CN103292805A - Indoor navigation system and indoor navigation method thereof - Google Patents

Abstract

The invention discloses an indoor navigation system and an indoor navigation method thereof, comprising a system management client, a location and navigation server, a mobile terminal, a two-dimensional code label arranged at each navigation target location indoors, and a database server, wherein the The two-dimensional code identification information of the two-dimensional code label and the target location information are bound and stored in the database server, the system management client is connected to the database server, the database server is connected to the location and navigation server, and the location and navigation server is connected to the mobile terminal Wireless communication, the mobile terminal can scan the two-dimensional code label of each navigation target location. The present invention realizes indoor positioning based on the two-dimensional code, solves the problem of inaccurate indoor positioning in the prior art, and improves the accuracy of indoor positioning; performs navigation according to the guidance of color sequences to improve the rationality and popularity of the indoor navigation system.

Description

A kind of indoor navigation system and indoor navigation method thereof

technical field

The invention relates to the technical field of navigation, in particular to an indoor navigation system and an indoor navigation method thereof.

Background technique

With the rapid development of modern communication technology and wireless network, more and more occasions require location-based services, and people's demand for positioning and navigation is increasing. At present, the known outdoor navigation (such as GPS) technology has matured, because GPS (Global Positioning System, Global Positioning System) cannot work normally indoors, so GPS technology cannot be effectively used indoors. So far, the indoor navigation system developed by ESA through accelerometers, gyroscope sensors, local wireless local area networks and computer data models of related buildings is not portable enough, the investment cost is high, and it is not popular and convenient; for Google Maps , 70% of positioning services are realized through Wi-Fi (a technology that can wirelessly connect personal computers, handheld devices and other terminals to each other) positioning, but due to the influence of Wi-Fi factors on the accuracy of positioning, it needs to be improved; There is a Chinese patent with the patent number "CN101984643A", which discloses "a mobile terminal with indoor navigation function and an indoor navigation method". The three-dimensional position information of the terminal in the room can realize indoor three-dimensional navigation, but with the height of the floor, changes in atmospheric pressure will affect the accuracy of navigation; RFID (Radio Frequency Identification, radio frequency identification) technology is a combination of antennas, tags and readers To identify data, but the design cost is high, and it is susceptible to the influence of metal materials, water and other substances, resulting in identification failure or identification error; Near Field Communication (NFC) can achieve a range of 10 cm through the combination of chips, antennas and some software However, its data transmission rate is low, and the application equipment must have an NFC chip, so this method has certain limitations and has not been fully popularized; Baidu Maps has added an indoor map function, It can only display indoor plane information, and cannot provide users with more location services and navigation services. It can be seen that the application of outdoor positioning system and radio wave technology in indoor navigation will face the problem of navigation accuracy, and the error of outdoor navigation is unacceptable for indoor navigation applications; secondly, indoor navigation based on Wi-Fi hotspots and base stations The stability and accuracy of the system need to be improved;

Therefore, the more important issues in this field are: how to improve the indoor positioning method, and how to develop an easy-to-implement indoor navigation system.

Reference document: Nils J.Nilsson. Zheng Kougen, Zhuang Yueting translation. Artificial intelligence [M]. Beijing: Mechanical Industry Press, 2000: 86~88 pages (the position information of the current position and the position of the target position are recorded in detail in this document information to get the navigation algorithm of the navigation path from the current position to the target position)

Contents of the invention

The object of the present invention is to provide an indoor navigation system and an indoor navigation method thereof, which can realize precise navigation in complex indoor scenes.

To achieve this goal, the indoor navigation system designed by the present invention is characterized in that it includes a system management client, a location and navigation server, a mobile terminal, a two-dimensional code label arranged on each navigation target position indoors, a database server, Wherein, the two-dimensional code identification information of the two-dimensional code label is bound to the target location information and stored in the database server, the system management client is connected to the database server, the database server is connected to the location and navigation server, and the location and navigation The server communicates wirelessly with the mobile terminal, and the mobile terminal can scan the two-dimensional code label of each navigation target location.

The location and navigation server communicates with the mobile terminal through 2G (2rd-generation mobile phone communication technology), 3G (3rd-generation, third-generation mobile communication technology) or Wi-Fi wireless communication.

The two-dimensional code labels on the various navigation target positions have a unified two-dimensional code encoding format.

The mobile terminal is a smart phone, a tablet computer or Google glasses.

A kind of indoor navigation method utilizing above-mentioned indoor navigation system, it is characterized in that, it comprises the following steps:

Step 1: Set two-dimensional code labels at each target position in the indoor scene, and the two-dimensional code labels at each target position have unique two-dimensional code identification information;

Step 2: Bind the position information of each target position in the indoor scene with the QR code identification information of the corresponding two-dimensional code label and store it in the database server. At the same time, store the name information of each target position in the indoor scene in the In the database server, the mapping between the location information and the name information of each target location in the indoor scene is established at the same time;

Step 3: Color on each path of the indoor scene. When coloring, ensure that each intersection is the center point, and the roads around the intersection have different colors; and draw the electronic map of the indoor scene. When drawing the electronic map, ensure that the electronic map The target position represented by each two-dimensional code label in the map is consistent with the actual indoor scene, and at the same time ensure that the color of each road in the electronic map is consistent with the actual indoor scene, and then store the electronic map in the system management client;

Step 4: Use the mobile terminal to scan the QR code label at the current location in the actual indoor scene, the mobile terminal sends the QR code label query information to the database server through the location and navigation server, and the database server receives the QR code label After querying the information, send the location information corresponding to the above-mentioned two-dimensional code label to the location and navigation server;

Step 5: Input the corresponding name information of the navigation target position on the mobile terminal, and transmit it to the database server through the position and navigation server 3; the database server determines the position information of the navigation target position according to the name information, and the navigation target position The location information is transmitted to the location and navigation server. At this time, the location and navigation server retrieves the electronic map from the system management client, and obtains the current location on the electronic map according to the location information of the current location and the location information of the target location through a conventional navigation algorithm. A navigation path to the target location, in addition, according to the navigation path, a road color sequence corresponding to the navigation path is obtained;

Step 6: The location and navigation server sends the navigation path and the corresponding road color sequence to the mobile terminal for people to refer to for navigation.

It also includes step 7, when the name information of the target location in the indoor scene is changed, the change information is transmitted to the database server through the system management client.

In the step 5, according to the position information of the current position and the position information of the target position, the navigation path from the current position to the target position is obtained by the following formula:

f(n)=g(n)+h(n)

Among them, all the roads in the indoor scene are divided into multiple squares, each square corresponds to a node n, f(n) is the evaluation function from the current position to the target position via a certain node n, g(n) is the state The actual cost from the current position to the above node n in the space, h(n) is the estimated cost of the best path from the above node n to the target position.

The electronic map is a CAD (Computer Aided Design, computer-aided design) format map.

The name information of each target location includes province code, city code, building code, floor code, division code, coordinate code, location profile or website information.

The present invention realizes indoor positioning based on two-dimensional codes, solves the problem of inaccurate indoor positioning in the prior art, improves the accuracy of indoor positioning, and performs navigation according to the guidance of color sequences to improve the rationality and popularity of the indoor navigation system.

Compared with the prior art, the present invention solves the problem that the existing outdoor navigation technology cannot be positioned indoors, and can be used in intricate buildings such as large shopping malls, underground parking lots, subway stations, railway stations, hotels or airports. Accurate positioning, compared with the existing indoor positioning technology, the error is smaller; the present invention can provide the direction of travel combined by the color sequence and the navigation path, and the user can carry out effective indoor navigation according to the direction of travel; in addition, the present invention No need to install additional equipment, no need to provide additional chips, compared with the existing navigation system, the present invention is easy to implement, and the cost is low; when the orientation is not clear, the present invention can quickly guide the user to follow the color sequence and navigation path in time Accurate arrival at the destination brings convenience to the user; when the user is in a critical environment, the present invention can provide the user with the best safe passage, allowing the user to quickly reach the safe exit and get out of the predicament; the present invention enriches the existing navigation technology system The following functions can provide users with location-related information services according to their location.

Description of drawings

Fig. 1 is a structural block diagram of the present invention.

Among them, 1—system management client, 2—database server, 3—location and navigation server, 4—mobile terminal, 5—QR code label.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

The indoor navigation system designed by the present invention includes a system management client 1, a location and navigation server 3, a mobile terminal 4, a two-dimensional code label 5 arranged on each navigation target position indoors, and a database server 2, wherein the two The two-dimensional code identification information of the two-dimensional code label 5 is bound to the target location information and stored in the database server 2, the system management client 1 is connected to the database server 2, the database server 2 is connected to the location and navigation server 3, and the location and navigation server 3. Wirelessly communicate with the mobile terminal 4, and the mobile terminal 4 can scan the two-dimensional code label 5 of each navigation target position.

In the above technical solution, the location and navigation server 3 and the mobile terminal 4 communicate wirelessly through 2G, 3G or Wi-Fi.

In the above technical solution, the two-dimensional code label 5 on each navigation target position has a unified two-dimensional code encoding format.

In the above technical solution, the mobile terminal 4 is a smart phone, a tablet computer or Google glasses.

In the above technical solution, the location and navigation server 3 is used to provide a communication interface between the mobile terminal 4 and the database server 2, and calculate the navigation route according to the current location and the target location returned by the database server 2.

An indoor navigation method using the above-mentioned indoor navigation system, comprising the following steps:

Step 1: Set a two-dimensional code label 5 at each target position in the indoor scene, and the two-dimensional code label 5 at each target position has unique two-dimensional code identification information;

Step 2: Bind the position information (that is, coordinate information) of each target position in the indoor scene with the two-dimensional code identification information of the corresponding two-dimensional code label 5 and store it in the database server 2. At the same time, store each target position in the indoor scene The name information of the target position is stored in the database server 2, and the mapping between the position information and the name information of each target position in the indoor scene is established simultaneously;

Step 3: Color on each path of the indoor scene. When coloring, ensure that each intersection is the center point, and the roads around the intersection have different colors; and draw the electronic map of the indoor scene. When drawing the electronic map, ensure that the electronic map The target position represented by each two-dimensional code label 5 in the map is consistent with the actual indoor scene, and at the same time ensure that the color of each road in the electronic map is consistent with the actual indoor scene, and then store the electronic map in the system management client 1 ;

Step 4: Use the mobile terminal 4 to scan the two-dimensional code label 5 at the current location in the actual indoor scene, the mobile terminal 4 sends the two-dimensional code label query information to the database server 2 through the location and navigation server 3, and the database server 2 receives After querying the information of the two-dimensional code label, the location information corresponding to the above-mentioned two-dimensional code label 5 is sent to the location and navigation server 3;

Step 5: Input the corresponding name information of the navigation target position on the mobile terminal 4, and transmit to the database server 2 through the position and navigation server 3; The database server 2 determines the position information of the navigation target position according to the name information, and the navigation target position The location information of the target location is transmitted to the location and navigation server 3. At this time, the location and navigation server 3 retrieves the electronic map from the system management client 1, and passes through the electronic map according to the location information of the current location and the location information of the target location. The conventional navigation algorithm obtains the navigation path from the current position to the target position, and in addition, obtains the road color sequence corresponding to the navigation path according to the navigation path;

Step 6: The location and navigation server 3 sends the above-mentioned navigation route and the corresponding road color sequence to the mobile terminal 4 for people's reference for navigation.

Step 7, when the name information of the target location in the indoor scene is changed, the system management client 1 transmits the change information to the database server 2 . The above system management client 1 uses RMI (Remote Method Invocation, remote method invocation) technology to update the data in the database server 2.

In step 5 of the above technical solution, the navigation path from the current position to the target position is obtained by the following formula according to the position information of the current position and the position information of the target position:

f(n)=g(n)+h(n)

Among them, all the roads in the indoor scene are divided into multiple squares, each square corresponds to a node n, f(n) is the evaluation function from the current position to the target position via a certain node n, g(n) is the state The actual cost from the current position to the above node n in the space, h(n) is the estimated cost of the best path from the above node n to the target position. For details of the algorithm, see the literature Nils J.Nilsson. Zheng Kougen, Zhuang Yueting translation. Artificial Intelligence [M]. Beijing: Machinery Industry Press, 2000: 86~88 pages

In the above technical solution, the electronic map is a map in CAD format. The name information of each target location includes province code, city code, building code, floor code, division code, coordinate code, location profile or website information. By inputting the above information in the mobile terminal, people can retrieve the name of the target location and determine the coordinate information of the target location at the same time.

In the above technical solution, the map of the indoor scene is stored in the system management client 1 in the form of a building CAD file, and the lines in the CAD file are regarded as a collection of nodes, and then the coordinates of these nodes are stored; CAD file extracts the node coordinate information, and saves the node coordinate information in text format; according to the navigation request of the mobile terminal, the server sends the indoor map text to the mobile terminal 4, and the mobile terminal 4 converts the text information through openGL (Open Graphics Library) is an indoor map, and displayed on the display screen of the mobile terminal 4.

The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (9)

1. An indoor navigation system, characterized in that it includes a system management client (1), a location and navigation server (3), a mobile terminal (4), and two-dimensional code labels ( 5), the database server (2), wherein, the two-dimensional code identification information of the two-dimensional code label (5) is bound to the target location information and stored in the database server (2), and the system management client (1 ) is connected to the database server (2), the database server (2) is connected to the location and navigation server (3), the location and navigation server (3) communicates wirelessly with the mobile terminal (4), and the mobile terminal (4) can scan each navigation target location of the QR code label (5). 2. The indoor navigation system according to claim 1, characterized in that: the location and navigation server (3) and the mobile terminal (4) communicate wirelessly through 2G, 3G or Wi-Fi. 3. The indoor navigation system according to claim 1, characterized in that: the two-dimensional code labels (5) on the respective navigation target positions have a unified two-dimensional code encoding format. 4. The indoor navigation system according to claim 1, characterized in that: the mobile terminal (4) is a smart phone, a tablet computer or Google glasses. 5. An indoor navigation method utilizing the indoor navigation system of claim 1, characterized in that it comprises the steps of: Step 1: setting a two-dimensional code label (5) at each target position in the indoor scene, and the two-dimensional code label (5) at each target position has unique two-dimensional code identification information; Step 2: Bind the location information of each target location in the indoor scene with the QR code identification information of the corresponding QR code label (5) and store it in the database server (2). The name information of the location is stored in the database server (2), and the mapping between the location information and the name information of each target location in the indoor scene is established at the same time; Step 3: Color on each path of the indoor scene. When coloring, ensure that each intersection is the center point, and the roads around the intersection have different colors; and draw the electronic map of the indoor scene. When drawing the electronic map, ensure that the electronic map The target position represented by each two-dimensional code label (5) in the map is consistent with the actual indoor scene, and at the same time ensure that the color of each road in the electronic map is consistent with the actual indoor scene, and then store the electronic map to the system management client (1); Step 4: Use the mobile terminal (4) to scan the QR code label (5) at the current location in the actual indoor scene, and the mobile terminal (4) sends the two-dimensional code label (5) to the database server (2) through the location and navigation server (3). Two-dimensional code label query information, after receiving the two-dimensional code label query information, the database server (2) sends the location information corresponding to the above two-dimensional code label (5) to the location and navigation server (3); Step 5: Input the name information corresponding to the navigation target position on the mobile terminal (4), and transmit it to the database server (2) through the position and navigation server (3); the database server (2) determines the navigation target position according to the name information location information, and transmit the location information of the navigation target location to the location and navigation server (3), at this time, the location and navigation server (3) retrieves the electronic map from the system management client (1), and According to the location information of the current location and the location information of the target location, the navigation path from the current location to the target location is obtained through a conventional navigation algorithm, and in addition, the road color sequence corresponding to the navigation path is obtained according to the navigation path; Step 6: The location and navigation server (3) sends the above navigation path and the corresponding road color sequence to the mobile terminal (4) for people's reference for navigation. 6. The indoor navigation method according to claim 5, characterized in that it also includes step 7, when the name information of the target location in the indoor scene is changed, the change information is transmitted to database server (2). 7. The indoor navigation method according to claim 5, characterized in that: in said step 5, the navigation path from the current position to the target position is obtained by the following formula according to the position information of the current position and the position information of the target position: f(n)=g(n)+h(n) Among them, all the roads in the indoor scene are divided into multiple squares, each square corresponds to a node n, f(n) is the evaluation function from the current position to the target position via a certain node n, g(n) is the state The actual cost from the current position to the above node n in the space, h(n) is the estimated cost of the best path from the above node n to the target position. 8. The indoor navigation method according to claim 5, wherein the electronic map is a map in CAD format. 9. The indoor navigation method according to claim 5, characterized in that: the name information of each target location includes province code, city code, building code, floor code, partition code, coordinate code, location profile or website information.

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