CN113188545B - Offline mobile terminal AR indoor navigation method and system - Google Patents
Offline mobile terminal AR indoor navigation method and system Download PDFInfo
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- CN113188545B CN113188545B CN202110476422.6A CN202110476422A CN113188545B CN 113188545 B CN113188545 B CN 113188545B CN 202110476422 A CN202110476422 A CN 202110476422A CN 113188545 B CN113188545 B CN 113188545B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The invention provides an off-line mobile terminal AR indoor navigation method and system, comprising the following steps: acquiring indoor GIS offline data; based on the indoor GIS offline data, a GIS positioning algorithm is obtained according to a preset positioning algorithm; adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and performing indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result. According to the invention, through off-line storage of GIS indoor map data, off-line realization of various GIS algorithms and light-weight user preference data mining and guiding, the positioning and navigation speed is remarkably improved, and the user experience of mobile phone indoor map navigation is improved.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to an AR indoor navigation method and system for an offline mobile terminal.
Background
At present, in the indoor navigation application scene, particularly the positioning navigation technology of intelligent hospitals and intelligent campuses is not developed sufficiently, and the main problem is that the real-time navigation network is blocked and network data cannot be acquired. In a three-hospital scenario in a metropolitan area, whenever doctors and patients use indoor navigation software at the same time (usually reaching the scale of at least ten thousands of people), the mobile communication network is often blocked, so that the sensor signal cannot be acquired in real time, and the positioning of the mobile terminal AR cannot be performed.
In the period of serious epidemic diseases, in order to avoid cross infection among patients, the deployment of positioning beacons in hospitals has been a trend, so that at present, not only are patients in need of indoor navigation by using mobile phones, but doctors and hospital management staff are also urgent to accurately monitor the activity track of infectious epidemic patients in hospital hospitalization parts and whole parks by means of new means. In recent years, most three-dimensional hospitals in China have built up a first period of intelligent hospitals, and a plurality of intelligent hospitals have built up two three-dimensional indoor map software system platforms, which lays a data foundation for AR navigation.
Aiming at the current situation of hospitals, the intelligent park indoor navigation is generally to deploy positioning beacons (wherein, scenes select hospitals such as trimethyl, and beacon sensors select bluetooth beacons) indoors in advance, collect and manufacture indoor GIS two-dimensional and three-dimensional maps, build a background database, and develop APP or WeChat public numbers or WeChat applets by mobile terminal front-end developers. After the development architecture of the current industry mainstream is adopted, the data volume uploaded to the server by the mobile terminal is easy to cause (the total Bluetooth beacon data volume uploaded to the server by a single mobile terminal mobile phone per second is usually up to several M), the calculation amount of the server is huge (thousands of beacons reach more than second level through various indoor positioning algorithms), the waiting time of the client is long, further data mining is not easy to carry out on the mobile terminal (the feedback speed is already tired, the server cannot take more time to carry out big data analysis), the feedback result is single, less valuable information exists, and the load of the server is increased due to the concurrent use of multiple users, such as CPU is as high as 50%. Meanwhile, through the cooperation of the mobile terminal indoor map navigation system and a certain key laboratory indoor positioning team, many manufacturers face the problems of low response speed, insufficient smoothness and non-ideal user experience of the mobile terminal indoor map navigation.
Disclosure of Invention
The invention provides an off-line mobile terminal AR indoor navigation method and system, which are used for solving the defects that in the prior art, the indoor navigation technology is poor in user experience and immature in development.
In a first aspect, the present invention provides an offline mobile terminal AR indoor navigation method, including:
acquiring indoor GIS offline data;
based on the indoor GIS offline data, a GIS positioning algorithm is obtained according to a preset positioning algorithm;
adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and performing indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
In one embodiment, further comprising:
and pushing interest preference navigation associated data to the user according to a preset personalized user preference client algorithm.
In one embodiment, the acquiring the indoor GIS offline data further includes:
and storing the indoor GIS offline data in different storage modes according to the type of the client.
In one embodiment, the acquiring indoor GIS offline data specifically includes:
acquiring GIS indoor offline map base map data, wherein the GIS indoor offline map base map data is obtained by converting preset drawing software or supplementing manually acquired data;
obtaining positioning beacon data according to the GIS indoor offline map base map data;
and acquiring GIS vector data, POI data and sensor data based on the positioning beacon data.
In one embodiment, the obtaining a GIS positioning algorithm based on the indoor GIS offline data according to a preset positioning algorithm specifically includes:
and calculating the indoor GIS offline data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm.
In one embodiment, the adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm specifically includes:
adding action prompt information of left and right turns, walking distance and running time on the GIS positioning algorithm;
and when the user walks, recording the indoor journey by using the road book function, and obtaining the GIS navigation algorithm.
In one embodiment, the performing indoor navigation according to the offline GIS path algorithm and the inertial navigation algorithm based on the GIS navigation algorithm to obtain an indoor path calculation result specifically includes:
and calculating an optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain an indoor path calculation result.
In a second aspect, the present invention further provides an offline mobile terminal AR indoor navigation system, including:
the acquisition module is used for acquiring indoor GIS offline data;
the positioning module is used for obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline data;
the navigation module is used for adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and the computing module is used for performing indoor navigation paths based on the GIS navigation algorithm by using an offline GIS path algorithm and an inertial navigation algorithm to obtain an indoor path computing result.
In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the steps of any one of the offline mobile terminal AR indoor navigation methods described above are implemented when the processor executes the program.
In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the steps of the offline mobile-side AR indoor navigation method as described in any of the above.
According to the off-line mobile terminal AR indoor navigation method and system, through off-line storage of GIS indoor map comprehensive data, off-line realization of various GIS algorithms and light-weight user preference data mining and guiding, positioning and navigation speed is remarkably improved, and user experience of mobile phone indoor map navigation is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of an offline mobile terminal AR indoor navigation method provided by the present invention;
fig. 2 is a schematic structural diagram of an offline mobile terminal AR indoor navigation system provided by the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Aiming at the defects of the prior art, the invention provides a mobile terminal AR navigation method, which solves the problems that an online network for AR indoor navigation is blocked, and an online server has too slow response speed or no feedback data.
Fig. 1 is a flow chart of an offline mobile terminal AR indoor navigation method provided by the present invention, as shown in fig. 1, including:
s1, acquiring indoor GIS offline data;
s2, acquiring a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline data;
s3, adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and S4, carrying out indoor navigation paths based on the GIS navigation algorithm according to an offline GIS path algorithm and an inertial navigation algorithm, and obtaining an indoor path calculation result.
Specifically, unlike the prior AR navigation scheme, the method adopts the indoor GIS offline data downloaded in advance, then carries out positioning calculation on the downloaded indoor GIS offline data, is generally consistent with an algorithm of a server side, then adds required navigation action prompt information and uses a common travel record function to obtain a navigation algorithm meeting the indoor offline navigation requirement, and further adopts an offline GIS path algorithm and an inertial navigation algorithm to carry out indoor navigation to obtain a final indoor path calculation result.
According to the invention, through offline storage of GIS indoor map comprehensive data, offline realization of various GIS algorithms, and lightweight user preference data mining and guiding, the positioning and navigation speed is remarkably improved, and the user experience of mobile phone indoor map navigation is improved.
Based on the above embodiment, the method further includes:
and pushing interest preference navigation associated data to the user according to a preset personalized user preference client algorithm.
Specifically, the invention adopts a solution which is different from cloud computing big data mining ideas, proposes micro mining, adopts a user preference client algorithm, and is used for high-value behavior analysis, behavior paths and other functions. According to preset personalized user position preference, POI high-frequency navigation association comprehensive data can be pushed to a user online, and high-frequency local historical positions can be guided offline in real time. The meaning of the method is to try to furthest mine the value of the user behavior data. The current functional point mainly comprises an indoor space behavior playback; detecting second behaviors; three data visualization; four-time space behavior analysis; and fifthly, excavating and analyzing.
According to the invention, data analysis and corresponding data pushing are carried out according to the user preference, so that the actual navigation requirement of the user can be better met, and a more accurate navigation result is obtained.
Based on any of the above embodiments, the method further includes, after step S1:
and storing the indoor GIS offline data in different storage modes according to the type of the client.
In particular, since the present invention employs offline data, the storage is quite different from that of an online server. If the mobile terminal is an APP version, the space plite database with the space index which is rewritten and compiled can be used for storing all space data, and the capacity is not limited; if the mobile terminal is small, the mobile terminal is stored by using a cache, and the size is limited, and is generally controlled within 10M, and if the limit is exceeded, the downloading of high-frequency use data, such as the downloading of floors in a high-frequency area, can be considered.
The latest version of the compiled database is fully integrated with the relational DBMS (Database Management System ) in a seamless mode, multiple path algorithms are fused and realized, more complex space analysis can be realized, the method can be used offline, and the performance is excellent.
According to the offline storage scheme adopted by the invention, different storage schemes are set for different types of clients, so that the actual requirements of offline storage are well adapted.
Based on any of the above embodiments, step S1 in the method specifically includes:
acquiring GIS indoor offline map base map data, wherein the GIS indoor offline map base map data is obtained by converting preset drawing software or supplementing manually acquired data;
obtaining positioning beacon data according to the GIS indoor offline map base map data;
and acquiring GIS vector data, POI data and sensor data based on the positioning beacon data.
Firstly, obtaining offline GIS indoor map base map data, including CAD conversion map data and supplementary and updated data collected by mapping personnel; then processing the offline indoor map to deploy Bluetooth beacon data, wherein the Bluetooth beacon data is used for defining point data of indoor positions of users; after the beacon data is obtained, an offline navigation service is performed, for example, the point of interest data POI (Point of Interest) is deployed in a hospital department, and the AR navigation POI data is further obtained from the positioning beacon data.
Here, in order to enable the user to experience the extremely fast service in the offline state, the GIS indoor map base map data in the custom file format is used, and the offline base map data can be allowed to be lower LOD (Levels of Detail), so that the integrity and effectiveness of the high-frequency area are only ensured, and the user can determine the information according to the requirement when downloading the information. Currently, online is a three-dimensional map, and the current offline base map data downloading is divided into two types of lightweight two-dimensional base map downloading and three-dimensional base map downloading. In addition to this, the integrity of the offline positioning beacon data and the navigation service data is in principle the same as online.
According to the invention, the offline map base map data and the beacon data are combined, and the POIs of the AR navigation data are set, so that the navigation problem is solved in an offline low-cost scene.
Based on any of the above embodiments, step S2 in the method specifically includes:
and calculating the indoor GIS offline data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm.
Specifically, the invention adopts a weighted trilateral positioning algorithm to realize GIS positioning, and the general principle and the server end are kept consistent, so that cross-language migration is performed.
The weighted trilateration algorithm adopted here is specifically: the wireless signal strength gradient model can find that when the positioning terminal is far away from the base station, the received RSSI (Received Signal Strength Indication ) value changes smaller and smaller, which leads to the fact that the distance is far away, the distance error between the base station and the positioning terminal is larger, and the positioning error is correspondingly larger.
Firstly grouping base stations, dividing all collected base stations into n groups through id, solving a combination number C (n, 3), and carrying out trilateral positioning on each group; then, according to the principle that the larger the distance is, the larger the positioning error is, the weight (the distance measured from each base station to the positioning terminal) is assigned; finally, the results from each combination are weighted to obtain the final positioning result.
It is worth mentioning that, for the situation that the base station signals of the stairway/elevator crossing floors are mixed, special treatment is required to be carried out on the landform on site, the three-dimensional space stereo signal attenuation and the stereo crossing are different from the single floor plane signal judgment, and the accurate judgment must be carried out by combining the positions of multiple dimensions.
The invention adopts a weighted trilateral positioning algorithm to obtain the indoor GIS positioning result more accurately.
Based on any of the above embodiments, step S3 in the method specifically includes:
adding action prompt information of left and right turns, walking distance and running time on the GIS positioning algorithm;
and when the user walks, recording the indoor journey by using the road book function, and obtaining the GIS navigation algorithm.
Specifically, action prompt information, walking distance and running time of a left corner and a right corner are added on a GIS positioning algorithm, and a user is guided to walk to reach a target place; when a user walks, the user can use the road book function, and the user can prompt, even broadcast by voice, the time consumption, the distance and the like of the destination.
The road book function is a detailed plan made for one trip, including travel schedule, traffic information, accommodation information, scenic spot and restaurant recommendations, entertainment reservation, expense information, etc., and is an important preparation work before trip. Unlike travel strategies, road books are typically made by senior travel owners, travel institutions, or companies specializing in custom travel, which can be said to be the product of a custom travel market that is gradually warming up in China. In the invention, the powerful recording function of the road book in the course can be used for effectively providing the reference guide of navigation for the user.
The invention realizes the indoor navigation function by adopting the road book function, can play the role of guiding and recording in advance, and improves the accuracy and initiative of navigation.
Based on any of the above embodiments, step S4 in the method specifically includes:
and calculating an optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain an indoor path calculation result.
Specifically, the core algorithm in the optimal path algorithm set adopted by the client side in the invention, whether the client side is an APP or an applet, is based on improving the Dijsktra algorithm based on indoor three-dimensional coordinates. On one hand, the Dijsktra algorithm based on the indoor three-dimensional coordinates is improved on the basis of a conventional shortest path algorithm, and can comprehensively support the three-dimensional path optimal path processing of a cross-floor, on the other hand, the Dijsktra algorithm based on the indoor three-dimensional coordinates can treat an epidemic area as a weighted roadblock, the downloaded off-line GIS comprehensive data particularly points out an important epidemic area of a hospital, and the algorithm of the invention is defaulted to the latest data particularly matched with the download data to bypass the epidemic area, namely the roadblock data. In addition, the optimal path algorithm of the invention is also fused with a Floyd algorithm, which is also an algorithm for searching the shortest path among multiple source points in a given weighted graph by utilizing the idea of dynamic programming, and is similar to the Dijkstra algorithm.
It should be noted that, the Dijkstra algorithm in the present invention adopts a greedy strategy, and declares an array dis to save the shortest distance from the source point to each vertex and save a set of vertices for which the shortest path has been found: t, initially, the path weight of origin s is assigned 0 (dis [ s ] =0). If there is a directly reachable side (s, m) for vertex s, then dis [ m ] is set to w (s, m), while the path length of all other vertices (which s cannot directly reach) is set to infinity. Initially, set T has only vertices s. Then, a minimum value is selected from the dis array, which is the shortest path from the source point s to the vertex to which the value corresponds, and this point is added to T, OK, at which time one vertex is completed, then it is necessary to see if the newly added vertex can reach other vertices and see if the path length through this vertex to other points is shorter than the direct arrival of the source point, and if so, the values of these vertices in dis are replaced. Finally, find the minimum value from dis again, repeat the above-mentioned action, until all vertices of the graph are included in T.
In addition, in order to improve the response speed to a greater extent, the invention can remove the gyroscope positioning navigation, add an inertial navigation algorithm, and also can superimpose an off-line two-dimensional map on the video, thereby greatly enhancing the visibility of the AR video. To increase the speed of AR navigation, the POI data for AR navigation is different from the positioning POI data.
The optimal path calculation method adopted by the invention calculates the optimal path reaching the destination, helps the user to position and navigate in the shortest time, and saves the time cost.
The mobile terminal AR navigation system provided by the present invention is described below, and the offline mobile terminal AR indoor navigation system described below and the offline mobile terminal AR indoor navigation method described above may be referred to correspondingly.
Fig. 2 is a schematic structural diagram of an offline mobile terminal AR indoor navigation system according to the present invention, as shown in fig. 2, including: an acquisition module 21, a positioning module 22, a navigation module 23 and a calculation module 24; wherein:
the acquisition module 21 is used for acquiring indoor GIS offline data; the positioning module 22 is configured to obtain a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline data; the navigation module 23 is used for adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; the calculation module 24 is configured to perform indoor navigation according to an offline GIS path algorithm and an inertial navigation algorithm based on the GIS navigation algorithm, so as to obtain an indoor path calculation result.
According to the invention, through offline storage of GIS indoor map comprehensive data, offline realization of various GIS algorithms, and lightweight user preference data mining and guiding, the positioning and navigation speed is remarkably improved, and the user experience of mobile phone indoor map navigation is improved.
Fig. 3 illustrates a physical schematic diagram of an electronic device, as shown in fig. 3, where the electronic device may include: processor 310, communication interface 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320 and memory 330 communicate with each other via communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform an offline mobile-end AR indoor navigation method comprising: acquiring indoor GIS offline data; based on the indoor GIS offline data, a GIS positioning algorithm is obtained according to a preset positioning algorithm; adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and performing indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for offline mobile terminal AR indoor navigation provided by the above methods, the method comprising: acquiring indoor GIS offline data; based on the indoor GIS offline data, a GIS positioning algorithm is obtained according to a preset positioning algorithm; adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and performing indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the offline mobile terminal AR indoor navigation methods provided above, the method comprising: acquiring indoor GIS offline data; based on the indoor GIS offline data, a GIS positioning algorithm is obtained according to a preset positioning algorithm; adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and performing indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An offline mobile terminal AR indoor navigation method is characterized by comprising the following steps:
acquiring indoor GIS offline data;
based on the indoor GIS offline data, a GIS positioning algorithm is obtained according to a preset positioning algorithm;
adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
performing indoor navigation based on the GIS navigation algorithm according to an offline GIS path algorithm and an inertial navigation algorithm to obtain an indoor path calculation result;
the obtaining of the indoor GIS offline data specifically comprises the following steps:
acquiring GIS indoor offline map base map data, wherein the GIS indoor offline map base map data is obtained by converting preset drawing software or supplementing manually acquired data;
obtaining positioning beacon data according to the GIS indoor offline map base map data;
acquiring GIS vector data, POI data and sensor data based on the positioning beacon data;
the GIS positioning algorithm is obtained based on the indoor GIS offline data according to a preset positioning algorithm, and specifically comprises the following steps:
calculating the indoor GIS offline data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm;
the GIS navigation algorithm is obtained by adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm, and specifically comprises the following steps:
adding action prompt information of left and right turns, walking distance and running time on the GIS positioning algorithm;
when a user walks, recording an indoor journey by using a road book function, and obtaining the GIS navigation algorithm;
the indoor navigation is carried out based on the GIS navigation algorithm according to the offline GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result, and the method specifically comprises the following steps:
and calculating an optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain an indoor path calculation result.
2. The offline mobile-end AR indoor navigation method according to claim 1, further comprising:
and pushing interest preference navigation associated data to the user according to a preset personalized user preference client algorithm.
3. The method for offline mobile terminal AR indoor navigation according to claim 1 or 2, wherein after obtaining the indoor GIS offline data, further comprises:
and storing the indoor GIS offline data in different storage modes according to the type of the client.
4. An offline mobile terminal AR indoor navigation system, characterized by comprising:
the acquisition module is used for acquiring indoor GIS offline data;
the positioning module is used for obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline data;
the navigation module is used for adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
the computing module is used for carrying out indoor navigation based on the GIS navigation algorithm according to the offline GIS path algorithm and the inertial navigation algorithm to obtain an indoor path computing result;
the acquisition module is specifically configured to:
acquiring GIS indoor offline map base map data, wherein the GIS indoor offline map base map data is obtained by converting preset drawing software or supplementing manually acquired data;
obtaining positioning beacon data according to the GIS indoor offline map base map data;
acquiring GIS vector data, POI data and sensor data based on the positioning beacon data;
the positioning module is specifically used for:
calculating the indoor GIS offline data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm;
the navigation module is specifically used for:
adding action prompt information of left and right turns, walking distance and running time on the GIS positioning algorithm;
when a user walks, recording an indoor journey by using a road book function, and obtaining the GIS navigation algorithm;
the computing module is specifically configured to:
and calculating an optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain an indoor path calculation result.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the offline mobile-terminal AR indoor navigation method according to any of claims 1 to 3 when executing the computer program.
6. A non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the offline mobile-terminal AR indoor navigation method according to any one of claims 1 to 3.
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