CN110392342A - A kind of indoor and outdoor seamless positioning navigation methods and systems - Google Patents
A kind of indoor and outdoor seamless positioning navigation methods and systems Download PDFInfo
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- CN110392342A CN110392342A CN201910678985.6A CN201910678985A CN110392342A CN 110392342 A CN110392342 A CN 110392342A CN 201910678985 A CN201910678985 A CN 201910678985A CN 110392342 A CN110392342 A CN 110392342A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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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
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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
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The present invention provides a kind of indoor and outdoor seamless positioning navigation methods and systems, comprising: A, acquisition for mobile terminal indoor base station signal and satellite-signal compare whether indoor base station signal is better than satellite-signal, if so then execute B, if otherwise executing E；B, it obtains indoor base station signal and obtains indoor positioning coordinate, load and show indoor map, execute C；C, determine whether to enter the room outdoor bond area, if so then execute D；If otherwise continuing to show current map；D, whether prompt switches map, E is executed if selection is, if otherwise continuing current map.E, the outdoor latitude and longitude coordinates for obtaining satellite system load and show outdoor map, execute F；F, determine whether to enter outdoor to indoor bond area, if so then execute G；If otherwise continuing current map.G, whether prompt switches map, B is executed if selection is, if otherwise continuing current map.Solve the problems, such as the navigation Service in the prior art that outdoor and interior can not be provided and combined.
Description
Technical field
The present invention relates to technical field of navigation and positioning more particularly to a kind of indoor and outdoor seamless positioning navigation methods and systems.
Background technique
As location technology is in the continuous expansion of application range, emerging application has been not limited to list for the demand of positioning
Pure outdoor scene or simple indoor scene integrate the mixed positioning etc. under positioning, a variety of environment outside indoors
The new demand proposed.
The prior art can not provide the outdoor and indoor navigation Service combined.Most of digital map navigation and indoor map
Be two separated softwares, there is different company or a team's exploitation, user pass in and out heavy construction need to search manually again map into
Row navigation, complicated for operation, efficiency is lower.Navigation when to make user pass in and out indoor and outdoors in life is more convenient, needs to mention
New navigation mode out.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of navigation of indoor and outdoor seamless positioning
Method and system, it is intended to solve the problems, such as the navigation Service in the prior art that outdoor and interior can not be provided and combined.
In order to achieve the above object, this invention takes technical solutions once:
A kind of indoor and outdoor seamless positioning air navigation aid, comprising steps of
A, whether acquisition for mobile terminal indoor base station broadcast singal and satellite positioning signal compare indoor base station broadcast singal
It is better than satellite positioning signal, if so then execute step B, thens follow the steps E if not；
B, it obtains indoor base station broadcast singal and obtains indoor positioning coordinate, load and show indoor map, execute step
C；
C, determine whether to enter the room outdoor bond area, if so then execute step D；If otherwise continuing to show current position
Figure；
D, whether prompt switches map, if selection is to then follow the steps E, if otherwise continuing to show current map.
E, the outdoor latitude and longitude coordinates for obtaining global position system load and show outdoor map, execute step F；
F, determine whether to enter outdoor to indoor bond area, if so then execute step G；If otherwise continuing to show current position
Figure；
G, whether prompt switches map, if selection is to then follow the steps B, if otherwise continuing to show current map.
Further, in the step A, the indoor base station broadcast singal is the broadcast letter that bluetooth iBeacon emits equipment
Number.
Further, the step B has been specifically included:
B01, bluetooth iBeacon broadcast singal is received；
B02, the information in bluetooth iBeacon broadcast singal is transmitted to cloud map and positioning by mobile communication network
Server；
B03, reception map and location-server analytical calculation obtain building number and the interior based on this building is determined
Position coordinate information；
B05, displaing coordinate information and map datum.
Further, the step B03 has been specifically included:
B031, the interior space is arranged to bluetooth iBeacon signal transmitting equipment, bluetooth at a certain distance in advance
IBeacon equipment constantly broadcasts own ID number with stable power；
B032, in advance by bluetooth iBeacon emit device numbering ID and its arrange specific location (x, y) be stored in system data
Library；
B033, timing scan bluetooth iBeacon signal obtain the ID of surrounding bluetooth iBeacon signal transmitting equipment, and
Signal strength RSSI value；
B034, determine that mobile terminal and signal strength RSSI value are calculated by the ID that bluetooth iBeacon signal emits equipment
The value of mobile terminal locations (X, Y) out.
Further, the step B034 has been specifically included:
B0341, the propagation model of wireless signal in space, propagation formula are established are as follows:
E (d1)=E (d0) -10 κ lg (d1/d0)+ξ,
Wherein, d1, d0 are the distance between mobile terminal and bluetooth iBeacon equipment；E (d1) is that distance of mobile terminal is blue
The RSSI value received at d1 meters of tooth iBeacon equipment；E (d0) is received when emitting equipment d0 apart from bluetooth iBeacon
Signal strength；κ is the radio signal attenuation factor；ξ is the stochastic variable for the Normal Distribution that mean value is 0；
B0342, simplify the propagation formula of wireless signal in space, the model abbreviation when d0 is 1m are as follows:
E (d)=A-Blg (d)+ξ；
Wherein, A is bluetooth iBeacon transmission power at 1 meter of its positional distance, and B=10 κ, E (d) unit is dBm, and d is
d1；
B0343, show that A, B take after being fitted by propagation formula with least square method by the RSSI value of measuring and calculating different distance
Value；
B0344, parameter A, B is substituted into, obtains distance relation formula, distance relation formula:
D=10(A-(d))/B；
B0345, basis sort according to signal strength, and obtaining N number of device data in the top is bluetooth iBeacon equipment
Equation group is established according to distance relation formula in the preset position n；
B0346, it is fitted solve system of equation with least square method, the result for solving the equation is mobile terminal locations (X, Y)
Value.
Alternatively, the step B is specifically included:
B11, in advance downloading building number and the indoor positioning coordinate information data based on this building；
B12, bluetooth iBeacon broadcast singal is received；
B13, the information in bluetooth iBeacon broadcast singal is matched with the data downloaded in advance, room is calculated
Internal coordinate；
B14, indoor coordinate information and map datum are shown.
Further, in the step C, determine whether to enter the room the process of outdoor bond area are as follows:
Judge whether to detect the indoor coordinate to outdoor bond area, coordinate of the interior to outdoor bond area are as follows:
Coordinate in door on the basis of the pre-set doorway central point for possessing two coordinate systems of indoor and outdoors in certain area
Value.
Further, in the step F, determine whether to enter the outdoor process to indoor bond area are as follows:
Judge whether to detect the outdoor coordinate to indoor bond area, coordinate of the outdoor to indoor bond area are as follows:
The coordinate in certain area outdoors on the basis of the pre-set doorway central point for possessing outdoor and indoor two coordinate systems
Value.
A kind of indoor and outdoor seamless positioning navigation system includes:
Mobile terminal, the mobile terminal internal processor, memory, display screen, base station broadcast signal scan module are defended
Star positioning system modules, mobile communication module；
Base station broadcast equipment, the base station broadcast equipment are provided with multiple and cover room area；
Map and location-server, the map and location-server setting are beyond the clouds and for providing indoor map and room
Interior positioning coordinate；
Global position system, for providing outdoor satellite positioning signal；
Memory in the mobile terminal is stored with indoor and outdoor location navigation program, the indoor and outdoor location navigation program
Indoor and outdoor seamless positioning air navigation aid a method as claimed in any one of claims 1-8 is realized when being executed by the processor.
Further, global position system is GPS positioning system or BEI-DOU position system.
Beneficial effect using the above scheme is: a kind of method of indoor and outdoor seamless positioning navigation proposed by the present invention and being
System, the present invention can be integrated indoor navigation technology, two maps are put into a software based on existing outdoor navigation scheme,
Switched by judging that the difference of signal carries out the indoor navigation with outdoor map, when user enters the room building from outdoor navigation
When, the current latitude and longitude information of mobile terminal reading terminals global position system, for outdoor digital map navigation；When user enters room
When inner region, mobile terminal shows phase according to aforementioned principles acquisition building number and the indoor coordinate based on this building
Architecture indoor map and indoor positioning are closed, and carries out indoor real-time navigation.Under the scene that outdoor enters the room, base station is got
Switch to indoor map when signal, when user is from indoor navigation to certain outdoor longitude and latitude point, base station information packet that software is got
When containing outlet base station number pre-planned, navigation switches to outdoor map, navigates to destination according to current longitude and latitude.It is whole
A method process automatically processes and judges, carries out other additional cumbersome manual operations again without user.The program can be with
Thoroughly solve to navigate separation outside current indoor room, avoid user into need after certain heavy construction to switch other software or browser into
Row navigation, or the building guide figure at the scene of can only consulting, it is complicated for operation, guide icon will is indefinite, user easily gets lost
Defect.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of embodiment of the method for indoor and outdoor seamless positioning of the present invention navigation.
Fig. 2 is a kind of flow diagram of preferred embodiment of the method for indoor and outdoor seamless positioning of the present invention navigation.
Fig. 3 is the idiographic flow schematic diagram of step B03 in Fig. 2.
Fig. 4 is the idiographic flow schematic diagram of step B034 in Fig. 3.
Fig. 5 is the flow diagram of another preferred embodiment of the method for indoor and outdoor seamless positioning of the present invention navigation.
Fig. 6 is a kind of logical flow chart of embodiment of the method for indoor and outdoor seamless positioning navigation.
Fig. 7 is a kind of functional block diagram of embodiment of the system of indoor and outdoor seamless positioning of the present invention navigation.
In figure: 10, mobile terminal；11, processor；12, memory；13, display screen；14, base station broadcast signal scans mould
Block；15, global position system module；16, mobile communication module；17, communication bus；20, base station broadcast equipment；30, map and
Location-server；40, global position system.
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 only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of method of indoor and outdoor seamless positioning navigation, this method is suitable for indoor base
Broadcasting equipment of standing is that bluetooth iBeacon emits in the scene of equipment, and the indoor base station broadcast singal in this scene is bluetooth
The broadcast singal of iBeacon transmitting equipment；It is that WIFI emits equipment that this method, which can also apply to indoor base station broadcast equipment,
Scene in, indoor base station broadcast singal in this scene is WIFI broadcast singal.Mono- low power consuming Bluetooth technology of Ibeacon,
Bluetooth technology before working principle is similar emits signal by iBeacon, and mobile terminal device positioning receives, feedback signal.Root
Many relevant art applications can be made according to this simple location technology.For example, iBeacon is arranged in shop communicates mould
If block, it can allow on iPhone and iPad and run an information tell the server, or send coupons from server to customer
And it is integrated into shop.Further, it is also possible to send information to application software using iBeacon when household electrical appliances break down or stop working
Deng.Due to broadcast singal similar, this implementation using principle in the method for WIFI broadcast singal and iBeacon transmitting equipment
Illustrate by taking the broadcast singal of iBeacon transmitting equipment as an example in example.
Outdoor coordinate system in this programme uses latitude and longitude coordinates system (GPS or Beidou), and indoor coordinate system is used to build
Center is the azimuthal projection of origin, and direction is x-axis from West to East, establishes indoor coordinate system from the south orientation north to for y-axis.
A kind of method of indoor and outdoor seamless positioning navigation, comprising the following steps:
Step A, acquisition for mobile terminal indoor base station broadcast singal and satellite positioning signal compare indoor base station broadcast singal
Whether it is better than satellite positioning signal, if so then execute step B, thens follow the steps E if not.
Specifically, establishing an indoor and outdoor seamless navigation in mobile terminal applies (IOS App/Android App/ wechat
Small routine/the end Web based on H5)；Seamless navigation is applied integrates indoor navigation technology on the basis of outdoor navigation, will contain and have family
The outdoor map of outer navigation information and the indoor map containing indoor navigation information are put into the seamless navigation application software, when with
Family needs to start when navigation Service software, initializes map resource, and mobile terminal scans mould by built-in base station broadcast signal
Block obtains indoor base station broadcast singal (broadcast singal of iBeacon transmitting equipment), is defended by the acquisition of global position system module
Star positioning signal, satellite positioning signal are GPS satellite positioning signal or big-dipper satellite positioning signal, compare indoor base station broadcast letter
Number whether being better than the process of satellite positioning signal is by both the relative intensity of broadcast singal and the relative intensity of positioning signal
Power compare, whether the relative intensity for comparing indoor base station broadcast singal is better than the relative intensity of satellite positioning signal,
When the relative intensity of indoor base station broadcast singal is better than the relative intensity of satellite positioning signal, then tentatively judge user indoors
Using mobile terminal, step B is executed；When the relative intensity of indoor base station broadcast singal is weaker than the relative intensity of satellite positioning signal
When, then tentatively judge that user in outdoor application mobile terminal, executes step E.The relative intensity of broadcast singal refers to broadcast singal
The ratio of intensity and reference broadcast signal strength；The relative intensity of satellite positioning signal refers to the signal strength of global position system
With the ratio of reference satellite positioning system signal intensity.If a kind of signal can only be picked up, it may determine that another signal is strong
The relative intensity of degree and signal is 0, the judgment principle being still applied in this step.
Step B, it obtains indoor base station broadcast singal and obtains indoor positioning coordinate, load and show indoor map, execute
Step C.
After tentatively judging that user uses mobile terminal indoors, obtains indoor base station broadcast singal and obtain indoor positioning
Coordinate loads on mobile terminals and shows indoor map.
As shown in Fig. 2, specific step B includes two embodiments, wherein in embodiment one:
Step B has specifically included following steps:
Step B01, bluetooth iBeacon broadcast singal is received.
Step B02, by the information in bluetooth iBeacon broadcast singal by mobile communication network be transmitted to cloud map and
Map and location-server.
Specifically, mobile terminal receives bluetooth iBeacon broadcast singal by base station broadcast signal scan module, and lead to
Information in bluetooth iBeacon broadcast singal is transferred to cloud map and positioning service by the mobile communication network for crossing mobile terminal
Device, mobile communication network, which can be 3G, 4G, 5G or wifi etc., can connect to the network of internet.Map and location-server are set
The modular structure and data operation that can simplify this one end of mobile terminal beyond the clouds are set, is suitable for nearly all intelligent sliding in this way
Dynamic terminal.
Step B03, it receives map and location-server analytical calculation obtains building number and the room based on this building
Interior positioning coordinate information.
In specific implementation process, mobile terminal receives map and location-server analytical calculation by mobile communication network
Building number and the indoor positioning coordinate information based on this building are obtained, while determining have according to indoor positioning coordinate information
The indoor map of body.
As shown in figure 3, step B03 in the present embodiment specifically includes the following steps:
Step B031, the interior space is arranged to bluetooth iBeacon signal emits equipment, bluetooth at a certain distance in advance
IBeacon equipment constantly broadcasts own ID number with stable power.
In specific implementation process, the interior space is arranged to bluetooth iBeacon signal emits equipment, arrangement at a certain distance
Spacing is 3-8 meters general, and according to cost and accuracy requirement arrangement, any region mobile terminal can pass through bluetooth indoors
IBeacon device broadcasts information and it is deployed in the map in cloud and location-server picks up the exact position of indoor coordinate system.Room
Interior bluetooth iBeacon equipment constantly broadcasts own ID number with stable power, so that mobile terminal can scan this at any time
A little information.
Step B032, bluetooth iBeacon is emitted into device numbering ID in advance and it arranges that specific location (x, y) is stored in system
Database.
Specifically, each bluetooth iBeacon transmitting equipment has a number ID, bluetooth iBeacon to emit equipment cloth
The specific location coordinate (x, y) set pre-deposits system database.
Step B033, timing scan bluetooth iBeacon signal obtains the ID of surrounding bluetooth iBeacon signal transmitting equipment,
And signal strength RSSI value.
User's hand-hold Bluetooth iBeacon receives terminal (mobile terminal) and opens bluetooth iBeacon receive capabilities, timing scan
Bluetooth iBeacon signal obtains the ID and signal strength RSSI value of surrounding bluetooth iBeacon equipment, obtains surrounding bluetooth
The position coordinate value of corresponding bluetooth iBeacon equipment can be determined after the ID of iBeacon equipment from system database.
Step B034, mobile terminal and signal strength RSSI value are determined by the ID that bluetooth iBeacon signal emits equipment
Calculate the value of mobile terminal locations (X, Y).
Specifically, the position coordinates that the ID of a bluetooth iBeacon signal transmitting equipment is determined are received with mobile terminal
The RSSI value of signal strength is established signal value size and is emitted at a distance from equipment with mobile terminal relative to bluetooth iBeacon signal,
Formula is established, forms equation group according to multiple formula, the value of position (X, Y) of mobile terminal can be obtained by solving equation group.
As shown in figure 4, step B034 concrete operation solution procedure in the present embodiment the following steps are included:
Step B0341, the propagation model of wireless signal in space, propagation formula are established are as follows:
E (d1)=E (d0) -10 κ lg (d1/d0)+ξ,
Wherein, d1, d0 are the distance between mobile terminal and bluetooth iBeacon equipment；E (d1) is that distance of mobile terminal is blue
The RSSI value received at d1 meters of tooth iBeacon equipment；E (d0) is received when emitting equipment d0 apart from bluetooth iBeacon
Signal strength；κ is the radio signal attenuation factor；ξ is the stochastic variable for the Normal Distribution that mean value is 0；
Step B0342, simplify the propagation formula of wireless signal in space, the model abbreviation when d0 is 1m are as follows:
E (d)=A-Blg (d)+ξ；
Wherein, A is bluetooth iBeacon transmission power at 1 meter of its positional distance, and B=10 κ, E (d) unit is dBm, and d is
d1；Since A, B are constants, need to determine the two values according to practical measurement result, and in practical measurement process, bluetooth
There is also different degrees of drifts by the RSSI (i.e. E (d) value) of iBeacon equipment, are considered as linear fit side when determining A, B value
Method reduces error.
Step B0343, A, B are obtained after being fitted by propagation formula with least square method by the RSSI value of measuring and calculating different distance
Value.
RSSI value, that is, E (d) value, when being indifferent to the influence of stochastic variable ξ, propagation formula be can simplify are as follows: E (d)=A-
Blg(d)。
E (d) and ln (d) meet linear relationship, can pass through measurement different distance and RSSI value (the i.e. E (d) of the position
Value), A, B value are obtained after being then fitted by the formula with least square method.
To the same bluetooth equipment, n different positions are selected (at > 1 meter) around it, measuring respectively in this position should
The radiation intensity of bluetooth equipment, available n group experimental data, if being recorded as according to the form of (RSSI value, distance) binary group
(E (d1), d1), (E (d2), d2) ..., (E (dn), dn), the then result being fitted with least square method are as follows:
Wherein Di=lg (di)。
During actual test, in the range of 2-8 meters, test point is set every 2 meters of plane grids.Theoretically, right
Each equipment, respective A, B value is different, but signal can be made unified adjustment in production by us, make unified mark
Standard, and uniformly test, the product export within the scope of allowable error, reach unified parameters value purpose in this way, i.e. A, B value is
Constant, this process uniformly produce standard in experimental determination, and using this standard as equipment after equipment factory.Product appears on the scene
Afterwards, the value of A, B are determining.
Step B0344, parameter A, B is substituted into, obtains distance relation formula, distance relation formula:
D=10(A-E(d))/B。
Step B0345, according to sorting according to signal strength, obtaining N number of device data in the top is bluetooth iBeacon
Equation group is established according to distance relation formula in the preset position equipment n.
Step B0346, it is fitted solve system of equation with least square method, the result for solving the equation is mobile terminal locations
The value of (X, Y).
Step B0345, the detailed process of step B0346 are as follows: be in the mobile terminal of target position (X, Y), will receive week
The signal for enclosing many bluetooth iBeacon equipment omits E (d) < Emin bluetooth iBeacon device data (such as Emin first
=-140dm), remaining bluetooth iBeacon equipment sorts according to model intensity, obtains N number of device data (this in the top
When N and positioning accuracy be positively correlated, and with calculate time-consuming be positively correlated), if note (xn, yn) it is that bluetooth iBeacon equipment n is preset
Position, dn are position (X, Y) and position (xn, yn) distance, then have following equation:
Wherein, dn can be obtained according to formula (3):
Above equation items all subtract n-th equation, has just eliminated quadratic term, has obtained another equation group, there is n-1 etc.
Formula:
Remember Ri=2 (xn-xi), Si=2 (yn-yi),
Equation group becomes: RiX+SiY=Ti, wherein (i=1,2,3 ... n-1)；
Equation group equation is divided by coefficients R i, deformation are as follows: X+Si/RiY=Ti/Ri, (i=1,2,3 ... n-1)；
This equation group can be fitted with least square method, solve the result of the equation are as follows:
Wherein: m=n-1；Ui=Si/Ri, Vi=Ti/Ri
(X, the Y) obtained is target location coordinate (mobile terminal position coordinate).
Step B04, displaing coordinate information and map datum.
Specifically, being shown on map after obtaining mobile terminal position coordinate by coordinate information, led to realize
Boat function.
For entire step B, equipment basic parameter reduces error, equipment exfactory inspection, also by quasi- by the Fitting Calculation
It is total to calculate, determine whether equipment is qualified.Wherein input N be computational accuracy parameter, actually location error withPositive
It closes；It inputs N to be positively correlated with calculation amount simultaneously, mobile terminal terminal can call suitable parameters saving mobile eventually according to the actual situation
Energy consumption is held, extends mobile terminal and uses the time；Suitable E is setmin, the value also will affect positioning accuracy in real process, generally
Value -140dm.
Step C, determine whether to enter the room outdoor bond area, if so then execute step D；If otherwise continuing display to work as
Preceding map.
Step D, whether prompt switches map, if selection is to then follow the steps E, if otherwise continuing to show current map.
Step E, the outdoor latitude and longitude coordinates for obtaining global position system load and show outdoor map, execute step F.
In detailed process, navigate when user opens the navigation software on mobile terminal, to from indoor moving to outdoor
When, the map shown on mobile terminal needs to be switched to outdoor from interior, when mobile terminal reach it is indoor to outdoor combined area
When domain, software will do it whether prompt switches map, when user find out door to it is outdoor when, user's selection is acquisition satellite positioning
The outdoor latitude and longitude coordinates of system load and show outdoor map；When user does not expect outdoor, user's selection is no, then continues
Show current map and location information.
Wherein, the indoor regional location to outdoor bond area is pre-set, determines whether to enter the room to outdoor
The process of bond area are as follows: judge whether to detect the indoor coordinate to outdoor bond area, interior to outdoor bond area
Coordinate are as follows: certain area in the door on the basis of the pre-set doorway central point for possessing two coordinate systems of indoor and outdoors
Interior coordinate value.When within the scope of the coordinate value of the coordinate value of mobile terminal detection in the area, i.e., judgement user, which reaches, is somebody's turn to do
Region.
Step F, determine whether to enter outdoor to indoor bond area, if so then execute step G；If otherwise continuing display to work as
Preceding map；
Step G, whether prompt switches map, if selection is to then follow the steps B, if otherwise continuing to show current map.
As shown in Fig. 1, Fig. 6, in detailed process, when user open mobile terminal on navigation software navigate, to from
When outdoor is moved to interior, the map shown on mobile terminal needs to be switched to interior from outdoor, when mobile terminal reaches outdoor
When to indoor bond area, software will do it whether prompt switches map, when user wants to enter interior, user's selection
It is the indoor coordinate for obtaining global position system, loads and show indoor map；When user is not desired to enter the room, Yong Huxuan
It selects no, then continues to show current map and location information.
Wherein, the outdoor regional location to indoor bond area is pre-set, determines whether to enter outdoor to interior
The process of bond area are as follows: judge whether to detect the outdoor coordinate to indoor bond area, outdoor to indoor bond area
Coordinate are as follows: certain area in the door on the basis of the pre-set doorway central point for possessing outdoor and indoor two coordinate systems
Interior coordinate value.When within the scope of the coordinate value of the coordinate value of mobile terminal detection in the area, i.e., judgement user, which reaches, is somebody's turn to do
Region.
It is exited for convenience of software, in above process further includes step H.
Step H, it receives user instructions and whether exits navigation, if then destroying map resource and terminating after exiting guide rail, if
Otherwise it continues to execute and operates in next step.
It specifically, step H may be provided at behind step B, may also be arranged on after step F, software exited according to user
Demand is rationally arranged.
In the present solution, mobile terminal receives bluetooth iBeacon broadcast singal when mobile terminal is located at room area, it will
Information is transmitted to cloud map and location-server by 4G mobile communication network, which is calculated building volume
Number and the indoor positioning coordinate information based on this building and by this coordinate information return mobile terminal；When mobile terminal is in room
When exterior domain, acquisition for mobile terminal global position system (Beidou/GPS etc.) receives the signal of respective satellite navigation system transmitting,
Obtain outdoor coordinate information.(IOS App/Android is applied by establishing an indoor and outdoor seamless navigation in mobile terminal
The App/ wechat small routine/end Web based on H5), based on existing outdoor navigation scheme, indoor navigation technology is integrated, by room
Interior map and outdoor map are put into a software, are cut by judging that the difference of signal carries out the indoor navigation with outdoor map
It changes.
When user is at outdoor, the current latitude and longitude information of software reading terminals global position system (Beidou/GPS etc.),
For outdoor digital map navigation；When user enters the room region, mobile terminal obtains building number and base according to aforementioned principles
In the indoor coordinate of this building, and show related architecture indoor map and indoor positioning, and carry out real-time navigation.
When user is from indoor navigation to certain outdoor longitude and latitude point, the base station information that software is got includes pre-planned
Base station number is exported, corresponding outlet port coordinate is obtained according to outlet base station number, which is according to mobile terminal
When enclosing, navigation switches to outdoor map, navigates to destination further according to current longitude and latitude.
When terminal positioning outer bond area indoors, terminal applies establish notification mechanisms, remind user whether switching chamber
Inside/outside navigation Service.
Whole process automatically processes and judges according to above method, carries out other additional cumbersome hands again without user
Dynamic operation, the program can thoroughly solve separation of navigating outside current indoor room, and user needs to switch other after entering certain heavy construction
Software or browser navigate, or can only consult scene building guide figure, it is complicated for operation, guide icon will is indefinite,
The technical problem that user easily gets lost etc..
As shown in figure 5, specific step B further includes another embodiment, embodiment two the following steps are included:
Step B11, building number and the indoor positioning coordinate information data based on this building are downloaded in advance；
Step B12, bluetooth iBeacon broadcast singal is received；
Step B13, the information in bluetooth iBeacon broadcast singal is matched with the data downloaded in advance, is calculated
To indoor coordinate；
Step B14, indoor coordinate information and map datum are shown.
During specific embodiment, in advance in mobile terminal under stored building number again and based on this building
Indoor positioning coordinate information data, then carried out by the information in bluetooth iBeacon broadcast singal with the data downloaded in advance
Matching, is calculated indoor coordinate, and the meter of indoor positioning coordinate is carried out further according to the indoor Coordinate calculation method in embodiment one
It calculates, obtains indoor positioning coordinate, realize indoor navigation function.The process is not required to additionally use mobile communication network, for not propping up
The equipment for holding the mobile networks such as 3G, 4G and 5G is more applicable in.
As shown in fig. 7, also proposing a kind of indoor and outdoor seamless positioning navigation system in the present embodiment, include:
Mobile terminal 10,10 internal processor 11 of mobile terminal, memory 12, display screen 13, base station broadcast signal
Scan module 14, global position system module 15, mobile communication module 16；Memory 12, display screen 13, base station broadcast signal are swept
Module 14, global position system module 15 and mobile communication module 16 is retouched to connect by communication bus 17 and the communication of processor 11
It connects.
Base station broadcast equipment 20, the base station broadcast equipment 20 are provided with multiple and cover room area；In the present embodiment
The interior space is arranged to base station broadcast equipment, base station broadcast equipment can be the transmitting of bluetooth iBeacon signal at a certain distance
Equipment is also possible to WIFI signal transmitting equipment.The present embodiment is illustrated so that bluetooth iBeacon signal emits equipment as an example,
Base station broadcast equipment arranges that spacing is 3-8 meters general, and according to cost and accuracy requirement arrangement, any region mobile terminal is equal indoors
It can be received by mobile terminal, and be deployed in the map in cloud and the accurate position of the indoor coordinate system of location-server pickup
It sets.Indoor bluetooth iBeacon signal transmitting equipment constantly broadcasts own ID number with stable power, at any time so as to mobile terminal
Broadcast message can be scanned.
Map and location-server 30, the map and the setting of location-server 30 are beyond the clouds and for providing indoor map
And indoor positioning coordinate；Each bluetooth iBeacon signal transmitting equipment has a number ID, bluetooth iBeacon signal hair
The specific location coordinate (x, y) of jet device arrangement pre-deposits the system database in map and location-server, and user is hand-held
Bluetooth iBeacon reception terminal (mobile terminal) opening bluetooth iBeacon receive capabilities, timing scan bluetooth iBeacon signal,
The ID and signal strength RSSI value of surrounding bluetooth iBeacon equipment are obtained, the transmitting of surrounding bluetooth iBeacon signal is obtained and sets
The position coordinate value of corresponding bluetooth iBeacon signal transmitting equipment can be determined after standby ID from system database.
Global position system 40, for providing outdoor satellite positioning signal.Global position system 40 be GPS positioning system or
BEI-DOU position system.
Memory 12 in the mobile terminal 10 is stored with indoor and outdoor location navigation program, the indoor and outdoor location navigation
Program realizes indoor and outdoor seamless positioning air navigation aid as described above when being executed by the processor 11.
In conclusion the present invention proposes a kind of method and system of indoor and outdoor seamless positioning navigation, mobile interchange is coped with
Under scene, only with existing mobile terminal device and existing communication base station signal, there is extremely low positioning terminal cost, because
This is very suitable to popularization and application.Since each Internet user naturally possesses mobile terminal, it is ready-made integrated bluetooth module, defends
The mobile terminal of the sensors such as star positioning system modules (Beidou/GPS etc.), gyroscope, compass and gravity sensor, the shifting
Dynamic terminal also has powerful computing capability, is very suitable to and is directly to participate in the crucial ring of this positioning system.Mobile whole
In the navigation application system at end, outdoor map, indoor map and respective air navigation aid are integrated in a software, according to this hair
The method of the indoor and outdoor seamless positioning navigation of bright proposition provides practical, mode of easily navigating for user, can thoroughly solve to work as
Preceding indoor and outdoor navigation separation, user need switching other software or browser to navigate after entering certain heavy construction, or only
The building guide figure at scene, technical problem complicated for operation, guide icon will is indefinite, user easily gets lost etc. can be consulted.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of indoor and outdoor seamless positioning air navigation aid, which is characterized in that comprising steps of
A, acquisition for mobile terminal indoor base station broadcast singal and satellite positioning signal, compare whether indoor base station broadcast singal is better than
Satellite positioning signal thens follow the steps E if so then execute step B if not；
B, it obtains indoor base station broadcast singal and obtains indoor positioning coordinate, load and show indoor map, execute step C；
C, determine whether to enter the room outdoor bond area, if so then execute step D；If otherwise continuing to show current map；
D, whether prompt switches map, if selection is to then follow the steps E, if otherwise continuing to show current map；
E, the outdoor latitude and longitude coordinates for obtaining global position system load and show outdoor map, execute step F；
F, determine whether to enter outdoor to indoor bond area, if so then execute step G；If otherwise continuing to show current map；
G, whether prompt switches map, if selection is to then follow the steps B, if otherwise continuing to show current map.
2. indoor and outdoor seamless positioning air navigation aid according to claim 1, which is characterized in that in the step A, the room
Interior base station broadcast signal is the broadcast singal that bluetooth iBeacon emits equipment.
3. indoor and outdoor seamless positioning air navigation aid according to claim 2, which is characterized in that the step B is specifically included:
B01, bluetooth iBeacon broadcast singal is received；
B02, the information in bluetooth iBeacon broadcast singal is transmitted to cloud map and map by mobile communication network and is determined
Position server；
B03, reception map and location-server analytical calculation obtain building number and the indoor positioning based on this building is sat
Mark information；
B04, displaing coordinate information and map datum.
4. indoor and outdoor seamless positioning air navigation aid according to claim 3, which is characterized in that the step B03 is specifically wrapped
It includes:
B031, the interior space is arranged to bluetooth iBeacon signal transmitting equipment at a certain distance in advance, bluetooth iBeacon is set
It is standby that own ID number is broadcasted constantly with stable power；
B032, in advance by bluetooth iBeacon emit device numbering ID and its arrange specific location (x, y) be stored in system database；
B033, timing scan bluetooth iBeacon signal obtain the ID and signal of surrounding bluetooth iBeacon signal transmitting equipment
Intensity RSSI value；
B034, determine that mobile terminal and signal strength RSSI value calculate shifting by the ID that bluetooth iBeacon signal emits equipment
The value of dynamic terminal location (X, Y).
5. indoor and outdoor seamless positioning air navigation aid according to claim 4, which is characterized in that the step B034 is specifically wrapped
It includes:
B0341, the propagation model of wireless signal in space, propagation formula are established are as follows:
E (d1)=E (d0) -10 κ lg (d1/d0)+ξ,
Wherein, d1, d0 are the distance between mobile terminal and bluetooth iBeacon equipment；E (d1) is distance of mobile terminal bluetooth
The RSSI value received at d1 meters of iBeacon equipment；E (d0) is received when emitting equipment d0 apart from bluetooth iBeacon
Signal strength；κ is the radio signal attenuation factor；ξ is the stochastic variable for the Normal Distribution that mean value is 0；
B0342, simplify the propagation formula of wireless signal in space, the model abbreviation when d0 is 1m are as follows:
E (d)=A-Blg (d)+ξ；
Wherein, A be bluetooth iBeacon transmission power 1 meter of its positional distance at, B=10 κ, E (d) unit be dBm, d for d1 simultaneously
Indicate the distance between mobile terminal and bluetooth iBeacon equipment；
B0343, A, B value are obtained after being fitted by propagation formula with least square method by the RSSI value of measuring and calculating different distance；
B0344, parameter A, B is substituted into, obtains distance relation formula, distance relation formula:
D=10(A-E(d))/B；
B0345, basis sort according to signal strength, and obtaining N number of device data in the top is that bluetooth iBeacon equipment n is pre-
If position, equation group is established according to distance relation formula；
B0346, it is fitted solve system of equation with least square method, the result for solving the equation is the value of mobile terminal locations (X, Y).
6. indoor and outdoor seamless positioning air navigation aid according to claim 2, which is characterized in that the step B is specifically included:
B11, in advance downloading building number and the indoor positioning coordinate information data based on this building；
B12, bluetooth iBeacon broadcast singal is received；
B13, the information in bluetooth iBeacon broadcast singal is matched with the data downloaded in advance, indoor seat is calculated
Mark；
B14, indoor coordinate information and map datum are shown.
7. indoor and outdoor seamless positioning air navigation aid according to claim 1, which is characterized in that in the step C, judgement is
The no process for entering the room outdoor bond area are as follows:
Judge whether to detect the indoor coordinate to outdoor bond area, coordinate of the interior to outdoor bond area are as follows: with pre-
First set the coordinate value in the door on the basis of the doorway central point for possessing two coordinate systems of indoor and outdoors in certain area.
8. indoor and outdoor seamless positioning air navigation aid according to claim 1, which is characterized in that in the step F, judgement is
It is no to enter the outdoor process to indoor bond area are as follows:
Judge whether to detect the outdoor coordinate to indoor bond area, coordinate of the outdoor to indoor bond area are as follows: with pre-
First set the coordinate value in the certain area outdoors on the basis of possessing outdoor and two coordinate systems in interior doorway central point.
9. a kind of indoor and outdoor seamless positioning navigation system, which is characterized in that include:
Mobile terminal, the mobile terminal internal processor, memory, display screen, base station broadcast signal scan module, satellite
Position system module, mobile communication module；
Base station broadcast equipment, the base station broadcast equipment are provided with multiple and cover room area；
Map and location-server, the map and location-server setting are beyond the clouds and fixed for providing indoor map and interior
Position coordinate；
Global position system, for providing outdoor satellite positioning signal；
Memory in the mobile terminal is stored with indoor and outdoor location navigation program, and the indoor and outdoor location navigation program is by institute
It states when processor executes and realizes indoor and outdoor seamless positioning air navigation aid a method as claimed in any one of claims 1-8.
10. indoor and outdoor seamless positioning navigation system according to claim 9, which is characterized in that global position system GPS
Positioning system or BEI-DOU position system.
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