CN109724601A - One kind is based on airmanship in recurrent network analysis room - Google Patents
One kind is based on airmanship in recurrent network analysis room Download PDFInfo
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- CN109724601A CN109724601A CN201811374311.9A CN201811374311A CN109724601A CN 109724601 A CN109724601 A CN 109724601A CN 201811374311 A CN201811374311 A CN 201811374311A CN 109724601 A CN109724601 A CN 109724601A
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Abstract
The invention discloses the one kind in indoor navigation field to be based on airmanship in recurrent network analysis room, including navigation step: a) establishing geographical data bank；B) it inputs Origin And Destination and carries out network path analysis；C) it plans forwarding route and obtains corresponding indoor subregion terrain surface specifications point on forwarding route, start to navigate；D) it by the deviation feedback between the theoretical position in physical location and forwarding route to step b), reacquires starting point and is relocated；E) specified terminal is reached, navigation terminates；It is provided by the invention a kind of based on the available preferable navigation accuracy of airmanship in recurrent network analysis room and few using mobile flow, the mobile terminal device of user is required low.
Description
Technical field
The present invention relates to indoor navigation fields, and in particular to one kind is based on airmanship in recurrent network analysis room.
Background technique
Indoor navigation is different from outdoor navigation, and since building blocks, indoor GPS satellite-signal is weak, can not be believed using GPS
Number carry out location navigation.In order to solve this problem, indoor navigation system utilizes increase transmitter transmitting positioning indoors more at present
Signal is completed using technologies such as wifi signal, acquisition streetscape comparison pictures, and application cost is high, needs to consume a large amount of flow, difficult
With universal and popularization.
Summary of the invention
The technical issues of solution
Aiming at the problem that existing background is proposed, the present invention provides one kind to analyze indoor navigation skill based on recurrent network
Art.
Technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
One kind is based on airmanship in recurrent network analysis room, including navigation step:
A) geographical data bank is established；
B) it inputs Origin And Destination and carries out network path analysis；
C) it plans forwarding route and obtains corresponding indoor subregion terrain surface specifications point on forwarding route, start to navigate；
D) deviation between the theoretical position in physical location and forwarding route is fed back to step b), is reacquired
It puts and is relocated；
E) specified terminal is reached, navigation terminates；
The geographical data bank include point data, line number accordingly and face data；
The point data include the indoor subregion being made of at least four broken line point terrain surface specifications point and it is each solely
Midpoint of the vertical interior subregion between two broken line points of the forwarding route side；Subregion in each separate chambers
The broken line point that terrain surface specifications point is formed constitutes the region of closure, forms the face data of the geographical data bank；
The midpoint of subregion connects to form linear road network in each separate chambers of the forwarding route two sides, the threadiness
Road network constitutes the line number evidence in the geographical data bank；The forwarding route and two lines first class net in the step c) carry out
It is corresponding, and the direction of the corresponding indoor subregion of two linear road networks is different.
Further, when navigation, direction of advance is indicated by direction sensor, indicates to advance by acceleration transducer
Step number and distance, the direction sensor and the acceleration transducer are located inside mobile terminal.
Further, the attribute of the point data include indoor partition name, two dimensional code or other be used for automatic identification
The information of the interior partition name.
Further, described when the deviation between the theoretical position in physical location and forwarding route is unobvious
Mobile terminal is every by a broken line point i.e. repositioning starting point, and walking along the street before planning again automatically along the forwarding route
Line；When the deviation between the theoretical position in physical location and forwarding route is obvious, initial point position is re-entered by hand
And forwarding route is planned again.
Further, the mode for manually entering initial point position is number of scan points according to two dimensional code or is manually entered or voice
Input.
Further, the planning of the forwarding route includes subregion in the adjacent chamber for calculate the forwarding route two sides
Midpoint series connection direction and midpoint standoff distance.
Beneficial effect
Using technical solution provided by the invention, compared with known publicly-owned technology, have as follows
The utility model has the advantages that
The present invention obtains forwarding route network, indoor subregion by the terrain surface specifications point of indoor subregion each in vector quantization room
Location point, the sensor on the network analysis of geographical data bank, mobile terminal is combined and is navigated, and constantly application weight
Location technology corrects the deviations in navigation, obtains preferable navigation accuracy.
Since polar plot used is based on broken line point, data volume is few, few using mobile flow, to the mobile terminal of user
Equipment requirement is low, it is only necessary to use common smart mobile phone, less mobile flow be spent, so with existing indoor navigation technology
It compares, it is convenient, economical and there is preferable reliability.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that module of the invention calls structure chart；
Fig. 2 is the indoor subregion distribution map of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The present invention will be further described with reference to the examples below.
In conjunction with Fig. 1: one kind is as follows based on airmanship in recurrent network analysis room, including navigation step:
A) geographical data bank is established
In conjunction with Fig. 2, by taking the retail shop in market as an example, geographical data bank include point data, line number accordingly and face data.Points
According to the terrain surface specifications point and each independent shop for including the retail shop being made of at least four broken line point along the two of forwarding route side
Midpoint between a broken line point.The attribute of point data include retail shop's title, two dimensional code or other for automatic identification retail shop title
Information.
When retail shop's area is rectangle, terrain surface specifications o'clock are collectively formed by the broken line point of 4 vertex, as shown in Figure 2
Retail shop A-1 broken line point 3,4,34,35, the point between 3,4 and between 34,35 is then midpoint；If the area shape of retail shop
Shape is polygon, then terrain surface specifications point is made of more than four broken line points, such as retail shop A-11 has 13,14,15,16,44
Multiple broken line points are equipped with midpoint between 14,15 two broken line points.
The broken line point that the terrain surface specifications point of each independent shop is formed constitutes the region of closure, forms the face of geographical data bank
Data, face data are mainly used for the position that retail shop is intuitively shown to user image and the spatial relation with other retail shops.
B) it inputs Origin And Destination and carries out network path analysis.
The midpoint of each independent shop of forwarding route two sides connects to form linear road network, and first class net constitutes geographical data bank
In line number evidence.When reality is navigated along forwarding route, forwarding route corresponds to two lines first class net, and two lines first class net is right respectively
The retail shop for answering different directions, if retail shop A-1, A-2 ... retail shop A-11 is along the linear road of the midpoint formation upside of forwarding route
Net, retail shop B-1, B-2 ... the linear road network of downside is formed along the midpoint of forwarding route, and according to two different threadiness
Road network carries out network path analysis respectively.
C) it plans forwarding route and obtains corresponding indoor subregion terrain surface specifications point on forwarding route, start to navigate.
When navigation, using each broken line point for the forwarding route two sides planned, the phase of forwarding route two sides is successively calculated
Standoff distance between the midpoint series connection direction of adjacent retail shop and adjacent midpoint.Direction of advance is indicated by direction sensor, is led to
It crosses acceleration transducer instruction advance step number and distance, direction sensor and acceleration transducer is located inside mobile terminal, move
Dynamic terminal refers to that smart phone, smartwatch etc. have the Mobile Equipment of navigation system.
D) deviation between the theoretical position in physical location and forwarding route is fed back to step b), is reacquired
It puts and is relocated；
Reorientation is a repetitious process, according to the industry present situation of sensor on Vehicles Collected from Market mobile terminal, side
To sensor be generally possible to meet be directed toward require, precision is higher, and the navigation accuracy of acceleration transducer is lower, especially grow away from
When from navigation, navigator fix deviation is big.Therefore, the theory when advancing on forwarding route, in physical location and forwarding route
When deviation between position is unobvious, the continuous accumulation of deviation in order to prevent, mobile terminal passes through one along forwarding route is every
A broken line point is i.e. automatic to relocate starting point, and plans forwarding route again；Theory in physical location and forwarding route
When deviation between position is obvious, initial point position is re-entered by hand and plans forwarding route again.
Manually enter initial point position mode be number of scan points according to two dimensional code be manually entered or voice input.
5) specified terminal is reached, navigation terminates.
The present invention obtains forwarding route network, indoor subregion by the terrain surface specifications point of indoor subregion each in vector quantization room
Location point, the sensor on the network analysis of geographical data bank, mobile terminal is combined and is navigated, and constantly application weight
Location technology corrects the deviations in navigation, obtains preferable navigation accuracy.
Since polar plot used is based on broken line point, data volume is few, few using mobile flow, to the mobile terminal of user
Equipment requirement is low, it is only necessary to use common smart mobile phone, less mobile flow be spent, so with existing indoor navigation technology
It compares, it is convenient, economical and there is preferable reliability.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, also do not limit the specific embodiment of the invention.Obviously, according to the content of this specification, can make very much
Modifications and variations.These embodiments are chosen and specifically described to this specification, be principle in order to better explain the present invention and
Practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only wanted by right
Ask the limitation of book and its full scope and equivalent.
Claims (6)
1. one kind is based on airmanship in recurrent network analysis room, it is characterised in that: including navigation step:
A) geographical data bank is established；
B) it inputs Origin And Destination and carries out network path analysis；
C) it plans forwarding route and obtains corresponding indoor subregion terrain surface specifications point on forwarding route, start to navigate；
D) the deviation feedback between the theoretical position in physical location and forwarding route is reacquired into starting point simultaneously to step b)
It is relocated；
E) specified terminal is reached, navigation terminates；
The geographical data bank include point data, line number accordingly and face data；
The point data include the indoor subregion being made of at least four broken line point terrain surface specifications point and each separate chambers
Midpoint of the interior subregion between two broken line points of the forwarding route side；The ground of subregion in each separate chambers
The broken line point that characteristic point is formed constitutes the region of closure, forms the face data of the geographical data bank；
The midpoint of subregion connects to form linear road network in each separate chambers of the forwarding route two sides, the threadiness road network
Constitute the line number evidence in the geographical data bank；The forwarding route carries out corresponding, and two lines with two lines first class net
The direction of the corresponding indoor subregion of first class net is different.
2. according to claim 1 a kind of based on airmanship in recurrent network analysis room, it is characterised in that: when navigation,
Direction of advance is indicated by direction sensor, and advance step number and distance, the direction sensor are indicated by acceleration transducer
And the acceleration transducer is located inside mobile terminal.
3. according to claim 1 a kind of based on airmanship in recurrent network analysis room, it is characterised in that: the points
According to attribute include indoor partition name, two dimensional code or other information for interior partition name described in automatic identification.
4. according to claim 1 a kind of based on airmanship in recurrent network analysis room, it is characterised in that: work as actual bit
Set deviation between the theoretical position in forwarding route it is unobvious when, the mobile terminal is along the every process of the forwarding route
One broken line point is i.e. automatic to relocate starting point, and plans forwarding route again；Reason in physical location and forwarding route
When obvious by the deviation between position, initial point position is re-entered by hand and plans forwarding route again.
5. according to claim 3 or 4 a kind of based on airmanship in recurrent network analysis room, it is characterised in that: by hand
Input initial point position mode be number of scan points according to two dimensional code be manually entered or voice input.
6. according to claim 1 or 4 a kind of based on airmanship in recurrent network analysis room, it is characterised in that: described
The planning of forwarding route includes midpoint series connection direction and the midpoint phase of subregion in the adjacent chamber for calculate the forwarding route two sides
Gauge from.
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| Application Number | Priority Date | Filing Date | Title |
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| CN106537091A (en) * | 2014-03-07 | 2017-03-22 | 通腾导航技术股份有限公司 | Reconstructing routes using electronic map data |
| CN107402009A (en) * | 2016-05-20 | 2017-11-28 | 奇酷互联网络科技（深圳）有限公司 | The method and mobile terminal of a kind of indoor navigation |
| CN108692728A (en) * | 2018-04-26 | 2018-10-23 | 哈尔滨工业大学深圳研究生院 | Indoor navigation method based on CAD architectural drawings and Computer Vision Recognition and system |
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2018
- 2018-11-19 CN CN201811374311.9A patent/CN109724601A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104180814A (en) * | 2013-05-22 | 2014-12-03 | 北京百度网讯科技有限公司 | Navigation method in live-action function on mobile terminal, and electronic map client |
| CN103645490A (en) * | 2013-12-28 | 2014-03-19 | 淮海工学院 | Method for monitoring attitude of continuous operating reference station (CORS) of global navigation satellite system (GNSS) |
| CN106537091A (en) * | 2014-03-07 | 2017-03-22 | 通腾导航技术股份有限公司 | Reconstructing routes using electronic map data |
| CN107402009A (en) * | 2016-05-20 | 2017-11-28 | 奇酷互联网络科技（深圳）有限公司 | The method and mobile terminal of a kind of indoor navigation |
| CN106408990A (en) * | 2016-10-08 | 2017-02-15 | 重庆科技学院 | Non-network garage map path planning method |
| CN108692728A (en) * | 2018-04-26 | 2018-10-23 | 哈尔滨工业大学深圳研究生院 | Indoor navigation method based on CAD architectural drawings and Computer Vision Recognition and system |
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