WO2017113722A1 - 一种室内导航的方法和装置 - Google Patents

一种室内导航的方法和装置 Download PDF

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Publication number
WO2017113722A1
WO2017113722A1 PCT/CN2016/089302 CN2016089302W WO2017113722A1 WO 2017113722 A1 WO2017113722 A1 WO 2017113722A1 CN 2016089302 W CN2016089302 W CN 2016089302W WO 2017113722 A1 WO2017113722 A1 WO 2017113722A1
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WO
WIPO (PCT)
Prior art keywords
gps data
carrier
infrared
code
infrared carrier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/089302
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English (en)
French (fr)
Inventor
于燕
陈忱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Le Holdings Beijing Co Ltd
Lemobile Information Technology (Beijing) Co Ltd
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Le Holdings Beijing Co Ltd
Lemobile Information Technology (Beijing) Co Ltd
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Publication date
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Priority to US15/246,244 priority Critical patent/US20170191837A1/en
Publication of WO2017113722A1 publication Critical patent/WO2017113722A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details
    • G01S1/7032—Transmitters
    • G01S1/7034—Mounting or deployment thereof
    • G01S1/7036—Collocated with electrical equipment other than beacons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0269—Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/1149—Arrangements for indoor wireless networking of information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • H04B10/501—Structural aspects
    • H04B10/502—LED transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
    • G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
    • G01S2201/02—Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses

Definitions

  • the present invention relates to the field of indoor navigation technology, and in particular, to a method and apparatus for indoor navigation.
  • GPS Global Positioning System
  • the space part of the GPS is composed of 21 working satellites, located 20200km above the surface of the earth, evenly distributed on 6 orbital planes (4 per orbital plane) with an orbital inclination of 55°.
  • the distribution of satellites allows for the observation of more than four satellites anywhere in the world, at any time, and the navigation information pre-stored in the satellites.
  • the user equipment part is the GPS signal receiver. Its main function is to be able to capture the satellites to be tested selected according to a certain satellite cut-off angle and to track the operation of these satellites.
  • the receiver captures the tracked satellite signal, it can measure the rate of change of the pseudo-distance and distance from the receiving antenna to the satellite, and demodulate data such as satellite orbit parameters.
  • the microprocessor in the receiver can perform positioning calculation according to the positioning solution method, and calculate the latitude, longitude, altitude, speed, time and other information of the geographical location of the user.
  • the receiver hardware and in-machine software as well as the processing software package for GPS data form a complete GPS user equipment.
  • the structure of the GPS receiver is divided into two parts: an antenna unit and a receiving unit.
  • the receiver generally uses two kinds of DC power sources, both internal and external.
  • the purpose of setting the power supply inside the machine is to not interrupt the continuous observation when the external power supply is replaced.
  • the battery is automatically charged when the power is off. After shutting down, the internal battery is RAM (Random Access Memory) is powered to prevent data loss.
  • RAM Random Access Memory
  • Various types of receivers are getting smaller and smaller and lighter in weight, making them easier to use in the field.
  • the embodiments of the present invention provide a method and an apparatus for indoor navigation, which are used to solve the technical problem that the prior art cannot realize indoor navigation in a large building and plan a route to the target location.
  • an embodiment of the present invention discloses a method for indoor navigation, including:
  • a navigation route between the current location and the target location is planned according to the current location.
  • an embodiment of the present invention further discloses an apparatus for indoor navigation, including:
  • An infrared carrier receiving module configured to receive an infrared carrier wave emitted by the LED lamp, and obtain a GPS data code from the infrared carrier;
  • a GPS data obtaining module configured to parse the GPS data code to obtain GPS data
  • a current location determining module configured to determine a current location according to the GPS data
  • the navigation route planning module is configured to plan a navigation route between the current location and the target location according to the current location.
  • a computer program comprising computer readable code that, when executed on a computing device, causes the computing device to perform the method of indoor navigation.
  • a computer readable medium wherein the computer program is stored.
  • the LED lamp is fixed on the ceiling of the room, and there is no obstacle between the terminal and the terminal, and the infrared carrier emitted by the LED lamp can be received through the infrared transmitting receiving head in the terminal, and
  • the GPS code is obtained from the GPS code, the GPS data is obtained, the current location is determined according to the GPS data, and the navigation route between the current location and the target location is planned to realize indoor positioning and indoor navigation.
  • FIG. 1 is a schematic flowchart diagram of a method for indoor navigation according to Embodiment 1 of the present invention
  • Embodiment 2 is a schematic flowchart of a method for indoor navigation provided by Embodiment 2 of the present invention
  • FIG. 3 is a schematic structural diagram of an apparatus for indoor navigation according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic structural diagram of an apparatus for indoor navigation according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic structural diagram of an indoor navigation system according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a terminal receiving an infrared carrier and implementing indoor navigation according to an embodiment of the present disclosure
  • Figure 7 shows schematically a block diagram of a computing device for performing the method according to the invention
  • Fig. 8 schematically shows a storage unit for holding or carrying program code implementing the method according to the invention.
  • FIG. 1 a schematic flowchart of a method for indoor navigation provided by Embodiment 1 of the present invention is shown.
  • the method for indoor navigation provided by the first embodiment can be performed by a terminal having an infrared transmitting and receiving head. As shown in FIG. 1, the following steps can be included:
  • Step S101 receiving an infrared carrier wave emitted by an LED (Light-Emitting Diode) lamp, and acquiring a GPS (Global Positioning System) data code from the infrared carrier.
  • LED Light-Emitting Diode
  • the LED light is fixed on the ceiling, so there is no obstacle obstruction between the LED light and the terminal.
  • proximity sensors are generally integrated in terminals such as mobile phones and tablet computers, and the proximity sensors have infrared transmitting and receiving heads, so the proximity sensors measure distances by infrared rays.
  • the infrared transmitting receiver in the proximity sensor to receive the infrared carrier, it is possible to receive the infrared carrier without increasing the components in the terminal.
  • the GPS data code is modulated in the infrared carrier emitted by the LED lamp, so that the GPS data code can be acquired from the infrared carrier.
  • Step S102 parsing the GPS data code to obtain GPS data.
  • the GPS data code may be an NMEA (Na-tional Marine Electronics Association) code
  • NMEA code is a set of standard information defining the output of the receiver.
  • GGA Global Positioning System Fix
  • Data GPS fixes data, including GPS data such as positioning time, latitude, longitude, altitude, speed and date.
  • Step S103 determining the current location according to the GPS data.
  • the terminal can only receive an infrared carrier transmitted by an LED lamp, thereby obtaining a set of GPS data.
  • the indoor navigation software in the terminal loads the set of GPS data onto the navigation map to indicate the current location.
  • the accuracy of the positioning is the illumination range of the LED light.
  • the terminal may receive two LED lights or two or more LED lights to generate infrared carriers, thereby obtaining two or two Group above GPS data.
  • the indoor navigation software built in the terminal will use the two sets of GPS.
  • the data is processed in a binary manner by the two sets of GPS data, and the processed GPS data is loaded onto the navigation map to indicate the current location.
  • the positioning accuracy is the maximum radius of the overlapping area of two adjacent LED lights.
  • the three or more sets of GPS data may be based on a range-based algorithm and a range-free algorithm.
  • the calculated GPS data is loaded onto the navigation map to indicate the current location. Positioning accuracy can reach centimeter level.
  • the ranging-independent algorithm does not need to determine the distance and angle information, and only implements information such as network connectivity.
  • the main algorithms are: centroid algorithm, APIT (approximate point-in-triangulation teat) and DV-Hop (distance vector-hop) positioning algorithm.
  • a range-based algorithm measures the distance or angle information of a point-to-point from a node, and calculates the position of the node using trilateration, triangulation, or maximum likelihood estimation.
  • the main algorithms are: TOA (time of arrival), TDOA (Time Difference Of Arrival), AOA (Angle of Arrival), and RSSI (Received Signal Strength Indication).
  • Step S104 planning a navigation route between the current location and the target location according to the current location.
  • the terminal may map the current location obtained by the positioning and the target location input by the user to the navigation map, and plan a navigation route between the current location and the target location according to the navigation algorithm.
  • the method for indoor navigation provided by the first embodiment of the present invention can receive an infrared carrier emitted by an LED lamp, and can receive an infrared carrier emitted by the LED lamp through an infrared transmitting receiving head in the terminal, and obtain a GPS code from the GPS code. Obtain GPS data, determine the current location based on the GPS data, and plan the navigation route between the current location and the target location to achieve indoor positioning and indoor navigation.
  • FIG. 2 is a schematic flowchart diagram of a method for indoor navigation according to Embodiment 2 of the present invention.
  • a second embodiment of the present invention provides a method for indoor navigation. As shown in FIG. 2, the method may include:
  • Step S201 modulating a GPS data code onto a carrier by using a code modulation technique, and passing the LED
  • the infrared transmitting receiver of the lamp transmits a carrier modulated with a GPS data code to generate an infrared carrier.
  • the infrared carrier is a 38 KHz carrier.
  • Step S202 receiving an infrared carrier at the same frequency as the infrared carrier, and acquiring a GPS data code from the infrared carrier.
  • the infrared transmitting receiving head built in the terminal receives the infrared carrier at a frequency of 38 KHz, and acquires the GPS data code from the infrared carrier.
  • the GPS data code is a 50 Hz data code.
  • step S203 the GPS data code is parsed to obtain GPS data.
  • Step S204 determining the current location according to the GPS data.
  • Step S205 planning a navigation route between the current location and the target location according to the current location.
  • the infrared carrier emitted by the LED lamp can be received, and the infrared carrier emitted by the LED lamp can be received by the infrared transmitting receiving head in the terminal, and the GPS code is obtained therefrom, and the GPS code is analyzed.
  • Obtain GPS data determine the current location based on the GPS data, and plan the navigation route between the current location and the target location to achieve indoor positioning and indoor navigation.
  • FIG. 3 is a schematic structural diagram of an apparatus for indoor navigation according to Embodiment 3 of the present invention.
  • the embodiment of the present invention provides a device for indoor navigation.
  • the method for indoor navigation provided by the first embodiment of the present invention may be implemented, and may include the following modules:
  • the infrared carrier receiving module 31 the GPS data obtaining module 32, the current position determining module 33, and the navigation route planning module 34.
  • the infrared carrier receiving module 31 is configured to receive an infrared carrier sent by the LED lamp, and obtain a GPS data code from the infrared carrier;
  • the GPS data obtaining module 32 is configured to parse the GPS data code to obtain GPS data;
  • the location determining module 33 is configured to determine a current location according to the GPS data, and the navigation route planning module 34 is configured to plan a navigation route between the current location and the target location according to the current location.
  • the LED lamp is fixed on the ceiling, and there is no obstruction between the LED lamp and the terminal.
  • proximity sensors are generally integrated in terminals such as mobile phones and tablet computers, and the proximity sensors have infrared transmitting and receiving heads, so the proximity sensors can be performed by infrared rays. Ranging.
  • the infrared transmitting receiver in the proximity sensor it is possible to receive the infrared carrier without increasing the components in the terminal.
  • the GPS data code is modulated in the infrared carrier emitted by the LED lamp, so that the GPS data code can be acquired from the infrared carrier.
  • the GPS data code may be an NMEA (Na-tional Marine Electronics Association) code, and the NMEA code is a set of standard information defining the output of the receiver.
  • the most commonly used format is GGA (Global).
  • Positioning System Fix Data which fixes data, includes GPS data such as positioning time, latitude, longitude, altitude, speed, and date.
  • the terminal can only receive an infrared carrier transmitted by one LED lamp, thereby obtaining a set of GPS data.
  • the indoor navigation software in the terminal loads the set of GPS data onto the navigation map to indicate the current location.
  • the accuracy of the positioning is the illumination range of the LED light.
  • the terminal may receive two LED lights or two or more LED lights to obtain two or more sets of GPS. data.
  • the indoor navigation software in the terminal processes the two sets of GPS data in a binary manner to process the two sets of GPS data, and loads the processed GPS data onto the navigation map to indicate the current location.
  • the positioning accuracy is the maximum radius of the overlapping area of two adjacent LED lights.
  • the three or more sets of GPS data may be based on a range-based algorithm and a range-free algorithm.
  • the calculated GPS data is loaded onto the navigation map to indicate the current location. Positioning accuracy can reach centimeter level.
  • the ranging-independent algorithm does not need to determine the distance and angle information, and only implements information such as network connectivity.
  • the main algorithms are: centroid algorithm, APIT (approximate point-in-triangulation teat) and DV-Hop (distance vector-hop) positioning algorithm.
  • a range-based algorithm measures the distance or angle information of a point-to-point from a node, and calculates the position of the node using trilateration, triangulation, or maximum likelihood estimation.
  • the main algorithms are: TOA (time of arrival), TDOA (Time Difference Of Arrival) Poor), AOA (Angle of Arrival) and RSSI (Received Signal Strength Indication).
  • the terminal may map the current location obtained by the positioning and the target location input by the user to the navigation map, and plan a navigation route between the current location and the target location according to the navigation algorithm.
  • the device for indoor navigation provided by the third embodiment of the present invention can receive the infrared carrier emitted by the LED lamp, can receive the infrared carrier emitted by the LED lamp through the infrared transmitting receiving head in the terminal, obtain the GPS code from the GPS code, and analyze the GPS code. Obtain GPS data, determine the current location based on the GPS data, and plan the navigation route between the current location and the target location to achieve indoor positioning and indoor navigation.
  • FIG. 4 is a schematic structural diagram of an apparatus for indoor navigation according to Embodiment 4 of the present invention.
  • the fourth embodiment of the present invention provides an indoor navigation device, which can perform the method for indoor navigation provided by the second embodiment of the present invention. As shown in FIG. 4, the following modules may be included:
  • the infrared carrier generating module 41 is configured to modulate a GPS data code onto a carrier by using a code modulation technology, and transmit a carrier modulated with a GPS data code by an infrared transmitting and receiving head of the LED light to generate an infrared carrier;
  • the infrared carrier receiving module 42 is configured to receive the infrared carrier at the same frequency as the infrared carrier, and obtain the GPS data code from the infrared carrier;
  • the GPS data obtaining module 43 is configured to parse the GPS data code to obtain the GPS data;
  • the current location determining module 44 For determining the current location according to the GPS data, the navigation route planning module 45 is configured to plan a navigation route between the current location and the target location according to the current location.
  • the infrared carrier is a 38 kHz carrier
  • the GPS data code carried by the infrared carrier is a 50 Hz data code.
  • the device for indoor navigation provided by the fourth embodiment of the present invention can receive the infrared carrier emitted by the LED lamp, and can receive the infrared carrier emitted by the LED lamp through the infrared transmitting receiving head in the terminal, and obtain the GPS code from the GPS code. Obtain GPS data, determine the current location based on GPS data, and plan a navigation route between the current location and the target location to achieve indoor positioning and Indoor navigation.
  • FIG. 5 is a schematic structural diagram of an indoor navigation system according to an embodiment of the present invention.
  • the indoor positioning control center 1 will modulate the GPS data code onto the carrier by the code modulation technology, and transmit the carrier modulated with the GPS data code through the infrared transmitting and receiving head of the LED lamp 2 to generate an infrared carrier; the terminal 3 receives The infrared carrier emitted by the LED lamp 2 acquires the GPS data code from the infrared carrier; analyzes the GPS data code to obtain the GPS data; determines the current location according to the GPS data; and plans the navigation route between the current location and the target location according to the current location. Thereby achieving indoor positioning and indoor navigation.
  • an architecture in which a terminal receives an infrared carrier and implements indoor navigation is as shown in FIG. 6.
  • the GPS part is the GPS device application software (GPS APP), GPS service (GPS service) and GPS software development kit (GPS lib) of the indoor positioning control center.
  • the GPS part can be connected to the lower layer through the HAL (Hardware Abstraction Layer) layer.
  • the infrared (IR, Infrared Radiation) part includes: an underlying driving interface, an infrared processing chip, and an infrared transmitting receiving head LED.
  • the infrared emitting and receiving head LED can integrate the functions of the infrared emitting unit and the infrared receiving unit, that is, the infrared emitting receiving head LED can emit infrared light or can sense infrared light.
  • the infrared transmitting receiver of the terminal receives the infrared carrier emitted by the LED lamp, and then the infrared processing chip acquires the GPS data code from the infrared carrier, and parses the GPS data code to obtain GPS data; and then, the HAL layer will
  • the GPS data obtained by the infrared processing chip is uploaded to the GPS software development kit (GPS lib), the GPS service (GPS service) and the GPS device application software (GPS APP), and the GPS device application software maps the GPS data to the indoor navigation map. Determine the current location and plan the navigation route between the current location and the target location based on the current location.
  • the device embodiments described above are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located in one place. Or it can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand without paying creative labor. And implemented.
  • the various component embodiments of the present invention may be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof.
  • a microprocessor or digital signal processor may be used in practice to implement some or all of the functionality of some or all of the components of the method and apparatus for indoor navigation in accordance with embodiments of the present invention.
  • the invention can also be implemented as a device or device program (e.g., a computer program and a computer program product) for performing some or all of the methods described herein.
  • a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.
  • Figure 7 illustrates a computing device that can implement the method of indoor navigation in accordance with the present invention.
  • the computing device conventionally includes a processor 710 and a computer program product or computer readable medium in the form of a memory 720.
  • Memory 720 can be an electronic memory such as a flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • Memory 720 has a memory space 730 for program code 731 for performing any of the method steps described above.
  • storage space 730 for program code may include various program code 731 for implementing various steps in the above methods, respectively.
  • the program code can be read from or written to one or more computer program products.
  • Such computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG.
  • the storage unit may have storage segments, storage spaces, and the like that are similarly arranged to memory 720 in the computing device of FIG.
  • the program code can be compressed, for example, in an appropriate form.
  • the storage unit includes computer readable code 731', ie, code readable by a processor, such as 710, that when executed by a computing device causes the computing device to perform each of the methods described above step.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
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Abstract

本发明实施例提供一种室内导航的方法和装置，该方法包括：接收LED灯发出的红外线载波，从红外线载波中获取GPS数据码；解析GPS数据码，获得GPS数据；依据GPS数据，确定当前位置；依据当前位置，规划当前位置与目标位置之间的导航路线。通过本发明实施例提供的一种室内导航的方法和装置，LED灯固定在室内天花板上，与终端之间不存在障碍物，可以通过终端中的红外发射接收头接收LED灯发出的红外线载波，并从中获取GPS码，解析GPS码获得GPS数据，依据GPS数据，确定当前位置，并规划当前位置与目标位置之间的导航路线，实现室内定位和室内导航。

Description

一种室内导航的方法和装置
本申请要求在2015年12月30日提交中国专利局、申请号为201511023809.7、发明名称为“一种室内导航的方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及室内导航技术领域，特别是涉及一种室内导航的方法和装置。
背景技术
随着道路的建设，城际间的经济往来更加频繁，人类活动的区域也越来越大。为了提高生活质量，大量的休闲活动、探险活动的举行使我们并不局限在自己认识的一小块区域中，不认识道路、找不到目的地的情况也屡有发生，因此如何获得抵达目的地的路线成为人类出行的需求，导航正好可以满足这一需求。导航(navigation)是引导某一设备，从指定航线的一点运动到另一点的方法。
目前，使用最广泛的导航技术是GPS(Global Positioning System，全球定位系统)。GPS的空间部分是由21颗工作卫星组成，位于距地表20200km的上空，均匀分布在6个轨道面上(每个轨道面4颗)，轨道倾角为55°。此外，还有3颗有源备份卫星在轨运行。卫星的分布使得在全球任何地方、任何时间都可观测到4颗以上的卫星，并能在卫星中预存的导航信息。
用户设备部分即GPS信号接收机。其主要功能是能够捕获到按一定卫星截止角所选择的待测卫星，并跟踪这些卫星的运行。当接收机捕获到跟踪的卫星信号后，就可测量出接收天线至卫星的伪距离和距离的变化率，解调出卫星轨道参数等数据。根据这些数据，接收机中的微处理计算机就可按定位解算方法进行定位计算，计算出用户所在地理位置的经纬度、高度、速度、时间等信息。接收机硬件和机内软件以及GPS数据的处理软件包构成完整的GPS用户设备。GPS接收机的结构分为天线单元和接收单元两部分。接收机一般采用机内和机外两种直流电源。设置机内电源的目的在于更换外电源时不中断连续观测。在用机外电源时机内电池自动充电。关机后，机内电池为 RAM(Random Access Memory，随机存取存储器)供电，以防止数据丢失。各种类型的接收机体积越来越小，重量越来越轻，便于野外观测使用。
现在大型建筑越来越多，建筑中的店铺、公司越来越多，人们在大型建筑中很容易迷路，因此需要室内导航。但是由于建筑物的遮挡，GPS信号接收机接收到的卫星发出的GPS信号很不稳定，因此现有的GPS技术不能在大型建筑中明确的指出某一公司或店铺的位置。
因此，目前需要本领域技术人员迫切解决的一个技术问题就是：如何在大型建筑中进行室内导航，规划出抵达目标位置的路线。
发明内容
本发明实施例提供一种室内导航的方法和装置，用以解决现有技术不能在大型建筑中实现室内导航，规划出抵达目标位置的路线的技术问题。
为了解决上述问题，本发明实施例公开了一种室内导航的方法，包括：
接收LED(Light-Emitting Diode，发光二极管)灯发出的红外线载波，从所述红外线载波中获取GPS数据码；
解析所述GPS数据码，获得GPS数据；
依据所述GPS数据，确定当前位置；
依据所述当前位置，规划所述当前位置与目标位置之间的导航路线。
为了解决上述问题，本发明实施例还公开了一种室内导航的装置，包括：
红外线载波接收模块，用于接收LED灯发出的红外线载波，从所述红外线载波中获取GPS数据码；
GPS数据获得模块，用于解析所述GPS数据码，获得GPS数据；
当前位置确定模块，用于依据所述GPS数据，确定当前位置；
导航路线规划模块，用于依据所述当前位置，规划当前位置与目标位置之间的导航路线。
根据本发明的又一个方面，提供了一种计算机程序，其包括计算机可读代码，当所述计算机可读代码在计算设备上运行时，导致所述计算设备执行所述的室内导航的方法。
根据本发明的再一个方面，提供了一种计算机可读介质，其中存储了所述的计算机程序。
本发明实施例提供的一种室内导航的方法和装置，LED灯固定在室内天花板上，与终端之间不存在障碍物，可以通过终端中的红外发射接收头接收LED灯发出的红外线载波，并从中获取GPS码，解析GPS码获得GPS数据，依据GPS数据，确定当前位置，并规划当前位置与目标位置之间的导航路线，实现室内定位和室内导航。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一提供的一种室内导航的方法的流程示意图；
图2是本发明实施例二提供的一种室内导航的方法的流程示意图；
图3是本发明实施例三提供的一种室内导航的装置的结构示意图；
图4是本发明实施例四提供的一种室内导航的装置的结构示意图；
图5为本发明实施例提供的一种室内导航系统的结构示意图；
图6为本发明实施例提供的终端接收红外线载波并实现室内导航的架构示意图；
图7示意性地示出了用于执行根据本发明的方法的计算设备的框图；
图8示意性地示出了用于保持或者携带实现根据本发明的方法的程序代码的存储单元。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一
参照图1，示出了本发明实施例一提供的一种室内导航的方法的流程示意图。
为解决在大型建筑中的室内导航问题，本实施例一提供的一种室内导航的方法，可以由具有红外发射接收头的终端来执行，如图1所示，可以包括以下步骤：
步骤S101，接收LED(Light-Emitting Diode，发光二极管)灯发出的红外线载波，从红外线载波中获取GPS(Global Positioning System，全球定位系统)数据码。
在本步骤中，LED灯固定在天花板上，因此，LED灯与终端之间不存在障碍物遮挡。目前，手机、平板电脑等终端中普遍集成有近距离传感器，近距离传感器具有红外发射接收头，因此近距离传感器通过红外线进行测距。利用近距离传感器中的红外发射接收头来接收红外线载波，可以实现在不增加终端中元器件的情况下接收红外线载波。需要进行说明的是，LED灯发出的红外线载波中调制有GPS数据码，因此，可以从红外线载波中获取GPS数据码。
步骤S102，解析GPS数据码，获得GPS数据。
在本步骤中，GPS数据码可以是NMEA(Na-tional Marine Electronics Association，国家海洋电子协会)码，NMEA码是一套定义接收机输出的标准信息，最常用的格式为GGA(Global Positioning System Fix Data，全球定位系统修复数据)，包含了定位时间、纬度、经度、高度、速度和日期等GPS数据。
步骤S103，依据GPS数据，确定当前位置。
在走廊、电梯间等狭小的位置，往往只设置有一盏LED灯，因此，终端只能接收到一盏LED灯发送的红外线载波，从而获得一组GPS数据。终端中的室内导航软件将这组GPS数据加载到导航地图上，以表示当前位置。定位的精确度是LED灯的照明范围。
出于对照明亮度的需求，较大面积的室内往往设置有不止一盏LED灯，因此终端有可能收到两盏LED灯或两盏以上的LED灯发出的红外线载波，从而获得两组或两组以上的GPS数据。
当接收到两组GPS数据时，终端中内置的室内导航软件将这两组GPS 数据以二分法进行处理这两组GPS数据，将处理后的GPS数据加载到导航地图上，以表示当前位置。定位精度是两个相邻LED灯照明重叠区域的最大半径。
当接收到三组或三组以上的LED灯发射的GPS数据，可以将这三组或三组以上的GPS数据采用基于测距(range-based)算法和测距无关(range-free)算法，将计算后的GPS数据加载到导航地图上，以表示当前位置。定位精度可以达到厘米级。
测距无关算法无需确定距离和角度信息，仅根据网络对通性等信息加以实现。主要算法有：质心算法、APIT(approximate point-in-triangulation teat，近似三角形内点测试法)和DV-Hop(distance vector-hop，距离向量-跳段)定位算法。
基于测距(range-based)算法是测量节点问点到点的距离或角度信息，使用三边测量法、三角测量法或最大似然估计法计算节点位置。主要算法有：TOA(time of arrival，到达时间)、TDOA(Time Difference Of Arrival，到达时间差)、AOA(Angle of Arrival，到达角)和RSSI(Received Signal Strength Indication，接收信号强度指示)。
步骤S104，依据当前位置，规划当前位置与目标位置之间的导航路线。
在本步骤中，终端可以将定位获得的当前位置和用户输入的目标位置映射到导航地图上，依据导航算法规划当前位置与目标位置之间的导航路线。
通过本发明实施例一提供的一种室内导航的方法，可以接收LED灯发出的红外线载波，可以通过终端中的红外发射接收头接收LED灯发出的红外线载波，并从中获取GPS码，解析GPS码获得GPS数据，依据GPS数据，确定当前位置，并规划当前位置与目标位置之间的导航路线，实现室内定位和室内导航。
实施例二
图2为本发明实施例二提供的一种室内导航的方法的流程示意图。
本发明实施例二提供了一种室内导航的方法，如图2所示，该方法可以包括：
步骤S201，通过编码调制技术，将GPS数据码调制到载波上，通过LED 灯的红外发射接收头发射调制有GPS数据码的载波，生成红外线载波。
在本步骤中，红外线载波为38KHz载波。
步骤S202，以与红外线载波相同的频率接收红外线载波，从红外线载波中获取GPS数据码。
在本步骤中，终端上内置的红外发射接收头，红外发射接收头以38KHz的频率接收红外线载波，从红外线载波中获取GPS数据码。其中，GPS数据码为50Hz数据码。
步骤S203，解析GPS数据码，获得GPS数据。
步骤S204，依据GPS数据，确定当前位置。
步骤S205，依据当前位置，规划当前位置与目标位置之间的导航路线。
通过本发明实施例二提供的一种室内导航的方法，可以接收LED灯发出的红外线载波，可以通过终端中的红外发射接收头接收LED灯发出的红外线载波，并从中获取GPS码，解析GPS码获得GPS数据，依据GPS数据，确定当前位置，并规划当前位置与目标位置之间的导航路线，实现室内定位和室内导航。
实施例三
图3为本发明实施例三提供的一种室内导航的装置的结构示意图。
本发明实施例三提供了一种室内导航的装置，如图3所示，可以执行本发明实施例一提供的室内导航的方法，可以包括以下模块：
红外线载波接收模块31、GPS数据获得模块32、当前位置确定模块33和导航路线规划模块34。
在本发明实施例中，红外线载波接收模块31，用于接收LED灯发出的红外线载波，从红外线载波中获取GPS数据码；GPS数据获得模块32，用于解析GPS数据码，获得GPS数据；当前位置确定模块33，用于依据GPS数据，确定当前位置；导航路线规划模块34，用于依据当前位置，规划当前位置与目标位置之间的导航路线。
在红外线载波接收模块31中，LED灯固定在天花板上，LED灯与终端之间不存在遮挡。目前，手机、平板电脑等终端中普遍集成有近距离传感器，近距离传感器具有红外发射接收头，因此近距离传感器可以通过红外线进行 测距。利用近距离传感器中的红外发射接收头来接收红外线载波，可以实现在不增加终端中元器件的情况下接收红外线载波。需要进行说明的是，LED灯发出的红外线载波中调制有GPS数据码，因此，可以从红外线载波中获取GPS数据码。
在GPS数据获得模块32中，GPS数据码可以是NMEA(Na-tional Marine Electronics Association，国家海洋电子协会)码，NMEA码是一套定义接收机输出的标准信息，最常用的格式为GGA(Global Positioning System Fix Data，全球定位系统修复数据)，包含了定位时间、纬度、经度、高度、速度、日期等GPS数据。
在当前位置确定模块33中，在走廊、电梯间等狭小的位置，往往只设置有一盏LED灯，因此，终端只能接收到一盏LED灯发送的红外线载波，从而获得一组GPS数据。终端中的室内导航软件将这组GPS数据加载到导航地图上，以表示当前位置。定位的精确度是LED灯的照明范围。
出于对照明亮度的需求，室内往往设置有不止一盏LED灯，因此终端有可能收到两盏LED灯或两盏以上的LED灯发出的红外线载波，从而获得两组或两组以上的GPS数据。
当接收到两组GPS数据时，终端中室内导航软件将这两组GPS数据以二分法进行处理这两组GPS数据，将处理后的GPS数据加载到导航地图上，以表示当前位置。定位精度是两个相邻LED灯照明重叠区域的最大半径。
当接收到三组或三组以上的LED灯发射的GPS数据，可以将这三组或三组以上的GPS数据采用基于测距(range-based)算法和测距无关(range-free)算法，将计算后的GPS数据加载到导航地图上，以表示当前位置。定位精度可以达到厘米级。
测距无关算法无需确定距离和角度信息，仅根据网络对通性等信息加以实现。主要算法有：质心算法、APIT(approximate point-in-triangulation teat，近似三角形内点测试法)和DV-Hop(distance vector-hop，距离向量-跳段)定位算法。
基于测距(range-based)算法是测量节点问点到点的距离或角度信息，使用三边测量法、三角测量法或最大似然估计法计算节点位置。主要算法有：TOA(time of arrival，到达时间)、TDOA(Time Difference Of Arrival，到达时间 差)、AOA(Angle of Arrival，到达角)和RSSI(Received Signal Strength Indication，接收信号强度指示)。
在导航路线规划模块34中，终端可以将定位获得的当前位置和用户输入的目标位置映射到导航地图上，依据导航算法规划当前位置与目标位置之间的导航路线。
通过本发明实施例三提供的一种室内导航的装置，可以接收LED灯发出的红外线载波，可以通过终端中的红外发射接收头接收LED灯发出的红外线载波，并从中获取GPS码，解析GPS码获得GPS数据，依据GPS数据，确定当前位置，并规划当前位置与目标位置之间的导航路线，实现室内定位和室内导航。
实施例四
图4为本发明实施例四提供的一种室内导航的装置的结构示意图。
本发明实施例四提供了一种室内导航的装置，可以执行本发明实施例二提供的一种室内导航的方法，如图4所示，可以包括以下模块：
红外线载波生成模块41、红外线载波接收模块42、GPS数据获得模块43、当前位置确定模块44和导航路线规划模块45。
在本发明实施例中，红外线载波生成模块41，用于通过编码调制技术，将GPS数据码调制到载波上，通过LED灯的红外发射接收头发射调制有GPS数据码的载波，生成红外线载波；红外线载波接收模块42，用于以与红外线载波相同的频率接收红外线载波，从红外线载波中获取GPS数据码；GPS数据获得模块43，用于解析GPS数据码，获得GPS数据；当前位置确定模块44，用于依据GPS数据，确定当前位置；导航路线规划模块45，用于依据当前位置，规划当前位置与目标位置之间的导航路线。
在红外线载波生成模块41中，红外线载波为38KHz载波，红外线载波携带的GPS数据码为50Hz数据码。
通过本发明实施例四提供的一种室内导航的装置，可以接收LED灯发出的红外线载波，可以通过终端中的红外发射接收头接收LED灯发出的红外线载波，并从中获取GPS码，解析GPS码获得GPS数据，依据GPS数据，确定当前位置，并规划当前位置与目标位置之间的导航路线，实现室内定位和 室内导航。
图5为本发明实施例提供的一种室内导航系统的结构示意图。
在图5中，室内定位控制中心1将通过编码调制技术，将GPS数据码调制到载波上，通过LED灯2的红外发射接收头发射调制有GPS数据码的载波，生成红外线载波；终端3接收LED灯2发出的红外线载波，从红外线载波中获取GPS数据码；解析GPS数据码，获得GPS数据；依据GPS数据，确定当前位置；依据当前位置，规划当前位置与目标位置之间的导航路线。从而实现室内定位和室内导航。
在本发明实施例中，终端接收红外线载波并实现室内导航的架构如图6所示。
GPS部分为室内定位控制中心的GPS设备应用软件(GPS APP)、GPS服务端(GPS service)和GPS软件开发包(GPS lib)。GPS部分通过HAL(Hardware Abstraction Layer，硬件抽象层)层可以连接到下层。红外(IR，Infrared Radiation)部分包括：底层驱动接口、红外线处理器芯片和红外发射接收头LED。其中，红外发射接收头LED可以集成红外发射单元和红外接收单元的功能，即红外发射接收头LED可以发射红外光，也可以感应红外光。
基于图6，首先，终端的红外发射接收头接收LED灯发出的红外线载波，然后，红外线处理芯片从红外线载波中获取GPS数据码，并解析GPS数据码，获得GPS数据；再然后，HAL层将红外线处理芯片获得的GPS数据上传至GPS软件开发包(GPS lib)、GPS服务端(GPS service)和GPS设备应用软件(GPS APP)，GPS设备的应用软件将GPS数据映射到室内导航地图上，确定当前位置，依据当前位置，规划当前位置与目标位置之间的导航路线。
以上所描述的装置实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解 并实施。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的室内导航的方法和装置中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图7示出了可以实现根据本发明的室内导航的方法的计算设备。该计算设备传统上包括处理器710和以存储器720形式的计算机程序产品或者计算机可读介质。存储器720可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器720具有用于执行上述方法中的任何方法步骤的程序代码731的存储空间730。例如，用于程序代码的存储空间730可以包括分别用于实现上面的方法中的各种步骤的各个程序代码731。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图8所述的便携式或者固定存储单元。该存储单元可以具有与图7的计算设备中的存储器720类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码731’，即可以由例如诸如710之类的处理器读取的代码，这些代码当由计算设备运行时，导致该计算设备执行上面所描述的方法中的各个步骤。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台 计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (12)

  1. 一种室内导航的方法，其特征在于，包括：
    接收LED灯发出的红外线载波，从所述红外线载波中获取GPS数据码；
    解析所述GPS数据码，获得GPS数据；
    依据所述GPS数据，确定当前位置；
    依据所述当前位置，规划所述当前位置与目标位置之间的导航路线。
  2. 根据权利要求1所述的方法，其特征在于，在所述接收LED灯发出的红外线载波，从所述红外线载波中获取GPS数据码之前，还包括：
    通过编码调制技术，将所述GPS数据码调制到载波上，并通过所述LED灯的红外发射接收头发射调制有GPS数据码的载波，生成所述红外线载波。
  3. 根据权利要求1所述的方法，其特征在于，所述接收LED灯发出的红外线载波，包括：
    以与所述红外线载波相同的频率接收所述红外线载波。
  4. 根据权利要求3所述的方法，其特征在于，所述红外线载波为38KHz载波。
  5. 根据权利要求1所述的方法，其特征在于，所述GPS数据码为50Hz数据码。
  6. 一种室内导航的装置，其特征在于，包括：
    红外线载波接收模块，用于接收LED灯发出的红外线载波，从所述红外线载波中获取GPS数据码；
    GPS数据获得模块，用于解析所述GPS数据码，获得GPS数据；
    当前位置确定模块，用于依据所述GPS数据，确定当前位置；
    导航路线规划模块，用于依据所述当前位置，规划所述当前位置与目标位置之间的导航路线。
  7. 根据权利要求6所述的装置，其特征在于，还包括：
    红外线载波生成模块，用于通过编码调制技术，将所述GPS数据码调制到载波上，并通过所述LED灯的红外发射接收头发射调制有GPS数据码的载波，生成所述红外线载波。
  8. 根据权利要求6所述的装置，其特征在于，所述红外线载波接收模块， 具体用于，以与所述红外线载波相同的频率接收所述红外线载波。
  9. 根据权利要求8所述的装置，其特征在于，所述红外线载波为38KHz载波。
  10. 根据权利要求6所述的装置，其特征在于，所述GPS数据码为50Hz数据码。
  11. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算设备上运行时，导致所述计算设备执行根据权利要求1-5中的任一个所述的室内导航的方法。
  12. 一种计算机可读介质，其中存储了如权利要求11所述的计算机程序。
PCT/CN2016/089302 2015-12-30 2016-07-08 一种室内导航的方法和装置 Ceased WO2017113722A1 (zh)

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