CN109813315A - A kind of indoor navigation method, system and storage medium - Google Patents
A kind of indoor navigation method, system and storage medium Download PDFInfo
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Abstract
The invention discloses a kind of indoor navigation method, system and storage medium, method includes: to draw indoor map according to indoor terrain information；The route planning information of each region is generated according to indoor map；According to the current location of terminal, the first equipment and the second equipment are obtained；According to the first equipment and the second equipment, longitudinal two-dimensional coordinate figure is generated；According to the current location information of longitudinal two-dimensional coordinate figure computing terminal；According to the current location information of terminal and the route planning information of each region, the walking path of pedestrian is generated.The present invention is only needed through the first equipment and the second equipment, the current location information of terminal can be calculated, and the walking path of pedestrian can be generated based on this, to correct guidance pedestrian navigation to specified terminal, compared to the existing method for carrying out indoor positioning by 3 or 3 or more equipment, The present invention reduces equipment to be laid with quantity, reduces costs, can be widely applied to field of navigation technology.
Description
Technical field
The present invention relates to field of navigation technology, especially a kind of indoor navigation method, system and storage medium.
Background technique
At present in domestic major store, whether shop in operator, store itself or store, nearly all arranges number
Measure huge Wi-Fi Hotspot.Navigation software can theoretically face through that Wi-Fi Hotspot of user's access, then with closing
Nearly three or more Wi-Fi Hotspots, so that it may determine the position of user.These technical Wi-Fi can reduce orientation range
To 5 meters or so, match in excellence or beauty outdoor GPS satellite.
Current indoor navigation is from the different instructions on hardware device for WiFi, ultra wide band (UWB), bluetooth, RFID, red
The indoor positioning of outside line and ultrasonic wave etc., but either a kind of using the task of the above equipment is all to acquire and signaling point
Distance, pass through triangle polyester fibre algorithm realize positioning.
Existing indoor positioning has been comparative maturity using triangulation location, the principle of triangulation be using 2 or
Person 2 or more detectors detect target bearing in different location, then with triangle geometrical principle determine the position of target with
Distance, therefore, traditional indoor positioning algorithms need to navigate to a point, at least need 3 equipment or more, equipment is laid to
This is higher.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: one kind indoor navigation method at low cost, system are provided
And storage medium.
The technical solution that one aspect of the present invention is taken are as follows:
A kind of indoor navigation method, comprising the following steps:
Indoor map is drawn according to indoor terrain information；The indoor map is X-Y scheme, the interior terrain information
Including room distributed intelligence and facility article information；
The route planning information of each region is generated according to indoor map；
According to the current location of terminal, the first equipment and the second equipment are obtained, the between first equipment and terminal
Second distance between one distance and the second equipment and terminal is respectively less than or is equal to indoor the distance between other equipment and terminal；
The terminal is between the first equipment and the second equipment；
According to the first equipment and the second equipment, longitudinal two-dimensional coordinate figure is generated；
According to the current location information of longitudinal two-dimensional coordinate figure computing terminal；
According to the current location information of terminal and the route planning information of each region, the walking path of pedestrian is generated.
Further, the step for current location according to terminal, the first equipment of acquisition and the second equipment, including it is following
Step:
Obtain all devices within the scope of terminal's signal reception；
The signal output intensity that each equipment is received according to terminal, is ranked up equipment；
According to the signal output intensity of each equipment, the distance between computing terminal and each equipment；
The each distance being calculated is ranked up, identification obtains the first equipment and the second equipment.
Further, the signal output intensity according to each equipment, the distance between computing terminal and each equipment this
In one step, the calculation formula of the distance between the terminal and each equipment are as follows: d=10^ ((abs (RSSI)-H)/(10 ×
N)), wherein d represents distance between computing terminal and equipment, and abs () represents absolute value and solves function, and RSSI representative receives
Signal strength, signal strength when H represents transmitting terminal and receiving end is separated by 1 meter, n represents the environmental attenuation factor.
Further, described according to the first equipment and the second equipment, the step for generating longitudinal two-dimensional coordinate figure, including it is following
Step:
According to the first equipment and the second equipment, generate pedestrian is presently in route；
According to the location information for being presently in route and the first equipment of the terminal of pedestrian, longitudinal two-dimensional coordinate is established
Figure.
Further, the step for the current location information according to longitudinal two-dimensional coordinate figure computing terminal, including it is following
Step:
According to the location information of the first equipment and the second equipment, first distance and the are calculated between the first equipment and terminal
Second distance between two equipment and terminal；
According to first distance and second distance, computing terminal is in the specific location being presently in route；
According to the mobile message of the terminal of pedestrian, the specific location of terminal is updated；
Result will be updated to show on the map of terminal.
Further, described according to the current location information of terminal and the route planning information of each region, generate pedestrian
Walking path the step for, comprising the following steps:
Add operation is carried out to first distance and second distance；
Judge whether the result of add operation is greater than preset distance value, if so, confirmation pedestrian is detached from walking path；Instead
It, then confirm that pedestrian is not detached from walking path；
When pedestrian is detached from walking path, alarm is issued by the terminal of pedestrian, to prompt pedestrian to return.
Another aspect of the present invention is adopted the technical scheme that:
A kind of indoor navigation system, comprising:
Map drawing module, for drawing indoor map according to indoor terrain information；The indoor map is X-Y scheme,
The interior terrain information includes room distributed intelligence and facility article information；
Route planning module, for generating the route planning information of each region according to indoor map；
Obtain module, for the current location according to terminal, obtain the first equipment and the second equipment, first equipment with
The second distance between first distance and the second equipment and terminal between terminal is respectively less than or is equal to indoor other equipment and end
The distance between end；The terminal is between the first equipment and the second equipment；
First generation module, for generating longitudinal two-dimensional coordinate figure according to the first equipment and the second equipment；
Computing module, for the current location information according to longitudinal two-dimensional coordinate figure computing terminal；
Second generation module, for according to the current location information of terminal and the route planning information of each region, life
At the walking path of pedestrian.
Another aspect of the present invention is adopted the technical scheme that:
A kind of indoor navigation system, comprising:
At least one processor；
At least one processor, for storing at least one program；
When at least one described program is executed by least one described processor, so that at least one described processor is realized
The indoor navigation method.
Another aspect of the present invention is adopted the technical scheme that:
A kind of storage medium, wherein be stored with the executable instruction of processor, the executable instruction of the processor by
For executing the indoor navigation method when processor executes.
The beneficial effects of the present invention are: the present invention only needs that terminal can be calculated by the first equipment and the second equipment
Current location information, and can based on this generate pedestrian walking path, thus correct guidance pedestrian navigation to specify terminal,
Compared to the existing method for carrying out indoor positioning by 3 or 3 or more equipment, The present invention reduces equipment to be laid with quantity,
It reduces costs.
Detailed description of the invention
Fig. 1 is the step flow chart of the embodiment of the present invention；
Fig. 2 is the schematic diagram of longitudinal two-dimensional coordinate figure in the embodiment of the present invention.
Specific embodiment
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.For of the invention real
The step number in example is applied, is arranged only for the purposes of illustrating explanation, any restriction is not done to the sequence between step, is implemented
The execution sequence of each step in example can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to Fig.1, the embodiment of the invention provides a kind of indoor navigation methods, comprising the following steps:
Indoor map is drawn according to indoor terrain information；The indoor map is X-Y scheme, the interior terrain information
Including room distributed intelligence and facility article information；
The route planning information of each region is generated according to indoor map；
According to the current location of terminal, the first equipment and the second equipment are obtained, the between first equipment and terminal
Second distance between one distance and the second equipment and terminal is respectively less than or is equal to indoor the distance between other equipment and terminal；
The terminal is between the first equipment and the second equipment；
According to the first equipment and the second equipment, longitudinal two-dimensional coordinate figure is generated；
According to the current location information of longitudinal two-dimensional coordinate figure computing terminal；
According to the current location information of terminal and the route planning information of each region, the walking path of pedestrian is generated.
It is further used as preferred embodiment, the current location according to terminal obtains the first equipment and second and sets
The step for standby, comprising the following steps:
Obtain all devices within the scope of terminal's signal reception；
The signal output intensity that each equipment is received according to terminal, is ranked up equipment；
According to the signal output intensity of each equipment, the distance between computing terminal and each equipment；
The each distance being calculated is ranked up, identification obtains the first equipment and the second equipment.
It is further used as preferred embodiment, the signal output intensity according to each equipment, computing terminal and each
In the step for the distance between a equipment, the calculation formula of the distance between the terminal and each equipment are as follows: d=10^
((abs (RSSI)-H)/(10 × n)), wherein d represents distance between computing terminal and equipment, and abs () represents absolute value solution
Function, RSSI represent the signal strength that receives, and signal strength when H represents transmitting terminal and receiving end is separated by 1 meter, n represents ring
Border decay factor.
It is further used as preferred embodiment, it is described according to the first equipment and the second equipment, generate longitudinal two-dimensional coordinate
The step for figure, comprising the following steps:
According to the first equipment and the second equipment, generate pedestrian is presently in route；
According to the location information for being presently in route and the first equipment of the terminal of pedestrian, longitudinal two-dimensional coordinate is established
Figure.
It is further used as preferred embodiment, the current location information according to longitudinal two-dimensional coordinate figure computing terminal
The step for, comprising the following steps:
According to the location information of the first equipment and the second equipment, first distance and the are calculated between the first equipment and terminal
Second distance between two equipment and terminal；
According to first distance and second distance, computing terminal is in the specific location being presently in route；
According to the mobile message of the terminal of pedestrian, the specific location of terminal is updated；
Result will be updated to show on the map of terminal.
It is further used as preferred embodiment, it is described according to the current location information of terminal and the route of each region
Planning information, the step for generating the walking path of pedestrian, comprising the following steps:
Add operation is carried out to first distance and second distance；
Judge whether the result of add operation is greater than preset distance value, if so, confirmation pedestrian is detached from walking path；Instead
It, then confirm that pedestrian is not detached from walking path；
When pedestrian is detached from walking path, alarm is issued by the terminal of pedestrian, to prompt pedestrian to return.
Corresponding with the method for Fig. 1, the embodiment of the invention provides a kind of indoor navigation systems, comprising:
Map drawing module, for drawing indoor map according to indoor terrain information；The indoor map is X-Y scheme,
The interior terrain information includes room distributed intelligence and facility article information；
Route planning module, for generating the route planning information of each region according to indoor map；
Obtain module, for the current location according to terminal, obtain the first equipment and the second equipment, first equipment with
The second distance between first distance and the second equipment and terminal between terminal is respectively less than or is equal to indoor other equipment and end
The distance between end；The terminal is between the first equipment and the second equipment；
First generation module, for generating longitudinal two-dimensional coordinate figure according to the first equipment and the second equipment；
Computing module, for the current location information according to longitudinal two-dimensional coordinate figure computing terminal；
Second generation module, for according to the current location information of terminal and the route planning information of each region, life
At the walking path of pedestrian.
Corresponding with the method for Fig. 1, the embodiment of the invention provides a kind of indoor navigation systems, comprising:
At least one processor；
At least one processor, for storing at least one program；
When at least one described program is executed by least one described processor, so that at least one described processor is realized
The indoor navigation method.
Corresponding with the method for Fig. 1, the embodiment of the invention provides a kind of storage mediums, wherein being stored with processor can hold
Capable instruction, the executable instruction of the processor is when executed by the processor for executing the indoor navigation method.
The specific work process of indoor navigation method of the invention is described below in detail:
S1, floor 2D map is drawn for place, according to each room of place actual landform, facility and object draw out ground
Figure figure is supplied to terminal and shows, and prepares for next step；
S2, the walking route for formulating each region.The 2D map that the present embodiment is drawn according to step S1, formulation obtain each
The best track route in a room.
Below with route (A1, E1) line for, subsequent step of the invention is discussed in detail:
S3, firstly, obtaining pedestrian apart from nearest equipment: it is mobile in pedestrian it is assumed that point B of the pedestrian on (A1, E1) route
In terminal, obtaining terminal, it receives all positioning devices in range, strong and weak sequence is exported according to signal, then according to formula d
=10^ ((abs (RSSI)-H)/(10 × n)) is calculated, and wherein d is to calculate gained distance, and RSSI is that received signal strength is (negative
Value), H is signal strength when transmitting terminal and receiving end are separated by 1 meter, and n is the environmental attenuation factor, and H and n are obtained according to environmental testing
Out, it and records in service, finally calculates terminal and positioning device distance d, then obtain 2 with pedestrian's shortest distance
Equipment A (i.e. the first equipment) and E (i.e. the second equipment)；
S4, then, defines longitudinal two-dimensional coordinate figure: the present embodiment after obtaining pedestrian on (A1, E1) route, take (A1,
E1) with the straight line where (A, A1) as reference axis, and then two-dimensional coordinate is established, forms (A, E, E1, A1) longitudinal two-dimensional coordinate.
S5, then, the specific positioning of computing terminal: A refers to the positioning device installed above the ceiling of A1 point
(such as wifi equipment), E refer to the positioning device installed above the ceiling of E1 point.In the present embodiment, the smallpox
The vertical height of each point of plate is consistent, i.e. (A, A1) and (E, E1) is equal.
Present embodiment assumes that pedestrian's starting point is in B point, the distance of (A, B) and (B, E) respectively according to displaced signal sources A with
E is obtained, as shown in Fig. 2, the present invention calculates B point at route (A1, E1) by right angled triangle (A, A1, B) and (E, E1, B)
Position, and be shown on the map of pedestrian navigation terminal, when pedestrian is moved to F point from B point, also according to right angled triangle
(A, A1, B) and (E, E1, B) show that F point in the position of route (A1, E1), updates the map for arriving pedestrian's terminal.
Fig. 2 is the schematic diagram of longitudinal two-dimensional coordinate figure (A, E, E1, A1): wherein (A, E) is that positioning device A and E is linked to be
Straight line, (A1, E1) are corresponding navigation circuit, and B is the initial alignment of pedestrian, and E is that pedestrian walks the positioning after a distance.
S6, deviations from guidelines: the present embodiment exceeds centainly with nearby closest to summation at a distance from two equipment in pedestrian's terminal
Apart from when then think be detached from route, prompt pedestrian's return path.
In conclusion route originates two points to the present invention according to the map, deployment positioning is set on the ceiling equal with its Z axis
It is standby, so that part of path, signal source and pedestrian form right angled triangle, so that two equipment of Successful utilization complete triangulation calculation；Separately
Outside, the present invention passes through line map of making rational planning for, energy correct guidance pedestrian navigation to specified terminal.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (9)
1. a kind of indoor navigation method, it is characterised in that: the following steps are included:
Indoor map is drawn according to indoor terrain information；The indoor map is X-Y scheme, and the interior terrain information includes
Room distributed intelligence and facility article information；
The route planning information of each region is generated according to indoor map；
According to the current location of terminal, obtain the first equipment and the second equipment, first between first equipment and terminal away from
Indoor the distance between other equipment and terminal are respectively less than or are equal to from the second distance between the second equipment and terminal；It is described
Terminal is between the first equipment and the second equipment；
According to the first equipment and the second equipment, longitudinal two-dimensional coordinate figure is generated；
According to the current location information of longitudinal two-dimensional coordinate figure computing terminal；
According to the current location information of terminal and the route planning information of each region, the walking path of pedestrian is generated.
2. a kind of indoor navigation method according to claim 1, it is characterised in that: the current location according to terminal,
The step for obtaining the first equipment and the second equipment, comprising the following steps:
Obtain all devices within the scope of terminal's signal reception；
The signal output intensity that each equipment is received according to terminal, is ranked up equipment；
According to the signal output intensity of each equipment, the distance between computing terminal and each equipment；
The each distance being calculated is ranked up, identification obtains the first equipment and the second equipment.
3. a kind of indoor navigation method according to claim 2, it is characterised in that: the signal according to each equipment is defeated
In the step for intensity out, the distance between computing terminal and each equipment, the distance between the terminal and each equipment
Calculation formula are as follows: d=10^ ((abs (RSSI)-H)/(10 × n)), wherein d represents distance between computing terminal and equipment, abs
() represents absolute value and solves function, and RSSI represents the signal strength that receives, when H represents transmitting terminal and receiving end is separated by 1 meter
Signal strength, n represent the environmental attenuation factor.
4. a kind of indoor navigation method according to claim 1, it is characterised in that: described to be set according to the first equipment and second
It is standby, the step for generating longitudinal two-dimensional coordinate figure, comprising the following steps:
According to the first equipment and the second equipment, generate pedestrian is presently in route；
According to the location information for being presently in route and the first equipment of the terminal of pedestrian, longitudinal two-dimensional coordinate figure is established.
5. a kind of indoor navigation method according to claim 4, it is characterised in that: described according to longitudinal two-dimensional coordinate figure meter
The step for calculating the current location information of terminal, comprising the following steps:
According to the location information of the first equipment and the second equipment, calculates between the first equipment and terminal first distance and second set
The standby second distance between terminal；
According to first distance and second distance, computing terminal is in the specific location being presently in route；
According to the mobile message of the terminal of pedestrian, the specific location of terminal is updated；
Result will be updated to show on the map of terminal.
6. a kind of indoor navigation method according to claim 5, it is characterised in that: the present bit confidence according to terminal
The route planning information of breath and each region, the step for generating the walking path of pedestrian, comprising the following steps:
Add operation is carried out to first distance and second distance；
Judge whether the result of add operation is greater than preset distance value, if so, confirmation pedestrian is detached from walking path；Conversely,
Then confirm that pedestrian is not detached from walking path；
When pedestrian is detached from walking path, alarm is issued by the terminal of pedestrian, to prompt pedestrian to return.
7. a kind of indoor navigation system, it is characterised in that: include:
Map drawing module, for drawing indoor map according to indoor terrain information；The indoor map is X-Y scheme, described
Indoor terrain information includes room distributed intelligence and facility article information；
Route planning module, for generating the route planning information of each region according to indoor map；
Module is obtained, for the current location according to terminal, obtains the first equipment and the second equipment, first equipment and terminal
Between first distance and the second equipment and terminal between second distance be respectively less than or be equal to indoor other equipment and terminal it
Between distance；The terminal is between the first equipment and the second equipment；
First generation module, for generating longitudinal two-dimensional coordinate figure according to the first equipment and the second equipment；
Computing module, for the current location information according to longitudinal two-dimensional coordinate figure computing terminal；
Second generation module, for generating row according to the current location information of terminal and the route planning information of each region
The walking path of people.
8. a kind of indoor navigation system, it is characterised in that: include:
At least one processor；
At least one processor, for storing at least one program；
When at least one described program is executed by least one described processor, so that at least one described processor is realized as weighed
Benefit requires indoor navigation method described in any one of 1-6.
9. a kind of storage medium, wherein being stored with the executable instruction of processor, it is characterised in that: what the processor can be performed
Instruction is when executed by the processor for executing such as indoor navigation method of any of claims 1-6.
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Application publication date: 20190528 |