detection knot is chosen
Fruit is free of obstacles and the shortest recommendation navigation routine of distance is target navigation route, and target navigation route is sent to shifting
Dynamic shooting end, control follow shot end are mobile according to target navigation route.
Wherein, target navigation route is that the adjacent fixed point in navigation routine on starting point coordinate to movable direction is recommended to sit
Clear exists between mark, and the shortest route in path between starting point coordinate to terminal point coordinate.
In the present embodiment, barrier is detected using the infrared detector installed on follow shot end, because detection range limits
Between fixed point coordinate for the adjacent fixed point on current starting point coordinate and next movable direction, namely work as infrared detector not
Barrier is detected, illustrates that barrier is not present between the adjacent fixed point coordinate on starting point coordinate and next movable direction,
According to target navigation routine continues to be moved to next fixed point coordinate from starting point coordinate at controllable follow shot end.
In step S50, server can be detected by the infrared detector being mounted on follow shot end starting point coordinate and
Whether there are obstacles between next fixed point coordinate on movable direction, and barrier is not present in selection, and from starting point coordinate
To the shortest recommendation navigation routine of the distance between terminal point coordinate as target navigation route, to guide follow shot end to be moved to
Terminal point coordinate.The step influences follow shot end by barrier in moving process, smoothly mobile from starting point coordinate
Indoor moving task is completed to terminal point coordinate.
In the indoor navigation method that step S10 to S50 is provided, what server was obtained by follow shot end in current location
Actual measurement WIFI signal cluster between at least three specified hotspot is compared with default random forest, to obtain mobile clap
Taking the photograph end, corresponding fixed point coordinate is as starting point coordinate in pre-set navigational map, using the method that WIFI signal is positioned to shifting
The current location at dynamic shooting end is positioned, and is not limited by hardware detection range, positioning method is simple and fast.Meanwhile the room
Interior air navigation aid can be cooked up according to the corresponding starting point coordinate in current location and terminal point coordinate can with the target navigation route of avoidance,
So that follow shot is short mobile based on the target navigation route, target navigation route can be adjusted according to road conditions in real time, make it
Navigation procedure is not influenced equally by hardware detection range, mode flexibility and reliability of navigating.
In one embodiment, pre-set navigational map includes at least three default fixed points, each corresponding fixed point of default fixed point
Coordinate, as shown in figure 5, comparing default random forest before step S30 based on actual measurement WIFI signal cluster, obtaining movement
Before shooting the step of corresponding fixed point coordinate is as starting point coordinate in pre-set navigational map at end, which is also wrapped
Include following steps:
S301. in each default fixed point, by default times of collection obtain signal acquisition terminal and each specified hotspot it
Between WIFI signal intensity formed training WIFI signal cluster.
Wherein, training WIFI signal cluster is when obtaining the training stage of standard signal intensity, and follow shot end is every certain
The multidimensional standard signal cluster that the WIFI signal intensity between each specified hotspot that point coordinate obtains after tested is formed.
Specifically, it between follow shot end and each hotspot when measurement standard signal strength, is counted after can repeatedly measuring
The sample average for calculating the signal strength of all measurements is recorded, with more accurate ground record standard signal strength.Wherein, each
The sample average of the standard signal intensity of hotspot can be realized by following formula:
1/n*∑x(i)
Wherein, x (i) be follow shot end to specified hotspot by specified times of collection measurement standard signal strength
When the standard signal intensity value that measures every time, n is specified times of collection.
The realization process for illustrating training WIFI signal cluster is as follows, as shown in Figure 3:
1. signal acquisition terminal successively in the corresponding fixed point coordinate (0,0) of default fixed point, (may be configured as by default times of collection
10 times) it obtains and the standard signal intensity between each specified hotspot MAC1, MAC2 and MAC3 and records:
Standard signal intensity between the fixed point coordinate (0,0) collected and MAC1 is successively are as follows:
A1, A2, A3, A4 ... A9 and A10 brings A1 to A10 into formula 1/n* ∑ x (i), wherein x (i)=A1,
A2, A3, A4 ... A10 }, n=10, obtain fixed point coordinate (0,0) and MAC1 between standard signal intensity sample average
For A.
The sample average that can must similarly pinpoint the standard signal intensity between coordinate (0,0) and MAC2 is B, pinpoints coordinate
(0,0) sample average of the standard signal intensity between MAC3 is C.
2. the sample average of the standard signal intensity between combination fixed point coordinate (0,0) and each specified hotspot, shape
It is (A, B, C) at coordinate (0,0) is pinpointed in the corresponding trained WIFI signal cluster in current location.
In the present embodiment, server is by obtaining signal acquisition terminal in the training of each fixed point coordinate by default times of collection
WIFI signal cluster sends actual measurement WIFI signal cluster in different fixed point coordinates for subsequent client and carries out pair with WIFI signal cluster is trained
Than preparation techniques basis.
S302. believe to each default corresponding fixed point coordinate of fixed point associated storage and trained WIFI corresponding with fixed point coordinate
Number cluster, to form the corresponding decision tree of fixed point coordinate.
Wherein, decision tree is the every a kind of cluster for constituting default random forest, and each decision tree all corresponds to a fixed point coordinate
With trained WIFI signal cluster corresponding with fixed point coordinate.
In step S302, server closes each fixed point coordinate and trained WIFI signal cluster corresponding with fixed point coordinate
Connection storage, forms the decision tree of the fixed point coordinate, is conducive to subsequent server and is based on training WIFI signal that can carry out client
Position positioning, it is simple and fast.
Step S301 is into S302, and server is by obtaining signal acquisition terminal in each fixed point coordinate by default times of collection
Training WIFI signal cluster, be subsequent client different fixed point coordinates send actual measurement WIFI signal cluster with train WIFI signal cluster
Compare preparation techniques basis.Server carries out each fixed point coordinate and trained WIFI signal cluster corresponding with fixed point coordinate
Associated storage forms the decision tree of the fixed point coordinate, and position can be carried out to client by being conducive to subsequent server based on decision tree
Positioning, it is simple and fast.
In one embodiment, as shown in fig. 6, in step S30, i.e., default random gloomy based on actual measurement WIFI signal cluster comparison
Woods obtains follow shot end corresponding fixed point coordinate in pre-set navigational map and specifically comprises the following steps: as starting point coordinate
S31. calculate actual measurement WIFI signal cluster and default random forest in each decision tree Euclidean distance, obtain it is European away from
From shortest objective decision tree.
Wherein, Euclidean distance is originated from two o'clock x1, the distance between x2 formula in N-dimensional Euclidean space:
Wherein, i is the quantity of hotspot, X1iActual measurement for follow shot end in current location and i-th hotspot
WIFI signal intensity, X2iTraining WIFI signal intensity for follow shot end in current location and i-th hotspot.
Objective decision tree is associated trained WIFI signal cluster and actual measurement WIFI letter in the decision tree preset in random forest
Number nearest decision tree of cluster Euclidean distance.
Illustrate the realization for calculating the Euclidean distance of each decision tree in actual measurement WIFI signal cluster and default random forest
Process:
Actual measurement WIFI signal cluster of the follow shot end in current location is (X11,X12,X13), by the actual measurement WIFI signal cluster
It is compared with the training WIFI signal cluster of each decision tree, wherein the corresponding trained WIFI signal cluster of fixed point coordinate (0,0) is
(X21,X22,X23)。
WIFI signal cluster (X will be surveyed11,X12,X13) and training WIFI signal cluster (X21,X22,X23) bring formula intoEuclidean distance d1 can be obtained.
The Euclidean distance d2...dx of the actual measurement WIFI signal cluster Yu other each decision trees can similarly be obtained.Wherein d1 is
The smallest numerical value in all Euclidean distances, namely can determine that, the corresponding trained WIFI signal cluster (X of d121,X22,X23) determine for target
Plan tree.
In step S31, server finds and surveys the immediate objective decision tree of WIFI signal cluster, is based on being somebody's turn to do conducive to subsequent
Current location where objective decision tree corresponding fixed point coordinate confirmation follow shot end.
S32. the objective decision tree starting point of corresponding fixed point coordinate as follow shot end in pre-set navigational map is obtained
Coordinate.
Wherein, starting point coordinate is the corresponding fixed point coordinate of follow shot end present position.In the present embodiment, server
Also navigation routine, therefore the fixed point where follow shot end are drawn to follow shot end gauage based on the position where follow shot end
Coordinate is alternatively referred to as starting point coordinate.
In step S32, server is based only upon the objective decision tree that step S31 is obtained, obtains without installing other detection hardware
Taking the objective decision tree, corresponding fixed point coordinate can confirm that follow shot end is currently located as starting point coordinate in the database
Positioning cost is saved in position, and positioning method is reliable and stable is not influenced by environmental change.
Into S32, server finds and surveys WIFI signal cluster immediate objective decision tree step S31, is conducive to subsequent
Based on the current location where the objective decision tree corresponding fixed point coordinate confirmation follow shot end.Server is other without installing
Hardware is detected, the objective decision tree that step S31 is obtained is based only upon, obtaining the objective decision tree, corresponding fixed point is sat in the database
It is denoted as to confirm follow shot end present position, saving positioning cost, and positioning method is reliable and stable for starting point coordinate
It is not influenced by environmental change.
In one embodiment, as shown in fig. 7, in step S40, that is, terminal point coordinate is obtained, is sat according to starting point coordinate and terminal
Mark generates at least two recommendation navigation routines, specifically comprises the following steps:
S41. starting point coordinate and terminal point coordinate are determined on default fixed point navigation map.
Wherein, terminal point coordinate be follow shot end on pre-set navigational map along specified default fixed point move after reach
Terminal.
In step S41, starting point coordinate and terminal point coordinate can be identified on pre-set navigational map respectively for server, benefit
Intuitively know what the position that follow shot end is currently located and this movement will reach in the Background control personnel of server
Terminal point coordinate.
S42. at least two recommendation navigation routines are obtained on default fixed point navigation map using A star algorithm.
Wherein, recommending navigation routine is the road of coordinate of reaching home of setting out along each movable direction of pre- starting point coordinate
Line includes at least the shortest route of a paths in all optimal routes, as shown in Figure 4.
Specifically, it is obtained on a movable direction on default fixed point navigation map using A star algorithm and recommends navigation
The realization process of route is as follows:
F=G+H is set, wherein F is shortest path, and G=is moved to the shifting for the default fixed point being currently located from starting point coordinate
Dynamic path；
H=is moved to the estimation path of terminal point coordinate from the default fixed point being currently located.
1. a starting point coordinate addition can walk, (each node is each presetting on pre-set navigational map to node listing
Point).
2. repeating following process:
A. the node listing that can walk is traversed, the smallest node of F value is searched, using the node found as current to be processed
Default fixed point.
B. default fixed point is moved on to can not row-column list.
C. each node of four neighbors of fixed point is preset in analysis:
If neighbors is not accessible or can not ignore in row-column list.Otherwise, it is done as follows:
If the node listing that can walk is added not in the node listing that can walk, neighbors in neighbors, and current
Node is set as father node, records F, G and the H value of the node.
If neighbors in the node listing that can walk, checks the path (reaching neighbors via present node)
Whether G value is smaller.If it is, it is present node that its father node, which is arranged, and recalculate G the and F value of present node.
D. it when being added to terminal point coordinate in the node listing that can walk, then completes to search optimal guidance path at this time.
3. each node is moved along father node until starting point coordinate, exactly recommends navigation routine since terminal point coordinate.
In step S42, server can be used A star algorithm and obtain on each movable direction on default fixed point navigation map
Recommendation navigation routine, be conducive to subsequent movement shooting end can according to road conditions (for example there are barriers in road) in real time replacement or
Adjust route, the mobile flexibility in enhancing follow shot end.
Into S42, server can identify starting point coordinate and terminal point coordinate step S41 on pre-set navigational map respectively
Come, intuitively knows that the position that follow shot end is currently located will be arrived with this movement conducive to the Background control personnel of server
The terminal point coordinate reached.Server obtains the recommendation on each movable direction using A star algorithm on default fixed point navigation map
Navigation routine, route can be replaced or adjust in real time according to road conditions by being conducive to subsequent movement shooting end, and enhancing follow shot end is mobile
Flexibility.
In one embodiment, target navigation route includes at least one by way of fixed point, as shown in figure 8, in step S50, i.e.,
It is mobile according to target navigation route to control follow shot end, specifically comprises the following steps:
S51. control follow shot end is moved to according to target navigation route from starting point coordinate next by way of fixed point.
Wherein, target navigation route is that the adjacent fixed point in navigation routine on starting point coordinate to movable direction is recommended to sit
Clear exists between mark, and the shortest route in path between starting point coordinate to terminal point coordinate.
Approach fixed point is the next default fixed point of follow shot end according to target navigation routine being directed to move to.
In step S51, target navigation route is sent to follow shot end, follow shot end by wireless network by server
After receiving the target navigation route, next approach can be moved to from current location according to the guide of the target navigation route and determined
Point improves safety and reliability of the follow shot end in moving process.
S52. by follow shot end be moved to it is next by way of fixed point be updated to new starting point coordinate, if new starting point coordinate
It is not terminal point coordinate, then repeats acquisition terminal point coordinate, at least two recommendations is generated according to starting point coordinate and terminal point coordinate and are led
The step of air route line.
Specifically, because the range that barrier is detected at follow shot end every time is the distance between two default fixed points, work as shifting
When according to target navigation routine is moved to next approach fixed point at dynamic shooting end, it is also necessary to continue to determine the safety of road, Ye Jixu
Next approach fixed point is updated to starting point coordinate, should determine whether deposit between starting point coordinate and next approach coordinate again at this time
In barrier.
It is to be appreciated that follow shot end can press mesh when barrier is not present between starting point coordinate and next approach fixed point
Mark navigation routine continues to move to；When there are when barrier between starting point coordinate and next approach fixed point, it is necessary to which server is to weight
New object of planning navigation routine, namely acquisition terminal point coordinate is repeated, at least two are generated according to starting point coordinate and terminal point coordinate
Item recommends the step of navigation routine.The step of specifically repeating is consistent with step S50 to S60, and details are not described herein again.
In step S52, follow shot end is often moved to next approach fixed point, and do not reach home also coordinate when, will
Whether there are obstacles between detection current location and next approach fixed point, improves in moving process and is adjusted in real time according to road conditions
The flexibility of target navigation route and mobile security can ensure that follow shot end is smoothly reached home the position of coordinate.
Step S51 is into step S52, and server is by controlling follow shot end foundation target navigation route from current location
It is moved to next default fixed point, improves safety and reliability of the follow shot end in moving process.The every shifting in follow shot end
Move next approach fixed point, and do not reach home also coordinate when, will detect between current location and next approach fixed point is
It is no there are barrier, improve in moving process and to adjust flexibility and the mobile security of target navigation route according to road conditions in real time
Property can ensure that follow shot end is smoothly reached home the position of coordinate.
In one embodiment, as shown in figure 9, after the step s 40, that is, obtaining follow shot end at least two recommendations
After the step of avoidance detection result of navigation routine, which further includes following steps:
S401. make infeasible between starting point coordinate and adjacent default fixed point in the direction of advance of target navigation route
Number adds 1, if infeasible number is greater than first threshold, it is corresponding in the direction of advance of target navigation route to obtain starting point coordinate
All history pinpoint image.
Specifically, in the present embodiment, server is in order in time according to indoor road condition updating map, controllable follow shot end
It is when being often moved to certain default fixed point by template navigation routine and encountering barrier, the corresponding ground image of the default fixed point is (current
Fixed point image) it is filmed history of forming fixed point image, so that whether subsequent judgement barrier is permanently present current route.
If the corresponding history fixed point image of the default fixed point meets decision condition and can determine that the barrier is permanently present, server can should
Current route is set as infeasible route.
Wherein, infeasible number is the corresponding history of step-length route infeasible time formed between the default fixed point of every two
Number.Whenever server determines that the step-length route between default fixed point and next default fixed point, all can be in data there are when barrier
Do in library to step-length route between the adjacent next default fixed point of the default fixed point and the default fixed point plus 1 record, so as to
The step-length route whether permanent infeasible (namely the default fixed point and the default fixed point are determined based on the infeasible number in subsequent
Whether barrier is permanently present between adjacent next default fixed point).
First threshold is that infeasible number reaches the whether permanent infeasible minimum number of judgement step-length route.For example, the
One threshold value is 10, presets corresponding infeasible number between the adjacent next default fixed point of fixed point when default fixed point and with this and reaches
When 10, server can analyze the step-length route between the two default fixed points, determine the mobility of the step-length route.
History fixed point image is that there are barriers whenever determining the step-length route between default fixed point and next default fixed point
When, server can be remained to the current fixed-point image based on the default fixed point shooting in database by direction, in order to subsequent
The corresponding all history fixed point images of the default fixed point are filtered out based on different directions to be analyzed.Wherein, current fixed-point image
Follow shot end according to can direction of advance shooting the surface map including the default fixed point and next default fixed point that are currently located
Picture.It is saved in database after each current fixed-point image taking, that is, forms the corresponding default fixed point of the current fixed-point image
History pinpoints image.
In step S401, when server determines that the corresponding infeasible number of step-length route between adjacent default fixed point is greater than
First threshold illustrates that server should carry out mobility analysis to the step-length route, to confirm barrier present on the step-length route
Hinder whether object is to be permanently present.
S402. it is corresponding any two history fixed point image in all history fixed point images to be calculated using feature extraction algorithm
Image similarity.
Wherein, image similarity is that corresponding all history fixed points image any two of default fixed point are calculated by feature extraction
The similarity obtained after method comparison.
Specifically, using feature extraction algorithm can obtain corresponding first characteristics of image of any two history fixed point image and
Second characteristics of image.
Further, any two history in all history fixed point images is calculated using feature extraction algorithm and pinpoints image pair
The process for the image similarity answered is as follows:
1. extracting the fisrt feature point in any one history fixed point image respectively.
The fisrt feature point for extracting history fixed point image includes: that history is pinpointed more significant point on image, such as profile
The dim spot etc. in bright spot and brighter areas in point, darker area is set as candidate point, detects to specify around candidate point and chooses half
Pixel value on the circle of diameter, if there is the gray value difference of enough pixel and the candidate point around candidate point in field
It is enough big, then it is assumed that the candidate point is fisrt feature point.
In order to obtain faster as a result, following detection accelerated methods also can be used: every an angle of 90 degrees around test candidate point
4 points, it should the gray value differences of at least 3 and candidate point are sufficiently large, otherwise do not have to calculate other points again, directly think this
Candidate point is not characteristic point.The selection radius of circle around candidate point is an important parameter, be may specify to be simple and efficient
Detection radius is 3, then there are 16 neighboring pixels and need to compare, as shown in Figure 10.In order to improve the efficiency compared, usually only make
It is compared i.e. FAST-N with N number of neighboring pixel, generally recommendation FAST-9.
The second feature point for extracting another history fixed point image is consistent with the process of fisrt feature point is extracted, no longer superfluous herein
It states.
2. calculating separately and saving feature point description of each history fixed point image.
Feature point description for calculating history fixed point image includes: to need after obtaining the characteristic point of history fixed point image with certain
Kind mode describes the attribute of this feature point.The attribute output of characteristic point is exactly the description (Feature of this feature point
DescritorS).ORB algorithm obtain characteristic point attribute process include:
(1) using characteristic point P as the center of circle, round O is by radius of d.
(2) N number of point pair is chosen in circle O.For convenience of explanation, optional N=4 in the present embodiment, it is as shown in figure 11, practical
N can take 512 in.
By currently choose 4 points to being respectively labeled as shown above:
P1(A,B)、P2(A,B)、P3(A, B) and P4(A,B)。
(3) T operation is defined
Wherein, IAIndicate the gray scale of point A, IBIndicate the gray scale of point B.
(4) respectively to the point chosen to T operation is carried out, obtained result is combined.Continued with aforementioned four point
For illustrate description son:
T(P1(A, B))=1
T(P2(A, B))=0
T(P3(A, B))=1
T(P4(A, B))=1
Then characteristic point P final description is 1011.
3. feature point description of any two history fixed point image is compared, image similarity is obtained.It illustrates
The process that feature point description of bright any two history fixed point image compares:
The sub- A:10101011 of feature point description of one history fixed point image
The sub- B:10101010 of feature point description of another history fixed point image
A and B only has last difference, image similarity 87.5% in this example.It can successively calculate and appoint by above-mentioned steps
Two history of anticipating pinpoint the image similarity of image.
In step S402, any two similar in the corresponding all history fixed point images of the recordable default fixed point of server
Degree, to determine whether the corresponding characteristic point of any two history fixed point image is all similar.
It, will be between starting point coordinate and adjacent default fixed point if S403. each image similarity is all not less than second threshold
Route pre-set navigational map rejuvenation be infeasible route.
Wherein, it is same feature that second threshold, which is the characteristics of image of the characteristics of image description of any two history fixed point image,
The minimum percent of point.
In step S403, server by the way that second threshold is compared each image similarity for recording in step S402, when
Each image similarity is all not less than second threshold, illustrates that the characteristics of image in each history fixed point image all describes same feature
Point can determine that there is the barrier including this feature point for a long time in current route.Current starting point coordinate and adjacent presetting
Route between point is temporarily infeasible, should be infeasible route in pre-set navigational map rejuvenation by the route.
For step S401 into S403, server can not by determining that the step-length route between adjacent default fixed point is corresponding
Row number, whether confirmation server should carry out mobility analysis to the step-length route, to confirm present on the step-length route
Whether barrier is to be permanently present.When server confirmation barrier be permanently present, can be updated on pre-set navigational map infeasible
Route, enhanced navigation flexibility improve the accuracy of navigation routine.
In indoor navigation method provided in this embodiment, server by follow shot end current location obtain with extremely
Actual measurement WIFI signal cluster between few three specified hotspot is compared with default random forest, to obtain follow shot end
Corresponding fixed point coordinate is clapped using the method that WIFI signal is positioned mobile as starting point coordinate in pre-set navigational map
The current location for taking the photograph end is positioned, and is not limited by hardware detection range, positioning method is simple and fast.Meanwhile the interior is led
Boat method, apparatus, computer equipment and storage medium can be cooked up according to the corresponding starting point coordinate in current location and terminal point coordinate
It can be moved so that follow shot is short based on the target navigation route with the target navigation route of avoidance, it can be in real time according to road
Condition adjusts target navigation route, influences its navigation procedure by hardware detection range equally, mode flexibility and reliability of navigating.
Further, server is by obtaining signal acquisition terminal in the training of each fixed point coordinate by default times of collection
WIFI signal cluster sends actual measurement WIFI signal cluster in different fixed point coordinates for subsequent client and carries out pair with WIFI signal cluster is trained
Than preparation techniques basis.Each fixed point coordinate and trained WIFI signal cluster corresponding with fixed point coordinate are associated and are deposited by server
Storage, forms the decision tree of the fixed point coordinate, is conducive to subsequent server and is based on training WIFI signal that can carry out position to client
Positioning, it is simple and fast.Server finds and surveys the immediate objective decision tree of WIFI signal cluster, is conducive to subsequent based on the target
Current location where decision tree corresponding fixed point coordinate confirmation follow shot end.Server is not necessarily to install other detection hardware,
It is based only upon the objective decision tree that step S31 is obtained, obtaining the objective decision tree, corresponding fixed point coordinate is used as in the database
Point coordinate, can confirm follow shot end present position, save positioning cost, and positioning method is reliable and stable not by environment
Variation influences.Starting point coordinate and terminal point coordinate can be identified on pre-set navigational map respectively for server, be conducive to server
Background control personnel intuitively know position that follow shot end is currently located and the terminal point coordinate that this movement will reach.
Server obtains the recommendation navigation routine on each movable direction using A star algorithm on default fixed point navigation map, is conducive to
Subsequent movement shooting end can replace or adjust in real time route, the mobile flexibility in enhancing follow shot end according to road conditions.Service
Device is moved to next default fixed point from current location according to target navigation route by control follow shot end, improves follow shot
Hold the safety and reliability in moving process.Follow shot end is often moved to next approach fixed point, and does not reach end also
It when point coordinate, will detect between current location and next approach fixed point that whether there are obstacles, improve in moving process real
When flexibility and the mobile security of target navigation route are adjusted according to road conditions, can ensure that follow shot end is smoothly reached home seat
Target position.Server can be by determining the corresponding infeasible number of step-length route between adjacent default fixed point, confirmation service
Whether device should carry out mobility analysis to the step-length route, and to confirm, whether barrier is permanent present on the step-length route
In the presence of.When server confirmation barrier be permanently present, infeasible route can be updated on pre-set navigational map, enhanced navigation is flexible
Property, improve the accuracy of navigation routine.
In one embodiment, a kind of indoor navigation device is provided, which leads with interior in above-described embodiment
Boat method corresponds.As shown in figure 12, which includes obtaining signal strength module 10, obtaining WIFI signal cluster
Module 20 obtains starting point coordinate module 30, obtains terminal point coordinate module 40 and obtains navigation routine module 50.Each functional module is detailed
Carefully it is described as follows:
Signal strength module 10 is obtained, for obtaining follow shot end in current location and at least three specified hotspot
Between WIFI signal intensity.
WIFI signal cluster module 20 is obtained, for being based on WIFI signal intensity, obtains follow shot end in current location
Survey WIFI signal cluster.
Starting point coordinate module 30 is obtained, for comparing default random forest based on actual measurement WIFI signal cluster, obtains mobile clap
Take the photograph end in pre-set navigational map corresponding fixed point coordinate as starting point coordinate.
Terminal point coordinate module 40 is obtained, for obtaining terminal point coordinate, generates at least two according to starting point coordinate and terminal point coordinate
Item recommends navigation routine.
Navigation routine module 50 is obtained, recommends the avoidance of navigation routine to detect at least two for obtaining follow shot end
As a result, choosing, avoidance detection result is free of obstacles and the shortest recommendation navigation routine of distance is target navigation route, and will
Target navigation route is sent to follow shot end, and control follow shot end is mobile according to target navigation route.
Preferably, which further includes obtaining training signal cluster module 301 and formation decision tree module 302.
Training signal cluster module 301 is obtained, for obtaining signal acquisition terminal by default times of collection in each default fixed point
The training WIFI signal cluster that WIFI signal intensity between each specified hotspot is formed.
Form decision tree module 302, for the corresponding fixed point coordinate of each default fixed point associated storage and with pinpoint seat
Corresponding trained WIFI signal cluster is marked, to form the corresponding decision tree of fixed point coordinate.
Preferably, obtaining starting point coordinate module 30 includes obtaining objective decision tree unit 31 and acquisition starting point coordinate unit
32。
Objective decision tree unit 31 is obtained, for calculating each decision tree in actual measurement WIFI signal cluster and default random forest
Euclidean distance, obtain the shortest objective decision tree of Euclidean distance.
Starting point coordinate unit 32 is obtained, is made for obtaining objective decision tree corresponding fixed point coordinate in pre-set navigational map
For the starting point coordinate at follow shot end.
Preferably, obtaining terminal point coordinate module 40 includes determining starting point coordinate unit 41 and acquisition recommended route unit 42.
Starting point coordinate unit 41 is determined, for determining starting point coordinate and terminal point coordinate on default fixed point navigation map.
Recommended route unit 42 is obtained, is pushed away for obtaining at least two on default fixed point navigation map using A star algorithm
Recommend navigation routine.
Preferably, obtaining navigation routine module 50 includes control follow shot end module 51 and generation recommended route module
52。
Follow shot end module 51 is controlled, for controlling control follow shot end foundation target navigation route from starting point coordinate
It is moved to next by way of fixed point.
Generate recommended route module 52, for by follow shot end be moved to it is next by way of fixed point be updated to new starting point
Coordinate repeats acquisition terminal point coordinate, according to starting point coordinate and terminal point coordinate if new starting point coordinate is not terminal point coordinate
The step of generating at least two recommendation navigation routines.
Preferably, which further includes obtaining history image module 501, obtaining image similarity module 502
With the infeasible route module 503 of update.
History image module 501 is obtained, for making starting point coordinate and adjacent in the direction of advance of target navigation route
Infeasible number between default fixed point adds 1, if infeasible number is greater than first threshold, obtains starting point coordinate along target navigation
Corresponding all history pinpoint image in the direction of advance of route.
Image similarity module 502 is obtained, it is any in all history fixed point images for being calculated using feature extraction algorithm
The corresponding image similarity of two history fixed point images.
Infeasible route module 503 is updated to sit starting point if being all not less than second threshold for each image similarity
It is infeasible route that the route between adjacent default fixed point, which is marked, in pre-set navigational map rejuvenation.
Specific about indoor navigation device limits the restriction that may refer to above for indoor navigation method, herein not
It repeats again.Modules in above-mentioned indoor navigation device can be realized fully or partially through software, hardware and combinations thereof.On
Stating each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also store in a software form
In memory in computer equipment, the corresponding operation of the above modules is executed in order to which processor calls.
In one embodiment, a kind of computer equipment is provided, which can be server, internal structure chart
It can be as shown in figure 13.The computer equipment includes processor, memory, network interface and the data connected by system bus
Library.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory of the computer equipment includes non-
Volatile storage medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and database.
The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The computer is set
Standby database is used to store the data for needing to save in indoor navigation method.The network interface of the computer equipment is used for and outside
Terminal by network connection communication.To realize a kind of indoor navigation method when the computer program is executed by processor.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory and can
The computer program run on a processor, processor realize above-described embodiment map constructing method when executing computer program
Step, such as step S10 shown in Fig. 2 to step S50.Alternatively, processor realizes above-described embodiment when executing computer program
The function of each module/unit of middle map structuring device, such as module 10 shown in Figure 12 is to the function of module 50.To avoid weight
Multiple, details are not described herein again.
In one embodiment, a kind of computer readable storage medium is provided, computer program, computer journey are stored thereon with
Above-described embodiment map constructing method, such as step S10 shown in Fig. 2 to step S50 are realized when sequence is executed by processor.Or
Person realizes in above-mentioned apparatus embodiment each module/unit in map structuring device when the computer program is executed by processor
Function, such as module 10 shown in Figure 12 is to the function of module 50.To avoid repeating, details are not described herein again.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of indoor navigation method characterized by comprising
Obtain WIFI signal intensity of the follow shot end between current location and at least three specified hotspot；
Based on the WIFI signal intensity, follow shot end is obtained in the actual measurement WIFI signal cluster of current location；
Default random forest is compared based on the actual measurement WIFI signal cluster, obtains the follow shot end in pre-set navigational map
Corresponding fixed point coordinate is as starting point coordinate；
Terminal point coordinate is obtained, at least two recommendation navigation routines are generated according to the starting point coordinate and the terminal point coordinate；
Follow shot end is obtained at least two avoidance detection results for recommending navigation routine, choosing avoidance detection result is
Free of obstacles and the shortest recommendation navigation routine of distance are target navigation route, and the target navigation route is sent to shifting
Dynamic shooting end, it is mobile according to the target navigation route to control the follow shot end.
2. indoor navigation method as described in claim 1, which is characterized in that the pre-set navigational map includes at least three pre-
Set point, each corresponding fixed point coordinate of default fixed point；
Default random forest is compared based on the actual measurement WIFI signal cluster described, obtains the follow shot end in pre-set navigational
Before the step of corresponding fixed point coordinate is as starting point coordinate in map, the indoor navigation method further include:
In each default fixed point, obtained between signal acquisition terminal and each specified hotspot by default times of collection
WIFI signal intensity formed training WIFI signal cluster；
To each corresponding fixed point coordinate of default fixed point associated storage and trained WIFI signal cluster corresponding with fixed point coordinate,
To form the corresponding decision tree of the fixed point coordinate.
3. indoor navigation method as described in claim 1, which is characterized in that described to be compared based on the actual measurement WIFI signal cluster
Default random forest obtains the follow shot end corresponding fixed point coordinate in pre-set navigational map and wraps as starting point coordinate
It includes:
The Euclidean distance of each decision tree in the actual measurement WIFI signal cluster and default random forest is calculated, obtains Euclidean distance most
Short objective decision tree；
Obtain the objective decision tree in the pre-set navigational map corresponding fixed point coordinate as the follow shot end
Starting point coordinate.
4. indoor navigation method as described in claim 1, which is characterized in that the acquisition terminal point coordinate, according to the starting point
Coordinate and the terminal point coordinate generate at least two recommendation navigation routines, comprising:
The starting point coordinate and the terminal point coordinate are determined on the default fixed point navigation map；
At least two recommendation navigation routines are obtained on the default fixed point navigation map using A star algorithm.
5. indoor navigation method as described in claim 1, which is characterized in that the target navigation route includes at least one way
Through pinpointing；
The control follow shot end is mobile according to the target navigation route, comprising:
Control the follow shot end be moved to according to the target navigation route from starting point coordinate it is next by way of fixed point；
By follow shot end be moved to it is described it is next by way of fixed point be updated to new starting point coordinate, if the new starting point coordinate
It is not the terminal point coordinate, then repeats the acquisition terminal point coordinate, it is raw according to the starting point coordinate and the terminal point coordinate
The step of at least two recommendation navigation routines.
6. indoor navigation method as described in claim 1, which is characterized in that at the acquisition follow shot end at least two
After the step of recommending the avoidance detection result of navigation routine, the indoor navigation method further include:
Make infeasible between the starting point coordinate and adjacent default fixed point in the direction of advance of the target navigation route
Number adds 1, if the infeasible number is greater than first threshold, obtains the starting point coordinate before the target navigation route
Corresponding all history pinpoint image on into direction；
Any two history in all history fixed point images is calculated using feature extraction algorithm and pinpoints the corresponding image of image
Similarity；
If each described image similarity is all not less than second threshold, by the starting point coordinate and the adjacent default fixed point
Between route the pre-set navigational map rejuvenation be infeasible route.
7. a kind of indoor navigation device characterized by comprising
Signal strength module is obtained, for obtaining follow shot end between current location and at least three specified hotspot
WIFI signal intensity；
WIFI signal cluster module is obtained, for being based on the WIFI signal intensity, obtains follow shot end in the reality of current location
Survey WIFI signal cluster；
Starting point coordinate module is obtained, for comparing default random forest based on the actual measurement WIFI signal cluster, obtains the movement
Shoot end in pre-set navigational map corresponding fixed point coordinate as starting point coordinate；
Terminal point coordinate module is obtained, for obtaining terminal point coordinate, is generated at least according to the starting point coordinate and the terminal point coordinate
Two recommendation navigation routines；
Navigation routine module is obtained, for obtaining follow shot end at least two avoidance detection knots for recommending navigation routine
Fruit, choosing avoidance detection result is free of obstacles and the shortest recommendation navigation routine of distance is target navigation route, and by institute
It states target navigation route and is sent to follow shot end, it is mobile according to the target navigation route to control the follow shot end.
8. indoor navigation device as claimed in claim 7, which is characterized in that the indoor navigation device further include:
Obtain training signal cluster module, in each default fixed point, by default times of collection obtain signal acquisition terminal with
The training WIFI signal cluster that WIFI signal intensity between each specified hotspot is formed；
Signal averaging module is obtained, decision tree module is used to form, for corresponding to each default fixed point associated storage
Fixed point coordinate and with the corresponding trained WIFI signal cluster of fixed point coordinate, to form the corresponding decision tree of the fixed point coordinate.
9. a kind of computer equipment, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of any one of 6 indoor navigation method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the step of realization indoor navigation method as described in any one of claim 1 to 6 when the computer program is executed by processor
Suddenly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008385.0A CN109239659B (en) | 2018-08-31 | 2018-08-31 | Indoor navigation method, device, computer equipment and storage medium |
Applications Claiming Priority (1)
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