CN103591951B - A kind of indoor navigation system and method - Google Patents

Abstract

The invention provides an indoor navigation system and method. Wherein, the method is carried out based on smart glasses, including S1, using a positioning sensor unit to obtain the user's location information; S2, setting the user's departure location and destination location in the navigation calculation unit according to the obtained user location information; S3, According to the user's departure location and destination location, combined with the indoor map, the navigation calculation unit is used to calculate the navigation path between the two locations; S4, the data processing unit is used to perform real-time matching coverage of the indoor map navigation path and the real scene through the method of geometric projection ; S5. Use the indicating unit to indicate the navigation path. Through the introduction of smart glasses, the present invention not only simplifies the structure of the whole navigation system and reduces the cost, but also presents the navigation information to users in a more intuitive and humanized way, and the whole system has wider practicability and stronger portability .

Description

An indoor navigation system and method

technical field

The invention relates to navigation technology, in particular to an indoor navigation system and method.

Background technique

Navigation systems are a booming field in this century. At present, outdoor navigation mainly relies on satellite positioning, and has achieved great success in car navigation, civil construction, and military applications, but the indoor navigation system is still not mature enough.

Indoor navigation can also use satellite navigation, but due to the large attenuation of satellite signals indoors, external hardware networks need to be used for signal compensation and calibration, which is less practical, which is why indoor positioning technology requires other technical means to achieve. At present, the main technical means are inertial navigation through sensor groups or real-time positioning and navigation combined with wireless signals. The main implementation clients are mainly concentrated on mobile devices such as smartphones and tablets, and display relevant navigation information relying on flat-panel displays. Smart glasses have an independent operating system. Users can install software, games and other programs provided by software service providers. They can add schedules, map navigation, interact with friends, take photos and videos, and start video calls with friends through voice or motion control. And other functions, and can realize the function of wireless network access through the mobile communication network. Smart glasses have unique advantages in display enhancement and user interaction.

In the Chinese patent CN201310145478.9, an indoor navigation system based on image sensing technology and a navigation and search method are disclosed. Computers, handheld computers, smart handheld game consoles, any one or any variety) cooperate with image acquisition equipment and networked hotspots to form a navigation system. Push navigation information to achieve the purpose of navigation.

In the Chinese patent CN201210311102.6, an indoor navigation method, system and equipment are disclosed, which mentions the use of a server storing an indoor electronic map, markers and a combination of intelligent terminals for navigation, and the navigation display module uses an electronic map for navigation. display, or use 3D virtual arrows combined with real scenes to give user hints.

The main defect of the above technologies is that there is a lack of a navigation system with a simpler structure and a more humanized navigation interface for navigation. Specifically, it has the following defects:

1. When the system uses the server-location network-client structure, it will inevitably lead to high complexity of the system, especially when multiple users use real-time navigation, the performance requirements of the server are high, and the cost is also high;

2. Since it is cumbersome to make a real 3D electronic map, each indoor structure requires professionals and the workload is heavy, so it is inconvenient to promote it on a large scale in practical applications;

3. The server needs to maintain communication with the client at any time to ensure the stability of the navigation work. The navigation system needs to be in working condition all the time. In the case of infrequent startup, the server is not used frequently, which may cause a certain waste of equipment and poor cost performance;

4. Due to the limitations of the display function of traditional smart devices, users usually need to hold the device to confirm the navigation direction by comparing the real environment with the device navigation information, which is not humane enough.

Thus, there is a need for a navigation system or a navigation method that can obtain navigation information in a more intuitive and humanized manner.

Contents of the invention

The purpose of the present invention is to provide an indoor navigation system and method. During real-time path navigation, users can realize indoor navigation according to the real-time matching coverage between the navigation path and the real scene.

In order to achieve the above object, the present invention provides an indoor navigation system, which includes smart glasses, and the smart glasses include a positioning sensor unit, a storage unit, a navigation computing unit, a data processing unit, an indicating unit, and a power supply for each of the above units. power supply unit;

The positioning sensor unit includes a direction sensor and an acceleration sensor, and is used to obtain the user's position information;

The storage unit is used to store indoor map information;

The navigation calculation unit is used to input the user's location information and destination location information, and calculate the navigation path between the two locations according to the indoor map information of the storage unit;

The data processing unit performs real-time matching coverage of the navigation path and the real scene through a geometric projection method;

The indicating unit is used to indicate a navigation path.

Preferably, the direction sensor includes a horizontal direction sensor and a vertical angle sensor, and the acceleration sensor includes a horizontal acceleration sensor and a vertical acceleration sensor; wherein the vertical acceleration sensor is used to measure the real-time height of the user's glasses, the The vertical angle sensor is used to obtain the angle between the projection direction of the user's glasses and the horizontal ground, and the horizontal acceleration sensor and horizontal direction sensor are used to obtain the position information of the user on the indoor map.

Preferably, the indication unit includes a display unit and/or a voice unit, the display unit is used to display the navigation route, and the voice unit is used to give voice prompts to the navigation route.

Preferably, it also includes a network of auxiliary positioning points for collecting user location information, including positioning signal transmitters and independent power sources.

In order to achieve the above object, the present invention also provides an indoor navigation method based on smart glasses, including the following steps:

S1. Using a positioning sensor unit to obtain the location information of the user;

S2. Set the user's departure location and destination location in the navigation computing unit according to the acquired user location information;

S3. According to the starting position and the destination position of the user, combined with the indoor map, the navigation calculation unit is used to calculate the navigation path between the two positions;

S4. Using the data processing unit to perform real-time matching coverage of the indoor map navigation path and the real scene through the method of geometric projection;

S5. Use the indicating unit to indicate the navigation path.

Preferably, step S0 is also included: updating the indoor map and storing it in the storage unit.

Preferably, in step S4, by simulating the viewing angle position of the human eye in the real scene, the data of the positioning sensor unit is used to simulate the relative position of the indoor map, and the viewport projection is performed after adopting geometric positioning and rotation to realize the indoor map and The overlapping of the real scene in the eyes of the user is automatically fine-tuned by using the registration algorithm.

Preferably, step S6 is further included: during the moving process of the user, calculate the direction and displacement of the user relative to the starting position in real time according to the positioning sensor unit, and track and navigate the user's position in real time.

Preferably, the direction sensor includes a horizontal direction sensor and a vertical angle sensor, and the acceleration sensor includes a horizontal acceleration sensor and a vertical acceleration sensor; wherein the vertical acceleration sensor is used to measure the real-time height of the user's glasses, the The vertical angle sensor is used to obtain the angle between the projection direction of the user's glasses and the horizontal ground, and the horizontal acceleration sensor and horizontal direction sensor are used to obtain the position information of the user on the indoor map.

Preferably, the indication unit includes a display unit and/or a voice unit, the display unit is used to display the navigation route, and the voice unit is used to give voice prompts to the navigation route.

The present invention provides an indoor navigation system and method. According to the above indoor navigation system or method, when performing path navigation in real time, the user can realize indoor navigation according to the real-time matching coverage between the navigation path and the real scene. Through the introduction of smart glasses, the present invention not only simplifies the structure of the whole navigation system and reduces the cost, but also presents the navigation information to users in a more intuitive and humanized way, and the whole system has wider practicability and stronger portability .

Description of drawings

Fig. 1 is a system schematic diagram of the indoor navigation system of the present invention;

Fig. 2 is a schematic diagram of the system of the positioning sensor unit in Fig. 1;

Fig. 3 is a flow chart of the indoor navigation method of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to FIG. 1 , the present invention relates to an indoor navigation system 100, including smart glasses 20, and the smart glasses 20 include a positioning sensor unit 21, a storage unit 22, a navigation computing unit 23, a data processing unit 24, an indicating unit 25, and The power supply unit 26 that supplies power to each of the above units.

The smart glasses 20 are see-through smart glasses. When the user wears the smart glasses 20, the surrounding visible light can pass through the lenses of the smart glasses 20, and the user's eyes can normally see the surrounding environment. At the same time, the smart glasses 20 can superimpose some image information on the person's real visual field.

Please refer to FIG. 2 , the positioning sensor unit 21 includes a direction sensor 211 and an acceleration sensor 212 for acquiring the user's position information. The direction sensor 211 includes a horizontal direction sensor 2111 and a vertical angle sensor 2112 , and the acceleration sensor 212 includes a horizontal acceleration sensor 2121 and a vertical acceleration sensor 2122 . Wherein, the vertical acceleration sensor 2122 is used to measure the real-time height of the user's glasses, the vertical angle sensor 2112 is used to obtain the angle between the projection direction of the user's glasses and the horizontal ground, and the horizontal acceleration sensor 2121 and the horizontal direction sensor 2111 is used to obtain the location information of the user on the indoor map. Besides, the positioning sensor unit 21 may also be a combination of an acceleration sensor and a gyroscope.

The storage unit 22 is used for storing indoor map information. At present, indoor maps mainly include two-dimensional indoor maps and three-dimensional indoor maps. The two-dimensional indoor maps are mainly generated based on architectural CAD drawings, and three-dimensional indoor maps require professionals to use professional software (ArcGIS, etc.) for three-dimensional drawing. According to the requirements of the indoor navigation system 100, the present invention adopts a two-dimensional indoor map.

The navigation calculation unit 23 is used to input the user's location information and destination location information, and calculate the navigation path between the two locations according to the indoor map information of the storage unit 22. There is at least one navigation path, and the user can select according to the actual situation. Select the most optimal navigation path. In practice, the user's preferred route can be calculated according to the destination in the indoor map, or it can be a window-side route or a route generated by other user-specified methods. Based on the above, two examples of calculating the navigation path are provided. The first one: the indoor path is relatively simple, with few navigation nodes and only a few limited navigation paths. The corresponding navigation path numbers are archived and directly correspond when navigation is required. Just call it out; the second type: there are many indoor navigation nodes and the path is complicated. At this time, the indoor navigation map can be stored in the form of a "graph" in the data structure. The navigation nodes are the vertices in the "graph", and the navigation path is The connection between vertices, so that the navigation path calculation can be calculated according to the critical path method, the shortest path method, etc.

The data processing unit 24 can use a geometric projection method to perform real-time matching coverage between the navigation path and the real scene. For example, if the human eye is regarded as a camera, imagine that a camera is placed in the center of the human eye at the same height as the human eye, and placed along the line of sight of the human eye, the image of the real scene in the human field of view can be captured ;Similarly, relatively, make a straight line with the eyes of the person, place the straight line above the two-dimensional indoor map according to the body position of the person and the height and angle of the eyes, and swing the two-dimensional indoor map along the straight line , this swing angle is the same as the angle between the projection direction of the human eye and the horizontal ground, and it is cropped according to the size of the viewport of the human eye. At this time, the cropped two-dimensional indoor map will have a high degree of fit with the image in the human eye , which will greatly reduce the difficulty of system-related registration and facilitate real-time navigation. In the indoor map, the navigation path will be outlined in a special display manner (highlighted or using a special color such as green). When preparing to leave, the data processing module 24 will display the indoor map in the aforementioned geometric projection mode according to the height of the human eye (superimposed after registration with the scenery in the human eye) to achieve the effect of enhanced display. At this time, the user The distance and angle after image enhancement can be actively adjusted to achieve the best effect with reality. This adjustment method is actually to give the initial height and initial position of the eyes of the smart glasses 20 before fine-tuning the navigation to achieve the accuracy before departure. value.

The indicating unit 25 is used to indicate the navigation path. The indication unit 25 includes a display unit (not shown) and/or a voice unit (not shown), the display unit is used to display the navigation route, and the voice unit is used to provide voice prompts for the navigation route.

The smart glasses 20 of the indoor navigation system 100 also include a communication unit 27, and the indoor map can be updated accordingly according to actual needs (for example, some paths are blocked due to renovation or other reasons, or some areas are closed, etc.), here This update function is open to the corresponding administrators. When updating, it can be sent to the smart glasses by SMS, email, etc. to remind the user to update the map in time.

The indoor navigation system 100 also includes an auxiliary positioning point network 28 connected and communicating with the smart glasses 20 for collecting user's position information, including a positioning signal transmitter 281 and an independent power supply 282 . The positioning signal transmitter 281 and the independent power supply 282 can be regarded as an independent navigation calibration point, that is, a device for calibrating navigation data. This device is accurately marked on the navigation map. If the user reaches the navigation auxiliary positioning point, he needs to stand at the navigation auxiliary positioning point. After the user's device detects the signal of the positioning point, he can accurately calibrate his position on the navigation map. . Therefore, this device should be set as a proximity sensing device, and each device has its own independent number for user equipment identification. It can be a radio frequency device (similar to the principle of the bus card induction system), and of course it can also be a contact type device, or a device that is identified after a wired connection, only needs to be able to meet the functions of serial number identification and short-distance equipment response.

Furthermore, if there is an error between the enhanced navigation path and the actual path scene due to sensor instability and errors, it can be calibrated through auxiliary positioning points, or the operator can actively adjust the screen at any time to achieve real-time location. Calibration, this calibration can rely on specific positions such as three-way intersections, turning intersections, or stairs for artificial matching and correction, which is more accurate. In real-time navigation, the voice unit and display unit of the smart glasses 20 can also be assisted to provide auxiliary prompts to the user, and the user can use the auxiliary locator network 28 to adjust the error of the system at any time to achieve precise navigation. In addition, self-adjusting positioning technology can also be used for self-adjusting positioning, so that users can achieve the purpose of eliminating system errors according to the overlapping matching and angle correction of the navigation path in the eyes and the characteristic position of the display path (such as crossroads, stair lights) .

According to the above indoor navigation system, when performing route navigation in real time, the user can realize indoor navigation according to the real-time matching coverage between the navigation route and the real scene. Through the introduction of smart glasses, the present invention not only simplifies the structure of the whole navigation system and reduces the cost, but also presents the navigation information to users in a more intuitive and humanized way, and the whole system has wider practicability and stronger portability .

Please refer to Figure 3, the present invention also provides an indoor navigation method based on smart glasses, including the following steps:

S1. Using a positioning sensor unit to obtain the location information of the user;

In step S1, the direction sensor includes a horizontal direction sensor and a vertical angle sensor, and the acceleration sensor includes a horizontal acceleration sensor and a vertical acceleration sensor. Wherein, the vertical acceleration sensor is used to measure the real-time height of the user's glasses, the vertical angle sensor is used to obtain the angle between the projection direction of the user's glasses and the horizontal ground, and the horizontal acceleration sensor and the horizontal direction sensor are used to obtain The user's location information on the indoor map. According to the use of the above sensors, user positioning is performed in real time, including plane position information and height information (used to determine the position and direction of the user, and based on this to determine the path characteristics within the user's field of view, so as to facilitate the matching of navigation paths), This information can be calibrated appropriately with associated aided anchor points and other means. Moreover, since the smart glasses have a fixed wearing direction, all kinds of sensors are direction-sensitive, and the corresponding functions can be correctly realized during normal wearing during use.

Since the smart glasses are used, the user needs to input the eye height before use, and the vertical acceleration sensor of the positioning sensor unit can be used to assist in the measurement. determination. But it is worth noting that when people are walking, the height of the human eye is changing, and it is necessary to rely on the vertical acceleration sensor to give the real-time height of the human eye. Moreover, the vertical acceleration sensor stops working before the person walks through the stairs, and continues to work after leaving the stair area, so as to avoid causing errors in the height information of the glasses.

S2. Set the user's departure location and destination location in the navigation computing unit according to the acquired user location information;

In step S2, based on the positioning sensor unit to obtain the user's location information, a starting point calibration is required. The purpose of positioning calibration is to set the starting point, which can be positioned according to an auxiliary positioning point in the auxiliary positioning point network, or by standing on a For a more obvious location, such as a doorway or an obvious location on the map, at the same time, actively set the location of the corresponding starting point on the indoor map.

S3. According to the starting position and the destination position of the user, combined with the indoor map, the navigation calculation unit is used to calculate the navigation path between the two positions;

The navigation calculation unit generates a navigation path according to the indoor map in the storage unit, or a path generated in other ways, such as a path by a window, can also be selected.

S4. Using the data processing unit to perform real-time matching coverage of the indoor map navigation path and the real scene through the method of geometric projection;

In step S4, the real-time matching coverage of the navigation path based on the indoor map and the real scene is mainly carried out by means of geometric projection, so as to realize the enhanced display of the navigation path in the visual field. According to the theory of geometric deformation, by simulating the viewing angle position of the human eye in the real scene, the data of the positioning sensor unit is used to simulate the relative position of the indoor map, and the viewport projection is performed after the geometric positioning and rotation are adopted to realize the indoor map and the user's eyes. Superposition of real scenes and automatic fine-tuning using registration algorithms. In this process, the height information of the human eye and the angle of the human eye are required. Since the smart glasses are fixed relative to the eyes, the corresponding data can be obtained through the positioning sensor unit installed on the smart glasses.

S5. Use the indicating unit to indicate the navigation path.

In step S5, the indicating unit includes a display unit and/or a voice unit. The display unit is used to display the navigation path. After the real-time matching coverage of the indoor map navigation path and the real scene is realized, the present invention can use the indoor map according to the system requirements, and need to outline the path characteristics and mark the intersection of each path Nodes, rooms, stairs, etc. are special positions other than paths, and the outlines can be highlighted or special colors can be used. The voice unit is used for voice prompting of the navigation path. The voice prompt can be used throughout the whole process, or it can be used in a special walking area, such as turning a corner or going up and down stairs, etc., where auxiliary voice prompts are required.

The indoor navigation method further includes a step S0 of updating the indoor map and storing it in the storage unit. The update function is open to the corresponding administrators. When updating, it can be sent to the smart glasses through text messages, emails, etc., and the user can be prompted to update the map in time.

The indoor navigation method further includes step S6, during the user's movement, calculate the direction and displacement of the user relative to the starting position in real time according to the positioning sensor unit, and track and navigate the user's position in real time.

In step S6, in the process of traveling, it is necessary to display the corresponding navigation information of the indoor map in real time. The picture effect in the human eye is to realize the enhancement effect of the navigation path of the real scene, because the human eye is in the direction and height when walking. In the state of constant adjustment, the screen needs to follow. At this time, the orientation of the human eye is determined according to the inertial navigation, that is, the real-time height measurement of the human eye is realized through the acceleration sensor in the vertical direction, and the angle sensor in the vertical direction obtains the angle between the projection direction of the human eye and the horizontal ground. The horizontal acceleration sensor and the horizontal direction sensor are used to obtain the position information of the person on the two-dimensional map, and the real-time electronic image enhancement path is projected to the display through the aforementioned geometric projection method, so that the real-time enhanced path picture is presented in the eyes of the person during walking. In this way, the user can walk along the path with enhanced vision, and give voice prompts or text prompts on the see-through display at places that need to turn or where there are signs that require caution. Moreover, users can use the auxiliary locator network or self-adjusting positioning to adjust the error of the system at any time to achieve precise navigation.

To stop using the navigation function after arriving at the navigation destination, the navigation function can be turned off, and the above-mentioned system workflow can be repeated again when the navigation function is used next time.

According to the above indoor navigation system, when performing route navigation in real time, the user can realize indoor navigation according to the real-time matching coverage between the navigation route and the real scene. Through the introduction of smart glasses, the present invention not only simplifies the structure of the whole navigation system and reduces the cost, but also presents the navigation information to users in a more intuitive and humanized way, and the whole system has wider practicability and stronger portability .

It can be understood that those skilled in the art can make various other corresponding changes and deformations according to the technical concept of the present invention, and all these changes and deformations should belong to the protection scope of the claims of the present invention.

Claims (8)

1. a kind of indoor navigation system, it is characterised in that including intelligent glasses, the intelligent glasses include alignment sensor list Unit, memory cell, navigation computing unit, data processing unit, indicating member and the power supply of electric power is provided for above each unit Unit；

The position sensor units, including direction sensor and acceleration transducer, the positional information for obtaining user；

The memory cell, for cartographic information in locker room；

The navigation computing unit, positional information and destination locations information for being input into user, and according to memory cell Indoor map information calculates the guidance path between two positions；

The data processing unit, the real-time matching of the guidance path and reality scene is carried out by the method for geometric projection Covering；

The indicating member, for indicating guidance path；

The indoor navigation system also includes auxiliary positioning spot net, the positional information for collecting user, including framing signal Transmitter and independent current source；

Wherein：The data processing unit by simulating view position of the human eye in reality scene, using alignment sensor list The positional information of the user that unit obtains carries out the relative position emulation of indoor map, and viewport is carried out after using geometry location rotation Project to realize overlapping for reality scene in indoor map and user, and be finely adjusted automatically using registration Algorithm.

2. indoor navigation system according to claim 1, it is characterised in that：The direction sensor is passed including horizontal direction Sensor and vertical angles sensor, the acceleration transducer include horizontal acceleration sensor and vertical acceleration transducer； Wherein, the vertical acceleration transducer is used to measure the real-time height of user's glasses, and the vertical angles sensor is used to obtain The projecting direction of family glasses and the angle of level ground are taken, the horizontal acceleration sensor and horizontal direction sensor are used for Obtain positional information of the user indoors on map.

3. indoor navigation system according to claim 1, it is characterised in that：The indicating member include display unit and/ Or voice unit, for showing guidance path, institute's speech units are carried the display unit for carrying out voice to guidance path Show.

4. a kind of indoor navigation method, it is characterised in that carried out based on intelligent glasses, comprised the following steps：

S1, the positional information that user is obtained using position sensor units, the position sensor units include direction sensor And acceleration transducer；

S2, the homeposition and destination locations of user are carried out in the computing unit that navigates according to the customer position information for obtaining Set：Certain auxiliary positioning point in auxiliary positioning spot net is positioned, or by standing in the junction of three roads or turning Crossing or the position of stair, while actively setting the position of corresponding starting point map indoors；

S3, homeposition and destination locations according to user, with reference to indoor map, two positions are calculated using navigation computing unit Between guidance path；

S4, the real-time of indoor map navigation path and reality scene is carried out by the method for geometric projection using data processing unit Matching is covered；

S5, using indicating member indicate guidance path；

In step s 4, by simulating view position of the human eye in reality scene, using the data of position sensor units come The relative position emulation of indoor map is carried out, viewport projection is carried out after using geometry location to rotate to realize indoor map and use The coincidence of reality scene in the eye of family, and be finely adjusted automatically using registration Algorithm.

5. indoor navigation method according to claim 4, it is characterised in that also including step S0：Indoor map is carried out Update, and store in memory cell.

6. indoor navigation method according to claim 4, it is characterised in that also including step S6：In being moved through for user Cheng Zhong, direction of the user relative to homeposition and displacement are calculated according to position sensor units in real time, and customer location is carried out Real-time tracing navigates.

7. indoor navigation method according to claim 4, it is characterised in that the direction sensor includes that horizontal direction is passed Sensor and vertical angles sensor, the acceleration transducer include horizontal acceleration sensor and vertical acceleration transducer； Wherein, the vertical acceleration transducer is used to measure the real-time height of user's glasses, and the vertical angles sensor is used to obtain The projecting direction of family glasses and the angle of level ground are taken, the horizontal acceleration sensor and horizontal direction sensor are used for Obtain positional information of the user indoors on map.

8. indoor navigation method according to claim 4, it is characterised in that the indicating member include display unit and/ Or voice unit, for showing guidance path, institute's speech units are carried the display unit for carrying out voice to guidance path Show.