CN104236547A - Inertial navigation system based internal building electronic map method and system - Google Patents
Inertial navigation system based internal building electronic map method and system Download PDFInfo
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- CN104236547A CN104236547A CN201410526437.9A CN201410526437A CN104236547A CN 104236547 A CN104236547 A CN 104236547A CN 201410526437 A CN201410526437 A CN 201410526437A CN 104236547 A CN104236547 A CN 104236547A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
Discloses are an inertial navigation system based internal building electronic map method and system. The inertial navigation system based internal building electronic map system comprises a building datum point device, an internal building electronic map device and an electronic map measurement device; the building datum point device is used for measuring coordinates of a point in the boundary of the tangent plane of the east and the tangent plane of the south on a WGS-84 coordinate system to serve as a building datum point, wherein the altitude of the point is zero; the internal building electronic map device is used for storing the building datum point, marking graphical elements, mathematical elements, auxiliary elements and additional remarks of every point in an internal building space on a coordinate system with the building datum point as an original point and marking original points of every building on the WGS-84 coordinate system; the electronic map measurement device is formed by an acceleration reactor, a gyroscope and a controller and used for measuring coordinates of the internal building space.
Description
Technical field
The present invention relates to electronic map technique field, be specifically related to the method and system of the interior of building electronic chart based on inertial navigation system.
Background technology
Digital Inertial Navigation System belongs to a kind of and calculates navigate mode. namely to go out it position of any according to the carrier course angle recorded continuously and speed calculation from the position of a known point. thus can measure the current location of movable body continuously.Gyroscope in inertial navigation system is used for formation navigational coordinate system makes the measurement axle of accelerometer stable in the coordinate system and provide course and attitude angle; The acceleration process that accelerometer is used for measuring movable body obtains speed to the first summation of time, and speed is again through obtaining distance to an integration of time.
Chinese patent " 2014102502036 " discloses the method and system of a kind of advertisement based on noncontact bank card shopping, the shopping way that a kind of 1 second can complete is provided, make consumer see the commodity liked on the billboard or television advertising of lobby, market, residential quarters elevator, the picture touching advertisement with NFC bank card one can have been bought.
But the method for this advertisement shopping, can only the product of passive purchase picture display, can not provide personalized commercial, cause success ratio commodity probability of transaction low for particular customer, have impact on the convenience that the range of application of this advertisement shopping and people buy commodity.
Therefore, need interior of building electronic chart accurately, make the client before advertisement shopping machine and Mobile banking's cooperation energy perception advertisement shopping machine, provide personalized commercial advertisement to particular customer.
Summary of the invention
Embodiments provide method and system based on the interior of building electronic chart of inertial navigation system to solve the accurate orientation problem of indoor object.
An object of the present invention is, whom the client before the perception of advertisement shopping function is.
The present invention is achieved through the following technical solutions above-mentioned purpose.
Based on the method and system of the interior of building electronic chart of inertial navigation system, comprise buildings reference point means, interior of building electronic map device, electronic chart measurement mechanism.
The elevation in the boundary line measuring buildings tangent plane easternmost and tangent plane southernmost of buildings reference point means is highly the coordinate of point on WGS-84 coordinate system of 0, and as this buildings reference point.
Interior of building electronic map device is for storing buildings reference point, by the graphical element of building interior space every bit, mathematical elements, auxiliary element, supplementary notes, mark on the coordinate system being initial point with buildings reference point, the initial point of every buildings marks on WGS-84 coordinate system.
Electronic chart measurement mechanism answers device, gyroscope, controller to form by acceleration, for measuring the coordinate of building interior space.
The coordinate of building interior space has two kinds of expression waies of equal value, and one, it is initial point that the axial displacement data of buildings reference point are labeled in buildings reference point relatively coordinate system; Two, mark on WGS-84 coordinate system; These two kinds of expression waies are changed by buildings reference point.
Speed sensor, for generating in buildings the axial displacement data of some buildings reference point relatively, is made up of the axial displacement data of a point rise and fall displacement, left and right translation, anterior-posterior translation three groups of data.
Gyroscope is used for the coordinate system that formation one is initial point with buildings reference point, makes the measurement axle of accelerometer stable in the coordinate system and provide moving direction and attitude angle.
The size of building interior space every bit is defined by electronic chart measurement mechanism, and minimum is one millimeter.
The coordinate of building interior space every bit can be filled in voluntarily by needs person, specialized agency can be engaged to survey and draw, and new building is provided by house developer.
Based on the job step of the method and system of the interior of building electronic chart of inertial navigation system.
Step 1: mapping worker buildings reference point means measures buildings reference point, carries out initialization to electronic chart measurement mechanism.
Step 2: mapping worker handheld electronic geographic survey device is passed by needs the interior of building position of measurement, measures.
Step 3: mapping worker adds graphical element, mathematical elements, auxiliary element, supplementary notes to measuring position.
Step 4: mapping worker by metrical information stored in interior of building electronic map device.
The beneficial effect of the inventive method is: whom the client before the perception of advertisement shopping function is.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those skilled in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure l is the method and system process flow diagram of the embodiment of the present invention based on the interior of building electronic chart of inertial navigation system.
Fig. 2 is the job step figure of the embodiment of the present invention based on the method and system of the interior of building electronic chart of inertial navigation system.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
EXAMPLE l is based on the method and system of the interior of building electronic chart of inertial navigation system.
As shown in Figure l, the embodiment of the present invention, based on the method and system of the interior of building electronic chart of inertial navigation system, comprises buildings reference point means, interior of building electronic map device, electronic chart measurement mechanism.
Buildings reference point means is for measuring the coordinate of point on WGS-84 coordinate system that buildings tangent plane easternmost and elevation in the boundary line of tangent plane are southernmost highly 0.
Interior of building electronic map device is for storing buildings reference point, by the graphical element of building interior space every bit, mathematical elements, auxiliary element, supplementary notes, mark on the coordinate system being initial point with buildings reference point, the initial point of every buildings marks on WGS-84 coordinate system.
Electronic chart measurement mechanism answers device, gyroscope, controller to form by acceleration, for measuring the coordinate of building interior space.
The coordinate of building interior space has two kinds of expression waies of equal value, and one, it is initial point that the axial displacement data of buildings reference point are labeled in buildings reference point relatively coordinate system; Two, mark on WGS-84 coordinate system; These two kinds of expression waies are changed by buildings reference point.
Speed sensor, for generating in buildings the axial displacement data of some buildings reference point relatively, is made up of the axial displacement data of a point rise and fall displacement, left and right translation, anterior-posterior translation three groups of data.
Gyroscope is used for the coordinate system that formation one is initial point with buildings reference point, makes the measurement axle of accelerometer stable in the coordinate system and provide moving direction and attitude angle.
The size of building interior space every bit is defined by electronic chart measurement mechanism, and minimum is one millimeter.
The coordinate of building interior space every bit can be filled in voluntarily by needs person, specialized agency can be engaged to survey and draw, and new building is provided by house developer.
Based on the job step of the method and system of the interior of building electronic chart of inertial navigation system.
Step 1: mapping worker buildings reference point means measures buildings reference point, carries out initialization to electronic chart measurement mechanism.
Step 2: mapping worker handheld electronic geographic survey device is passed by needs the interior of building position of measurement, measures.
Step 3: mapping worker adds graphical element, mathematical elements, auxiliary element, supplementary notes to measuring position.
Step 4: mapping worker by metrical information stored in interior of building electronic map device.
Embodiment 2 is based on the job step of the method and system of the interior of building electronic chart of inertial navigation system.
As shown in Figure 2, the embodiment of the present invention is based on the job step of the method and system of the interior of building electronic chart of inertial navigation system.
Step 1: mapping worker buildings reference point means measures buildings reference point, carries out initialization to electronic chart measurement mechanism.
Step 2: mapping worker handheld electronic geographic survey device is passed by needs the interior of building position of measurement, measures.
Step 3: mapping worker adds graphical element, mathematical elements, auxiliary element, supplementary notes to measuring position.
Step 4: mapping worker by metrical information stored in interior of building electronic map device.
Apply specific embodiment in the present invention to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (7)
1. based on the method and system of the interior of building electronic chart of inertial navigation system, it is characterized in that: comprise buildings reference point means, interior of building electronic map device, electronic chart measurement mechanism;
The elevation in the boundary line measuring buildings tangent plane easternmost and tangent plane southernmost of described buildings reference point means is highly the coordinate of point on WGS-84 coordinate system of 0, and as this buildings reference point;
Described interior of building electronic map device is for storing buildings reference point, by the graphical element of building interior space every bit, mathematical elements, auxiliary element, supplementary notes, mark on the coordinate system being initial point with buildings reference point, the initial point of every buildings marks on WGS-84 coordinate system;
Described electronic chart measurement mechanism answers device, gyroscope, controller to form by acceleration, for measuring the coordinate of building interior space.
2. the coordinate of building interior space according to claim 1, it is characterized in that: the coordinate of described building interior space has two kinds of expression waies of equal value, one, it is initial point that the axial displacement data of buildings reference point are labeled in buildings reference point relatively coordinate system; Two, mark on WGS-84 coordinate system; These two kinds of expression waies are changed by buildings reference point.
3. speed sensor according to claim 1, it is characterized in that: described speed sensor, for generating in buildings the axial displacement data of some buildings reference point relatively, is made up of the axial displacement data of a point rise and fall displacement, left and right translation, anterior-posterior translation three groups of data.
4. gyroscope according to claim 1, is characterized in that: described gyroscope is used for the coordinate system that formation one is initial point with buildings reference point, makes the measurement axle of accelerometer stable in the coordinate system and provide moving direction and attitude angle.
5. building interior space every bit according to claim 1, is characterized in that: the size of described building interior space every bit is defined by electronic chart measurement mechanism, and minimum is one millimeter.
6. the coordinate of building interior space every bit can be filled in voluntarily by needs person, specialized agency can be engaged to survey and draw, and new building is provided by house developer.
7. based on the job step of the method and system of the interior of building electronic chart of inertial navigation system:
Step 1: mapping worker buildings reference point means measures buildings reference point, carries out initialization to electronic chart measurement mechanism;
Step 2: mapping worker handheld electronic geographic survey device is passed by needs the interior of building position of measurement, measures;
Step 3: mapping worker adds graphical element, mathematical elements, auxiliary element, supplementary notes to measuring position;
Step 4: mapping worker by metrical information stored in interior of building electronic map device.
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