CN112461242A - Indoor navigation method and device - Google Patents
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Abstract
The invention discloses an indoor navigation method and device, wherein the navigation method comprises the following steps: acquiring coordinate points of a starting point coordinate point and a finishing point coordinate point, and acquiring at least one entry point position moving from a current scene of the starting point coordinate point to a next scene; calculating according to the entry point position and the starting point coordinate point to obtain an optimal entry point position; taking the starting point coordinate as the current target point position, calculating the next target point position according to the optimal entry point position and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position belongs to the scene where the end point coordinate is located; and calculating the current next target point position according to the end point and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position is coincident with the end point coordinate point. The invention can effectively improve the convenience and accuracy of indoor navigation.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to an indoor navigation method and device.
Background
At present, in the existing indoor navigation method, the arrangement of objects is mainly identified on a plane graph, and a user directly looks up a route and a mark of the plane graph to find a target position, so that indoor navigation is realized. However, the identification of the plane map has certain academic expertise, is abstraction and summarization of a live scene, and the plane map and the live scene have certain differences, so that the existing indoor navigation method cannot provide intuitive position and accurate path information, and the indoor navigation effect is poor.
Disclosure of Invention
The invention provides an indoor navigation method and device, and aims to solve the technical problem that the existing indoor navigation method provides visual position and accurate path information, so that the indoor navigation result is poor.
A first embodiment of the present invention provides an indoor navigation method, including:
acquiring coordinate points of a starting point coordinate point and an end point coordinate point, and acquiring at least one entry point position moving from a current scene of the starting point coordinate point to a next scene after judging that the starting point coordinate point and the end point coordinate point are not in the same scene;
calculating to obtain an optimal entry point position according to the entry point position and the starting point coordinate point;
taking the starting point coordinate as a current target point position, calculating a next target point position according to the optimal entry point position and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position belongs to the scene of the end point coordinate;
and calculating the current next target point position according to the end point and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position is coincident with the end point coordinate point.
Further, the navigation method further comprises:
if the current target point belongs to the scene of the starting point coordinate point, calculating according to the current target point and the optimal entry point to obtain the direction and the distance between the current target point and the starting point coordinate point;
and if the current target point belongs to the scene of the terminal point coordinate point, calculating according to the current target point and the terminal point coordinate point to obtain the direction and the distance between the current target point and the terminal point coordinate point.
Further, the calculating according to the entry point location and the starting point coordinate point to obtain an optimal entry point location specifically includes:
and calculating the shortest distance between the entry point position and the starting point coordinate, and taking the entry point position corresponding to the shortest distance as the optimal entry point position.
Further, the obtaining of the coordinate points of the start point coordinate point and the end point coordinate point specifically includes:
and marking the corresponding three-dimensional coordinate point of each shop in the target area, and marking the corresponding layer number of each shop.
Further, after acquiring the start point coordinate point and the end point coordinate point, the method further includes:
judging whether the positions of the starting point coordinate and the end point coordinate belong to a preset area or not, and if so, judging that the starting point coordinate point and the end point coordinate point are in the same scene; if not, the starting point coordinate point and the end point coordinate point are judged to be in the same scene.
A second embodiment of the present invention provides an indoor navigation device, including:
the acquisition module is used for acquiring coordinate points of a starting point coordinate point and an end point coordinate point, and acquiring at least one entry point position moving from a current scene of the starting point coordinate point to a next scene after judging that the starting point coordinate point and the end point coordinate point are not in the same scene;
the calculation module is used for calculating to obtain an optimal entry point position according to the entry point position and the starting point coordinate point;
a first updating module, configured to use the starting point coordinate as a current target point location, calculate a next target point location according to the optimal entry point location and the current target point location, and update the next target point location to the current target point location when the movable target moves to the next target point location until the current target point location belongs to the scene where the end point coordinate is located;
and the second updating module is used for calculating the current next target point position according to the end point and the current target point position, and updating the next target point position into the current target point position when the movable target moves to the next target point position until the current target point position is coincident with the end point coordinate point.
Further, the navigation device further comprises:
a determination module configured to: if the current target point belongs to the scene of the starting point coordinate point, calculating according to the current target point and the optimal entry point to obtain the direction and the distance between the current target point and the starting point coordinate point; and if the current target point belongs to the scene of the terminal point coordinate point, calculating according to the current target point and the terminal point coordinate point to obtain the direction and the distance between the current target point and the terminal point coordinate point.
Further, the calculation module is specifically configured to:
and calculating the shortest distance between the entry point position and the starting point coordinate, and taking the entry point position corresponding to the shortest distance as the optimal entry point position.
Further, the obtaining of the coordinate points of the start point coordinate point and the end point coordinate point specifically includes:
and marking the corresponding three-dimensional coordinate point of each shop in the target area, and marking the corresponding layer number of each shop.
Further, after acquiring the start point coordinate point and the end point coordinate point, the method further includes:
judging whether the positions of the starting point coordinate and the end point coordinate belong to a preset area or not, and if so, judging that the starting point coordinate point and the end point coordinate point are in the same scene; if not, the starting point coordinate point and the end point coordinate point are judged to be in the same scene.
The invention provides an indoor navigation method and device, which realize path planning based on a virtual space established by a real scene, wherein the scene structure is consistent with the real scene, so that a user can accurately identify the direction and the direction.
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Fig. 1 is a schematic flow chart of an indoor navigation method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an indoor navigation device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1, a first embodiment of the present invention provides an indoor navigation method, which is applicable to a scene of a three-dimensional roaming model, and includes:
s1, acquiring coordinate points of the starting point coordinate point and the end point coordinate point, and acquiring at least one entry point position moving from the current scene of the starting point coordinate point to the next scene after judging that the starting point coordinate point and the end point coordinate point are not in the same scene;
it should be noted that, in the embodiment of the present invention, the movable target may move in a manner of moving a handheld device of a user, or may select a target point location according to a touch event for the user. Whether the shopping mall is in the same scene or not is judged according to the site space, the site space can comprise a preset area, in a specific implementation mode, each floor of the shopping mall is used as one scene, the scenes can be divided across areas and floors, and a plurality of scenes are divided on the same floor.
In the embodiment of the invention, a corresponding three-dimensional coordinate point is marked for each shop, such as { shop 1,1 layer, x, y, z }, { shop 2, 1 layer, x, y, z } …, the number of layers of all shops on each layer in a market are marked, the channel positions between the upper layers are marked, such as { going to 2 layers, 1 layer, x, y, z }, and the common channel positions comprise a stair opening and an elevator opening.
Receiving a starting shop name input by a user, acquiring coordinates corresponding to the shop name as a starting point coordinate point, and setting the coordinates as { starting point, A, x0, y0, z0 }; receiving an end point shop name input by a user, and acquiring coordinates corresponding to the shop name as an end point coordinate point, wherein the end point coordinate point is set as { end point, B, x1, y1, z1 }. And judging whether the starting point coordinate point and the end point coordinate point are in the same scene according to a preset judgment rule and the starting point coordinate point and the end point coordinate point.
S2, calculating according to the entry point position and the starting point coordinate point to obtain an optimal entry point position;
specifically, when the start point coordinate point and the end point coordinate point are not in the same scene, automatically searching for an entry point position moving from the start point coordinate point to the next scene, and assuming that the entry point comprises { S1, S2 … }, calculating the distance of each entry point position from the start point:
dist1(S1, origin) ((S1. x-origin. x) ^2+ (S1. y-origin. y) ^2+ (S1. z-origin. z) ^2) ^ 0.5;
dist2(S2, origin) ((S1. x-origin. x) ^2+ (S1. y-origin. y) ^2+ (S1. z-origin. z) ^2) ^ 0.5;
···········
and comparing the distances to obtain a shortest distance miniDist, and taking an entry point position min { Dist1, Dist2, … } corresponding to the shortest distance miniDist as an optimal entry point position, wherein coordinates of the optimal entry point position are marked as { rx, ry, rz }.
S3, taking the starting point coordinate as the current target point position, calculating the next target point position according to the optimal entrance point position and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position belongs to the scene of the end point coordinate;
specifically, a pointing vector is calculated according to the optimal entry point location and the current target point location, the pointing vector direction is (rx-x0, ry-y0, rz-z0), and is labeled as the next target point location in the coordinate system of the location of the starting point, and when the movable target moves to the next target point location, the next target point location is updated as the current target point location.
It should be noted that, when the movable target moves to the next target point, the current target point is updated to the current target point, and the pointing vector is recalculated according to the current target point, so as to label the pointing vector as the next target point again until the next target point is switched to the scene where the end point coordinate is located. In one specific embodiment, when the movable target moves to the next target point location { xi, yi, zi }, the pointing vector direction (rx-xi, ry-yi, rz-zi) is recalculated, and the pointing vector is labeled as the next target point location (rx-xi, ry-yi, rz-zi).
And S4, calculating the current next target point position according to the end point and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position is coincident with the end point coordinate point.
In the embodiment of the present invention, after the current target point is switched to the scene where the endpoint coordinate point is located, the direction of the current next target point is calculated according to the endpoint and the current target point (xt, yt, zt) (x1-xt, y1-yt, z 1-zt). Based on the scheme, in the process that the movable target moves to the next target point location one by one according to the current target point location, if the current target point location to which the movable target moves is overlapped with the end point coordinate point, indoor navigation is completed, and target point location marking in a scene is stopped.
The embodiment of the invention is suitable for scenes of a three-dimensional roaming model, the starting point coordinate point is obtained through calculation and moves to the optimal entry point of the next scene, and the optimal path is planned for a user, so that the indoor navigation effect is improved; according to the embodiment of the invention, when the movable target moves to the next target point position, the next target point position is updated to the current target point position according to the coordinate difference between the optimal entry point position and the current target point position until the current target point position belongs to the scene of the end point coordinate.
Furthermore, the embodiment of the invention is suitable for scenes of a three-dimensional roaming model, realizes the planning of the path based on the virtual space established by the real scenes, has the scene structure consistent with the real scenes, enables a user to accurately recognize the direction and the direction, provides intuitive position and accurate path information, and is beneficial to further improving the navigation convenience and accuracy, thereby improving the use experience of the user.
As a specific implementation manner of the embodiment of the present invention, the navigation method further includes:
if the current target point belongs to the scene of the starting point coordinate point, calculating according to the current target point and the optimal entry point to obtain the direction and the distance between the current target point and the starting point coordinate point; the method specifically comprises the following steps:
D＝((x1-xt)^2+(y1-yt)^2+(z1-zt)^2)^0.5。
if the current target point belongs to the scene of the terminal point coordinate point, calculating the direction and the distance between the current target point and the terminal point coordinate point according to the current target point and the terminal point coordinate point, specifically:
D＝((x1-xti)^2+(y1-yti)^2+(z1-zti)^2)^0.5。
in the embodiment of the invention, the direction and the distance between the current target point position and the starting point coordinate point and the direction and the distance between the current target point position and the end point coordinate point are respectively calculated according to different scenes where the current target point position is located, and are displayed, so that a user can clearly and intuitively obtain the current position and the related direction and distance information, and the use experience of the user is favorably improved.
As a specific implementation manner of the embodiment of the present invention, the optimal entry point location is obtained by calculating according to the entry point location and the start point coordinate point, and specifically:
and calculating the shortest distance between the entry point position and the starting point coordinate, and taking the entry point position corresponding to the shortest distance as the optimal entry point position.
In the embodiment of the invention, the optimal entry point position is obtained through calculation so as to perform optimal path planning, and visual position information and optimal path information can be effectively provided, thereby being beneficial to improving the indoor navigation effect.
As a specific implementation manner of the embodiment of the present invention, acquiring coordinate points of a start point coordinate point and an end point coordinate point specifically includes:
and marking the corresponding layer number of each shop in the target area for the corresponding three-dimensional coordinate point of each shop.
In the embodiment of the invention, the corresponding three-dimensional coordinate point is marked for each shop, the corresponding layer number of each shop is marked, and the three-dimensional coordinate point and the layer number are comprehensively considered when scene judgment is carried out, so that a scene judgment result can be accurately obtained, and the indoor navigation effect can be favorably improved.
As a specific implementation manner of the embodiment of the present invention, after the obtaining of the start point coordinate point and the end point coordinate point, the method further includes:
judging whether the positions of the starting point coordinate and the end point coordinate belong to a preset area or not, and if so, judging that the starting point coordinate point and the end point coordinate point are in the same scene; if not, the starting point coordinate point and the end point coordinate point are judged to be in the same scene.
In the embodiment of the invention, the judgment of the scene of the starting point coordinate point and the end point coordinate point is realized by judging whether the positions of the starting point coordinate and the end point coordinate belong to the preset area, the method is suitable for a three-dimensional scene, the channel ports between the scenes can be connected in a multi-layer market, and a user can be guided to go to the channel ports to reach a target scene, so that the indoor navigation effect can be improved.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention is suitable for scenes of a three-dimensional roaming model, the starting point coordinate point is obtained through calculation and moves to the optimal entry point of the next scene, and the optimal path is planned for a user, so that the indoor navigation effect is improved; according to the embodiment of the invention, when the movable target moves to the next target point position, the next target point position is updated to the current target point position according to the coordinate difference between the optimal entry point position and the current target point position until the current target point position belongs to the scene of the end point coordinate.
Furthermore, the embodiment of the invention is suitable for scenes of a three-dimensional roaming model, realizes the planning of the path based on the virtual space established by the real scenes, has the scene structure consistent with the real scenes, enables a user to accurately recognize the direction and the direction, provides intuitive position and accurate path information, and is beneficial to improving the navigation convenience and accuracy, thereby improving the use experience of the user.
Referring to fig. 2, a second embodiment of the present invention provides an indoor navigation device, including:
the acquiring module 10 is configured to acquire coordinate points of a starting point coordinate point and an end point coordinate point, and acquire at least one entry point position moving from a current scene of the starting point coordinate point to a next scene after determining that the starting point coordinate point and the end point coordinate point are not in the same scene;
it should be noted that, in the embodiment of the present invention, the movable target may move in a manner of moving the user through a handheld device, or may select the target coordinate point position according to the touch event. Whether the shopping mall is in the same scene or not is judged according to the site space, the site space can comprise a preset area, in a specific implementation mode, each floor of the shopping mall is used as one scene, the scenes can be divided across areas and floors, and a plurality of scenes are divided on the same floor.
In the embodiment of the invention, a corresponding three-dimensional coordinate point is marked for each shop, such as { shop 1,1 layer, x, y, z }, { shop 2, 1 layer, x, y, z } …, the number of layers of all shops on each layer in a market are marked, the channel positions between the upper layers are marked, such as { going to 2 layers, 1 layer, x, y, z }, and the common channel positions comprise a stair opening and an elevator opening.
Receiving a starting shop name input by a user, acquiring coordinates corresponding to the shop name as a starting point coordinate point, and setting the coordinates as { starting point, A, x0, y0, z0 }; receiving an end point shop name input by a user, and acquiring coordinates corresponding to the shop name as an end point coordinate point, wherein the end point coordinate point is set as { end point, B, x1, y1, z1 }. And judging whether the starting point coordinate point and the end point coordinate point are in the same scene according to a preset judgment rule and the starting point coordinate point and the end point coordinate point.
The calculation module 20 is configured to calculate an optimal entry point location according to the entry point location and the start point coordinate point;
specifically, when the start point coordinate point and the end point coordinate point are not in the same scene, automatically searching for an entry point position moving from the start point coordinate point to the next scene, and assuming that the entry point comprises { S1, S2 … }, calculating the distance of each entry point position from the start point:
dist1(S1, origin) ((S1. x-origin. x) ^2+ (S1. y-origin. y) ^2+ (S1. z-origin. z) ^2) ^ 0.5;
dist2(S2, origin) ((S1. x-origin. x) ^2+ (S1. y-origin. y) ^2+ (S1. z-origin. z) ^2) ^ 0.5;
···········
and comparing the distances to obtain a shortest distance miniDist, and taking an entry point position min { Dist1, Dist2, … } corresponding to the shortest distance miniDist as an optimal entry point position, wherein coordinates of the optimal entry point position are marked as { rx, ry, rz }.
The first updating module 30 is configured to use the starting point coordinate as a current target point location, calculate a next target point location according to the optimal entry point location and the current target point location, and update the next target point location as the current target point location when the movable target moves to the next target point location until the current target point location belongs to a scene where the end point coordinate is located;
specifically, a pointing vector is calculated according to the optimal entry point location and the current target point location, the pointing vector direction is (rx-x0, ry-y0, rz-z0), and is labeled as the next target point location in the coordinate system of the location of the starting point, and when the movable target moves to the next target point location, the next target point location is updated as the current target point location.
It should be noted that, when the movable target moves to the next target point, the current target point is updated to the current target point, and the pointing vector is recalculated according to the current target point, so as to label the pointing vector as the next target point again until the next target point is switched to the scene where the end point coordinate is located. In one specific embodiment, when the movable target moves to the next target point location { xi, yi, zi }, the pointing vector direction (rx-xi, ry-yi, rz-zi) is recalculated, and the pointing vector is labeled as the next target point location (rx-xi, ry-yi, rz-zi).
And the second updating module 30 is configured to calculate a current next target point location according to the end point and the current target point location, and update the next target point location to the current target point location when the movable target moves to the next target point location until the current target point location coincides with the end point coordinate point.
In the embodiment of the present invention, after the current target point is switched to the scene where the endpoint coordinate point is located, the direction of the current next target point is calculated according to the endpoint and the current target point (xt, yt, zt) (x1-xt, y1-yt, z 1-zt). Based on the scheme, in the process that the movable target moves to the next target point location one by one according to the current target point location, if the current target point location to which the movable target moves is overlapped with the end point coordinate point, indoor navigation is completed, and target point location marking in a scene is stopped.
The embodiment of the invention is suitable for scenes of a three-dimensional roaming model, the starting point coordinate point is obtained through calculation and moves to the optimal entry point of the next scene, and the optimal path is planned for a user, so that the indoor navigation effect is improved; according to the embodiment of the invention, when the movable target moves to the next target point position, the next target point position is updated to the current target point position according to the coordinate difference between the optimal entry point position and the current target point position until the current target point position belongs to the scene of the end point coordinate.
Furthermore, the embodiment of the invention is suitable for scenes of a three-dimensional roaming model, realizes the planning of the path based on the virtual space established by the real scenes, has the scene structure consistent with the real scenes, enables a user to accurately recognize the direction and the direction, provides intuitive position and accurate path information, and is beneficial to improving the navigation convenience and accuracy, thereby improving the use experience of the user.
As a specific implementation manner of the embodiment of the present invention, the navigation device further includes:
a determination module configured to: if the current target point belongs to the scene of the starting point coordinate point, calculating according to the current target point and the optimal entry point to obtain the direction and the distance between the current target point and the starting point coordinate point; the method specifically comprises the following steps:
D＝((x1-xt)^2+(y1-yt)^2+(z1-zt)^2)^0.5。
if the current target point belongs to the scene of the terminal point coordinate point, calculating the direction and the distance between the current target point and the terminal point coordinate point according to the current target point and the terminal point coordinate point, specifically:
D＝((x1-xti)^2+(y1-yti)^2+(z1-zti)^2)^0.5。
in the embodiment of the invention, the direction and the distance between the current target point position and the starting point coordinate point and the direction and the distance between the current target point position and the end point coordinate point are respectively calculated according to different scenes where the current target point position is located, and are displayed, so that a user can clearly and intuitively obtain the current position and the related direction and distance information, and the use experience of the user is favorably improved.
As a specific implementation manner of the embodiment of the present invention, the calculating module 20 is specifically configured to:
and calculating the shortest distance between the entry point position and the starting point coordinate, and taking the entry point position corresponding to the shortest distance as the optimal entry point position.
In the embodiment of the invention, the optimal entry point position is obtained through calculation so as to perform optimal path planning, and visual position information and optimal path information can be effectively provided, thereby being beneficial to improving the indoor navigation effect.
As a specific implementation manner of the embodiment of the present invention, acquiring coordinate points of a start point coordinate point and an end point coordinate point specifically includes:
and marking the corresponding layer number of each shop in the target area for the corresponding three-dimensional coordinate point of each shop.
In the embodiment of the invention, the corresponding three-dimensional coordinate point is marked for each shop, the corresponding layer number of each shop is marked, and the three-dimensional coordinate point and the layer number are comprehensively considered when scene judgment is carried out, so that a scene judgment result can be accurately obtained, and the indoor navigation effect can be favorably improved.
As a specific implementation manner of the embodiment of the present invention, after the obtaining of the start point coordinate point and the end point coordinate point, the method further includes:
judging whether the positions of the starting point coordinate and the end point coordinate belong to a preset area or not, and if so, judging that the starting point coordinate point and the end point coordinate point are in the same scene; if not, the starting point coordinate point and the end point coordinate point are judged to be in the same scene.
In the embodiment of the invention, the judgment of the scene of the starting point coordinate point and the end point coordinate point is realized by judging whether the positions of the starting point coordinate and the end point coordinate belong to the preset area, the method is suitable for a three-dimensional scene, the channel ports between the scenes can be connected in a multi-layer market, and a user can be guided to go to the channel ports to reach a target scene, so that the indoor navigation effect can be improved.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention is suitable for scenes of a three-dimensional roaming model, the starting point coordinate point is obtained through calculation and moves to the optimal entry point of the next scene, and the optimal path is planned for a user, so that the indoor navigation effect is improved; according to the embodiment of the invention, when the movable target moves to the next target point position, the next target point position is updated to the current target point position according to the coordinate difference between the optimal entry point position and the current target point position until the current target point position belongs to the scene of the end point coordinate.
Furthermore, the embodiment of the invention is suitable for scenes of a three-dimensional roaming model, realizes the planning of the path based on the virtual space established by the real scenes, has the scene structure consistent with the real scenes, enables a user to accurately recognize the direction and the direction, provides intuitive position and accurate path information, and is beneficial to improving the navigation convenience and accuracy, thereby improving the use experience of the user.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An indoor navigation method, comprising:
acquiring coordinate points of a starting point coordinate point and an end point coordinate point, and acquiring at least one entry point position moving from a current scene of the starting point coordinate point to a next scene after judging that the starting point coordinate point and the end point coordinate point are not in the same scene;
calculating to obtain an optimal entry point position according to the entry point position and the starting point coordinate point;
taking the starting point coordinate as a current target point position, calculating a next target point position according to the optimal entry point position and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position belongs to the scene of the end point coordinate;
and calculating the current next target point position according to the end point and the current target point position, and updating the next target point position to the current target point position when the movable target moves to the next target point position until the current target point position is coincident with the end point coordinate point.
2. The indoor navigation method of claim 1, further comprising:
if the current target point belongs to the scene of the starting point coordinate point, calculating according to the current target point and the optimal entry point to obtain the direction and the distance between the current target point and the starting point coordinate point;
and if the current target point belongs to the scene of the terminal point coordinate point, calculating according to the current target point and the terminal point coordinate point to obtain the direction and the distance between the current target point and the terminal point coordinate point.
3. The indoor navigation method according to claim 1, wherein the calculating an optimal entry point location according to the entry point location and the start point coordinate point includes:
and calculating the shortest distance between the entry point position and the starting point coordinate, and taking the entry point position corresponding to the shortest distance as the optimal entry point position.
4. The indoor navigation method according to claim 1, wherein the obtaining of the coordinate points of the start point coordinate point and the end point coordinate point includes:
and marking the corresponding three-dimensional coordinate point of each shop in the target area, and marking the corresponding layer number of each shop.
5. The indoor navigation method of claim 1, further comprising, after acquiring the start point coordinate point and the end point coordinate point:
judging whether the positions of the starting point coordinate and the end point coordinate belong to a preset area or not, and if so, judging that the starting point coordinate point and the end point coordinate point are in the same scene; if not, the starting point coordinate point and the end point coordinate point are judged to be in the same scene.
6. An indoor navigation device, comprising:
the acquisition module is used for acquiring coordinate points of a starting point coordinate point and an end point coordinate point, and acquiring at least one entry point position moving from a current scene of the starting point coordinate point to a next scene after judging that the starting point coordinate point and the end point coordinate point are not in the same scene;
the calculation module is used for calculating to obtain an optimal entry point position according to the entry point position and the starting point coordinate point;
a first updating module, configured to use the starting point coordinate as a current target point location, calculate a next target point location according to the optimal entry point location and the current target point location, and update the next target point location to the current target point location when the movable target moves to the next target point location until the current target point location belongs to the scene where the end point coordinate is located;
and the second updating module is used for calculating the current next target point position according to the end point and the current target point position, and updating the next target point position into the current target point position when the movable target moves to the next target point position until the current target point position is coincident with the end point coordinate point.
7. The indoor navigation device of claim 6, further comprising:
a determination module configured to: if the current target point belongs to the scene of the starting point coordinate point, calculating according to the current target point and the optimal entry point to obtain the direction and the distance between the current target point and the starting point coordinate point; and if the current target point belongs to the scene of the terminal point coordinate point, calculating according to the current target point and the terminal point coordinate point to obtain the direction and the distance between the current target point and the terminal point coordinate point.
8. The indoor navigation device of claim 6, wherein the calculation module is specifically configured to:
and calculating the shortest distance between the entry point position and the starting point coordinate, and taking the entry point position corresponding to the shortest distance as the optimal entry point position.
9. The indoor navigation device according to claim 6, wherein the obtaining of the coordinate points of the start point coordinate point and the end point coordinate point includes:
and marking the corresponding three-dimensional coordinate point of each shop in the target area, and marking the corresponding layer number of each shop.
10. The indoor navigation device of claim 6, further comprising, after acquiring the start point coordinate point and the end point coordinate point:
judging whether the positions of the starting point coordinate and the end point coordinate belong to a preset area or not, and if so, judging that the starting point coordinate point and the end point coordinate point are in the same scene; if not, the starting point coordinate point and the end point coordinate point are judged to be in the same scene.
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