CN110320496A - A kind of indoor orientation method and device - Google Patents
A kind of indoor orientation method and device Download PDFInfo
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- CN110320496A CN110320496A CN201910554946.5A CN201910554946A CN110320496A CN 110320496 A CN110320496 A CN 110320496A CN 201910554946 A CN201910554946 A CN 201910554946A CN 110320496 A CN110320496 A CN 110320496A
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- visual lines
- user terminal
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W4/30—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The embodiment of the present invention provides a kind of indoor orientation method and device, comprising: obtains the reference angle between visual space and indoor plane figure；According to the reference angle, the direction of visual lines of user terminal to target point of interest in the visual space is transformed into the indoor plane figure, the direction of visual lines after being converted；According to the direction of visual lines after the conversion, the location information of the user terminal is obtained.The embodiment of the present invention is according to the reference angle between visual space and indoor plane figure, indoor plane figure is transformed by the direction of visual lines by user terminal in visual space to indoor point of interest, indoor positioning is carried out to user, compared to existing indoor positioning technologies, reduce the hardware of indoor positioning and the expense of on-site land survey, the complexity for reducing indoor positioning improves the accuracy of indoor positioning.
Description
Technical field
The present invention relates to indoor moving field of locating technology more particularly to a kind of indoor orientation methods and device.
Background technique
In Modern Information life, demand of the people to indoor positioning increasingly increases, also more next to positioning accuracy request
It is higher, from the outdoor positioning technology for being based on global positioning system (Global Positioning System, abbreviation GPS), arrive base
In infrared and ultrasonic wave short distance positioning technology, then the indoor positioning technologies based on WiFi signal are arrived, these technologies are due to relating to
And it is different to the working mechanism of hardware, respectively there are its usage scenario and the scope of application.
Currently, indoor positioning emerges multiple systems scheme, for example, the positioning of ultrasonic positioning system, bluetooth, infrared ray,
There is certain application range and limitation in WiFi fingerprint location and base station location etc., these systems, for example, based on red in the application
The technology of outside line positioning needs to arrange infrared remote receiver, to increase additional hardware；The skill positioned based on WiFi fingerprint
Art needs to carry out on-site land survey in advance, it usually needs carries out the acquisition of fingerprint in the entire interior space in advance, constructs fingerprint-position
Database.Along with the diversity and dynamic of indoor environment, the performance of indoor positioning is affected, leads to existing indoor positioning side
The accuracy of method is lower.
Therefore, a kind of indoor orientation method and device are needed now to solve the above problems.
Summary of the invention
In view of the problems of the existing technology, the embodiment of the present invention provides a kind of indoor orientation method and device.
In a first aspect, the embodiment of the invention provides a kind of indoor orientation methods, comprising:
Obtain the reference angle between visual space and indoor plane figure；
According to the reference angle, the direction of visual lines of user terminal to target point of interest in the visual space is transformed into institute
It states in indoor plane figure, the direction of visual lines after being converted；
According to the direction of visual lines after the conversion, the location information of the user terminal is obtained.
Further, the reference angle obtained between visual space and indoor plane figure, comprising:
The first direction of visual lines and the second direction of visual lines are obtained, first direction of visual lines is to use described in the visual space
For family terminal from the first point of interest to the direction of visual lines of the second point of interest, second direction of visual lines is institute in the indoor plane figure
User terminal is stated from first point of interest to the direction of visual lines of second point of interest；
First direction of visual lines is converted into second direction of visual lines, the visual space is obtained and the interior is flat
Reference angle between the figure of face.
Further, the direction of visual lines according to after conversion, obtains the location information of the user terminal, comprising:
If the user terminal observes that the quantity of the target point of interest is 1 in the direction of visual lines after the conversion
It is a, the ray parallel with the direction of visual lines after the conversion is obtained, using the ray as the localization region of the user terminal,
To obtain the location information of the user terminal, the ray is using the target point of interest as origin.
Further, the direction of visual lines according to after the conversion, obtains the location information of the user terminal, also wraps
It includes:
If the user terminal observes that the quantity of the target point of interest is 2 in the direction of visual lines after the conversion
It is a, the first ray and the second ray are obtained, using the intersection point of first ray and second ray as the user terminal
Positioning result, to obtain the location information of the user terminal；Wherein, first ray and the user terminal to first
The direction of visual lines of target point of interest is parallel, and using the first object point of interest as origin；Second ray and the user
The direction of visual lines of terminal to the second target point of interest is parallel, and using the second target point of interest as origin.
Further, the direction of visual lines according to after the conversion, obtains the location information of the user terminal, also wraps
It includes:
If the user terminal observes that the quantity of the target point of interest is greater than in the direction of visual lines after the conversion
2, a plurality of ray is obtained, and processing is weighted and averaged to the intersecting point coordinate that a plurality of ray intersects two-by-two, to obtain
State the location information of user terminal；Wherein, every ray is flat with the direction of visual lines of the user terminal to corresponding target point of interest
Row, and to correspond to target point of interest as origin.
Second aspect, the embodiment of the invention provides a kind of indoor positioning devices, comprising:
Reference angle obtains module, for obtaining the reference angle between visual space and indoor plane figure；
Conversion module is used for according to the reference angle, by user terminal in the visual space to the view of target point of interest
Line direction is transformed into the indoor plane figure, the direction of visual lines after being converted；
Locating module, for obtaining the location information of the user terminal according to the direction of visual lines after the conversion.
Further, the reference angle acquisition module includes:
First processing units are institute for the first direction of visual lines of acquisition and the second direction of visual lines, first direction of visual lines
User terminal described in visual space is stated from the first point of interest to the direction of visual lines of the second point of interest, second direction of visual lines is
User terminal described in the indoor plane figure is from first point of interest to the direction of visual lines of second point of interest；
The second processing unit obtains the view for first direction of visual lines to be converted to second direction of visual lines
Feel the reference angle between space and the indoor plane figure.
The third aspect, the embodiment of the present invention provides a kind of electronic equipment, including memory, processor and is stored in memory
Computer program that is upper and can running on a processor, is realized when the processor executes described program as first aspect provides
Method the step of.
Fourth aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with calculating
Machine program is realized as provided by first aspect when the computer program is executed by processor the step of method.
A kind of indoor orientation method and device provided in an embodiment of the present invention, according between visual space and indoor plane figure
Reference angle, indoor plane figure is transformed by the direction of visual lines by user terminal in visual space to indoor point of interest, to
Family carries out indoor positioning, compares existing indoor positioning technologies, reduces the hardware of indoor positioning and the expense of on-site land survey, reduces
The complexity of indoor positioning, improves the accuracy of indoor positioning.
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 apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram of indoor orientation method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of direction of visual lines in visual space provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of direction of visual lines in indoor plane figure provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of indoor positioning device provided in an embodiment of the present invention；
Fig. 5 is electronic devices structure schematic diagram provided in an embodiment 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, it is clear that 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.
Point of interest (Point of Interest, abbreviation POI) refers to the interested geographical entity of people, and such as restaurant is learned
School, hotel and market etc., each POI includes much information, for example, title, classification, longitude and latitude.Benefit of the embodiment of the present invention
User is positioned with the indoor plane figure in the indoor scenes such as market or office building, can be delayed by indoor plane figure first
The expense of on-site land survey is solved, secondly, by user terminal, for example, the camera on mobile phone or plate, in available market
POI is carried out where modeling can infer user terminal to the direction of visual lines of user terminal finally by these direction of visual lines
Position, to alleviate the expense of additional hardware.It should be noted that in embodiments of the present invention, by user terminal
Camera get include POI information image, and combine user terminal sensor, obtain user terminal in true environment
To the direction of visual lines of POI, i.e., direction of visual lines of the user terminal to POI in visual space.
Fig. 1 is the flow diagram of indoor orientation method provided in an embodiment of the present invention, as shown in Figure 1, the present invention is implemented
Example provides a kind of indoor orientation method, comprising:
Step 101, the reference angle between visual space and indoor plane figure is obtained.
In embodiments of the present invention, it is checked due to indoor plane figure in order to facilitate user, usually when being drawn,
The direct north of direct north and true environment in indoor plane figure is inconsistent.Therefore, room is entered in user terminal
After interior scene, it is necessary first to obtain the reference angle between visual space and the indoor plane figure of the indoor scene.
Step 102, according to the reference angle, by user terminal in the visual space to the direction of visual lines of target point of interest
It is transformed into the indoor plane figure, the direction of visual lines after being converted；
In embodiments of the present invention, by the reference angle between indoor plane figure and visual space, user terminal is obtained
To direction of visual lines be transformed on indoor plane figure, for being positioned according to the direction of visual lines after conversion to user terminal.
Step 103, according to the direction of visual lines after the conversion, the location information of the user terminal is obtained.
In embodiments of the present invention, judge the POI quantity that user terminal is got during observation, i.e., after judgement conversion
The quantity of direction of visual lines obtain corresponding location information to position to user terminal, and by final positioning knot
Fruit is shown in the indoor plane figure in market.It should be noted that the indoor plane figure of description can be and be used in market
Show the electronical display for being used to show indoor plane figure of the display screen or other settings of market internal plane indoors
Product is not especially limited this in the embodiment of the present invention.
A kind of indoor orientation method provided in an embodiment of the present invention, according to the benchmark between visual space and indoor plane figure
Angle is transformed into indoor plane figure by the direction of visual lines by user terminal in visual space to indoor point of interest, carries out to user
Indoor positioning compares existing indoor positioning technologies, reduces the hardware of indoor positioning and the expense of on-site land survey, reduce interior
The complexity of positioning improves the accuracy of indoor positioning.
On the basis of the above embodiments, the reference angle obtained between visual space and indoor plane figure, comprising:
The first direction of visual lines and the second direction of visual lines are obtained, first direction of visual lines is to use described in the visual space
For family terminal from the first point of interest to the direction of visual lines of the second point of interest, second direction of visual lines is institute in the indoor plane figure
User terminal is stated from first point of interest to the direction of visual lines of second point of interest；
First direction of visual lines is converted into second direction of visual lines, the visual space is obtained and the interior is flat
Reference angle between the figure of face.
Fig. 2 is the schematic diagram of direction of visual lines in visual space provided in an embodiment of the present invention, be can refer to shown in Fig. 2, at this
In inventive embodiments, it is assumed that user holds user terminal position H in market and rotates in place, and in rotary course, protects always
The z-axis direction for holding user terminal is consistent in projecting direction and the user's face direction of true environment coordinate system horizontal plane, observes
Three POI, respectively POI1、POI2And POI3, NvIndicate that the direct north in true environment, Fig. 3 provide for the embodiment of the present invention
Indoor plane figure in direction of visual lines schematic diagram, can refer to shown in Fig. 3, in embodiments of the present invention, three in visual space
A POI is respectively indicated with 1,2,3 in plan view respectively indoors, NfIndicate the direct north of indoor plane figure, it can be seen that view
The direct north and the direct north of indoor plane figure for feeling space are not consistent, that is to say, that coordinate system between the two is
Different, it needs for the direction of visual lines in visual space coordinate system to be transformed into indoor plane figure, to position user terminal.
In embodiments of the present invention, the direction of visual lines in visual space is by by the camera (such as mobile phone camera) of user terminal
The image of acquisition carries out the operation such as Word Input and Text region, while using the sensor function in mobile phone, to obtain
Some POI is to the direction of visual lines between user terminal in visual space.Therefore, some POI is moved to from the position H in user terminal
When, using the POI as the first point of interest (such as POI1), user holds user terminal at this time, faces the second point of interest (POI2) into
Row shooting, to obtain POI in visual space1To POI2Between direction of visual lines, i.e. the first direction of visual lines；Due to putting down indoors
The position of known first point of interest and the second point of interest, can directly calculate POI in indoor plane figure in the figure of face1To POI2Between
Direction of visual lines, i.e. the second direction of visual lines, since the first direction of visual lines and the second direction of visual lines are respectively at different coordinate systems
In, at this point, rotate the first direction of visual lines of visual space coordinate system using user terminal initial position H as origin, so that
It is parallel with the second direction of visual lines of indoor plane figure to obtain postrotational first direction of visual lines, and angle will be rotated as NvAnd NfIt
Between angle information, i.e. reference angle.In embodiments of the present invention, each indoor scene, such as market and office building, are getting
After the reference angle of the indoor scene, after other users terminal enters the indoor scene, taken by user terminal
POI image establishes visual space, the direction of visual lines of visual space is transformed into indoor plane figure according to reference angle, to carry out
Positioning.
On the basis of the above embodiments, the direction of visual lines according to after conversion, obtains the positioning of the user terminal
Information, comprising:
If the user terminal observes that the quantity of the target point of interest is 1 in the direction of visual lines after the conversion
It is a, the ray parallel with the direction of visual lines after the conversion is obtained, using the ray as the localization region of the user terminal,
To obtain the location information of the user terminal, the ray is using the target point of interest as origin.
On the basis of the above embodiments, the direction of visual lines according to after the conversion, obtains the user terminal
Location information, further includes:
If the user terminal observes that the quantity of the target point of interest is 2 in the direction of visual lines after the conversion
It is a, the first ray and the second ray are obtained, using the intersection point of first ray and second ray as the user terminal
Positioning result, to obtain the location information of the user terminal；Wherein, first ray and the user terminal to first
The direction of visual lines of target point of interest is parallel, and using the first object point of interest as origin；Second ray and the user
The direction of visual lines of terminal to the second target point of interest is parallel, and using the second target point of interest as origin.
On the basis of the above embodiments, the direction of visual lines according to after the conversion, obtains the user terminal
Location information, further includes:
If the user terminal observes that the quantity of the target point of interest is greater than in the direction of visual lines after the conversion
2, a plurality of ray is obtained, and processing is weighted and averaged to the intersecting point coordinate that a plurality of ray intersects two-by-two, to obtain
State the location information of user terminal；Wherein, every ray is flat with the direction of visual lines of the user terminal to corresponding target point of interest
Row, and to correspond to target point of interest as origin.
In embodiments of the present invention, after getting reference angle, user terminal can be observed by this reference angle
To the direction of visual lines of each POI be converted into the direction of visual lines in indoor plane figure.It is obtained assuming that user holds smart phone
The POI of user's appearance direction, when user terminal observes 1 POI, due to the sight side in the POI indoors plan view
To being direction of visual lines that is known, then obtaining smart phone, it is transformed into indoor plane figure according to reference angle, to be somebody's turn to do
The localization region of user, i.e., the region that the user is currently located at be using the POI as origin, and it is parallel with the direction of visual lines after conversion
A ray on；In an alternative embodiment of the invention, when user terminal observes 2 POI, referring to the reality of above-mentioned 1 POI
Example is applied, two direction of visual lines that smart phone obtains are transformed into indoor plane figure throat, to draw out in plan view indoors
Two rays, i.e. the first ray and the second ray, and using the intersection point of this two rays as positioning result, to obtain the user
Current location information；In still another embodiment of the process, it when the POI quantity that user terminal is observed is more than 2, gets
The ray of a plurality of above-described embodiment, due to the presence of measurement error, often therefore more than one intersection point is obtaining these rays
After direction of visual lines after conversion, positioning result can be assigned by being weighted and averaged processing to ray intersection coordinate two-by-two
Weight by the intersection point to the direction of visual lines of each POI, be on duty by squared difference and determination between the direction of visual lines after conversion
Be worth quadratic sum it is smaller, show the intersection point closer to legitimate reading, assigned weight is higher, thus using the highest intersection point of weight as
Positioning result.Wherein, in embodiments of the present invention, weight specific value can be determined by the normalization reciprocal of difference sum.
Fig. 4 is the structural schematic diagram of indoor positioning device provided in an embodiment of the present invention, as shown in figure 4, the present invention is implemented
Example provides a kind of indoor positioning device, including reference angle obtains module 401, conversion module 402 and locating module 403, wherein
Reference angle obtains module 401 and is used to obtain the reference angle between visual space and indoor plane figure；Conversion module 402 is used for basis
The direction of visual lines of user terminal to target point of interest in the visual space is transformed into the indoor plane figure by the reference angle
In, the direction of visual lines after being converted；Locating module 403 is used to obtain the user according to the direction of visual lines after the conversion
The location information of terminal.
In embodiments of the present invention, it is checked due to indoor plane figure in order to facilitate user, usually when being drawn,
The direct north of direct north and true environment in indoor plane figure can generate deviation.Therefore, room is entered in user terminal
After interior scene, reference angle obtains module 401 firstly the need of between acquisition visual space and the indoor plane figure of the indoor scene
Reference angle.Then, conversion module 402 is obtained user terminal by the reference angle between indoor plane figure and visual space
To direction of visual lines be transformed on indoor plane figure, for being positioned according to the direction of visual lines after conversion to user terminal.
Finally, locating module 403 judges the POI quantity that user terminal is got during observation, i.e. sight side after judgement conversion
To quantity obtain corresponding location information, and final positioning result is shown to position to user terminal
In indoor plane figure in market.
A kind of indoor positioning device provided in an embodiment of the present invention, according to the benchmark between visual space and indoor plane figure
Angle is transformed into indoor plane figure by the direction of visual lines by user terminal in visual space to indoor point of interest, carries out to user
Indoor positioning compares existing indoor positioning technologies, reduces the hardware of indoor positioning and the expense of on-site land survey, reduce interior
The complexity of positioning improves the accuracy of indoor positioning.
On the basis of the above embodiments, it includes: first processing units and second processing that the reference angle, which obtains module 401,
Unit, wherein first processing units are institute for the first direction of visual lines of acquisition and the second direction of visual lines, first direction of visual lines
User terminal described in visual space is stated from the first point of interest to the direction of visual lines of the second point of interest, second direction of visual lines is
User terminal described in the indoor plane figure is from first point of interest to the direction of visual lines of second point of interest；At second
Reason unit is used to first direction of visual lines being converted to second direction of visual lines, obtains the visual space and the interior
Reference angle between plan view.
Device provided in an embodiment of the present invention is for executing above-mentioned each method embodiment, detailed process and detailed content
Above-described embodiment is please referred to, details are not described herein again.
Fig. 5 is electronic devices structure schematic diagram provided in an embodiment of the present invention, and referring to Fig. 5, which may include:
Processor (processor) 501, communication interface (Communications Interface) 502, memory (memory) 503
With communication bus 504, wherein processor 501, communication interface 502, memory 503 are completed mutual by communication bus 504
Communication.Processor 501 can call the logical order in memory 503, to execute following method: obtaining visual space and interior
Reference angle between plan view；According to the reference angle, by user terminal in the visual space to the sight of target point of interest
Direction is transformed into the indoor plane figure, the direction of visual lines after being converted；According to the direction of visual lines after the conversion, obtain
The location information of the user terminal.
In addition, the logical order in above-mentioned memory 503 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of invention
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the present invention
The all or part of the steps of example the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
On the other hand, the embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with meter
Calculation machine program, the computer program are implemented to carry out the indoor orientation method of the various embodiments described above offer when being executed by processor,
For example, obtain the reference angle between visual space and indoor plane figure；It, will be in the visual space according to the reference angle
The direction of visual lines of user terminal to target point of interest is transformed into the indoor plane figure, the direction of visual lines after being converted；Root
According to the direction of visual lines after the conversion, the location information of the user terminal is obtained.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of indoor orientation method characterized by comprising
Obtain the reference angle between visual space and indoor plane figure；
According to the reference angle, the direction of visual lines of user terminal to target point of interest in the visual space is transformed into the room
Direction of visual lines in inner plane figure, after being converted；
According to the direction of visual lines after the conversion, the location information of the user terminal is obtained.
2. indoor orientation method according to claim 1, which is characterized in that the acquisition visual space and indoor plane figure
Between reference angle, comprising:
The first direction of visual lines and the second direction of visual lines are obtained, first direction of visual lines is that user described in the visual space is whole
From the first point of interest to the direction of visual lines of the second point of interest, second direction of visual lines is to use described in the indoor plane figure at end
Family terminal is from first point of interest to the direction of visual lines of second point of interest；
First direction of visual lines is converted into second direction of visual lines, obtains the visual space and the indoor plane figure
Between reference angle.
3. indoor orientation method according to claim 1, which is characterized in that the direction of visual lines according to after conversion obtains
Take the location information of the user terminal, comprising:
If the user terminal observes that the quantity of the target point of interest is 1 in the direction of visual lines after the conversion, obtain
The ray parallel with the direction of visual lines after the conversion is taken, using the ray as the localization region of the user terminal, to obtain
To the location information of the user terminal, the ray is using the target point of interest as origin.
4. indoor orientation method according to claim 1, which is characterized in that the sight side according to after the conversion
To obtaining the location information of the user terminal, further includes:
If the user terminal observes that the quantity of the target point of interest is 2 in the direction of visual lines after the conversion, obtain
The first ray and the second ray are taken, using the intersection point of first ray and second ray as the positioning of the user terminal
As a result, to obtain the location information of the user terminal；Wherein, first ray and the user terminal are emerging to first object
The direction of visual lines of interest point is parallel, and using the first object point of interest as origin；Second ray is arrived with the user terminal
The direction of visual lines of second target point of interest is parallel, and using the second target point of interest as origin.
5. indoor orientation method according to claim 1, which is characterized in that the sight side according to after the conversion
To obtaining the location information of the user terminal, further includes:
If the user terminal observes that the quantity of the target point of interest is greater than 2 in the direction of visual lines after the conversion,
A plurality of ray is obtained, and processing is weighted and averaged to the intersecting point coordinate that a plurality of ray intersects two-by-two, to obtain the use
The location information of family terminal；Wherein, every ray is parallel with the direction of visual lines of the user terminal to corresponding target point of interest, and
To correspond to target point of interest as origin.
6. a kind of indoor positioning device characterized by comprising
Reference angle obtains module, for obtaining the reference angle between visual space and indoor plane figure；
Conversion module is used for according to the reference angle, by user terminal in the visual space to the sight side of target point of interest
To being transformed into the indoor plane figure, the direction of visual lines after being converted；
Locating module, for obtaining the location information of the user terminal according to the direction of visual lines after the conversion.
7. indoor positioning device according to claim 6, which is characterized in that the reference angle obtains module and includes:
First processing units, for obtaining the first direction of visual lines and the second direction of visual lines, first direction of visual lines is the view
User terminal described in space is felt from the first point of interest to the direction of visual lines of the second point of interest, and second direction of visual lines is described
User terminal described in indoor plane figure is from first point of interest to the direction of visual lines of second point of interest；
It is empty to obtain the vision for first direction of visual lines to be converted to second direction of visual lines for the second processing unit
Between reference angle between the indoor plane figure.
8. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized indoor fixed as described in any one of claim 1 to 5 when executing described program
The step of position method.
9. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer journey
It is realized when sequence is executed by processor as described in any one of claim 1 to 5 the step of indoor orientation method.
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