CN105043375A - Navigation method, navigation system and corresponding mobile terminal - Google Patents
Navigation method, navigation system and corresponding mobile terminal Download PDFInfo
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- CN105043375A CN105043375A CN201510301369.0A CN201510301369A CN105043375A CN 105043375 A CN105043375 A CN 105043375A CN 201510301369 A CN201510301369 A CN 201510301369A CN 105043375 A CN105043375 A CN 105043375A
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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
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Abstract
The invention discloses a navigation method. The navigation method comprises the following steps: acquiring a scene map, calibrating the original position and target position of a user in the scene map; calculating the optimal path from the original position to the target position according to the calibrated original position, target position and scene map; displaying the optical path, and navigating according to the optimal path; and in the navigation process, calculating the direction and distance of the user away from the original position in real time, and determining the real-time position of the user so as to realize the real-time navigation. The invention also discloses a navigation system and a corresponding mobile terminal. The navigation system is suitable for navigation at indoor emporiums, conference and exhibition places, large park and the like; on the basis of the mobile terminal which is provided with a direction sensor and a camera, extra expenditure is not needed, the map is acquired by shooting, so that relatively accurate navigation can be realized, and further, the user cannot be puzzled by routes, and can reach the expected places.
Description
Technical field
The present invention relates to field of navigation technology, be specifically related to a kind of air navigation aid, system and corresponding mobile terminal.
Background technology
Usually in megastore, in exhibitions and large-scale parks, route all can be very complicated, if the unfamiliar people in some especially big markets enters, usually all can get lost.And the general navigational system in this kind of place is not owing to having cartographic information, cannot Received signal strength, the reasons such as positioning precision is inadequate, all cannot make correct navigation.
At present in mobile terminal application, normally pass through GPS, AGPS, the methods such as cellular base station realize navigation feature, and these methods all need known map file, and corresponding wireless signal could work, and these air navigation aids are for the walking in zonule, precision is usually all inadequate, there will be larger deviation.And when user needs the navigation in indoor or these places, similar park, usually need more accurately and do not need to rely on the air navigation aid of wireless signal.
The positioning navigation method of GPS and AGPS: search of satellite signals, then obtains place coordinate by gps signal, thus realizes location and navigation, and the minimum precision of now civilian GPS is generally at about 10 meters, and when indoor signal difference, precision is lower.
Cellular base station localization method: the positional information (latitude and longitude coordinates) being obtained mobile phone users by the network (as GSM net) of telecommunications mobile operator, thus realize location and navigation, general least error, more than 50 meters, if cannot obtain the place of mobile phone signal, cannot be located.
In existing location and air navigation aid, be all the location for outdoor and navigation usually, and cannot indoor and some without known map place (such as market, park etc.) comparatively accurately locate and navigate.
Summary of the invention
The object of the present invention is to provide a kind of air navigation aid, system and corresponding mobile terminal, be adapted to indoor mall, exhibitions, and the navigation of large-scale parks etc., the direction sensor carried based on mobile terminal and camera, without the need to adding extraneous expense, obtaining map by shooting and realizing comparatively accurately navigating, thus user can not be perplexed by route, arrive the place oneself wanted in time.
In order to achieve the above object, the present invention is achieved through the following technical solutions: a kind of air navigation aid, is characterized in, comprises following steps:
Obtain scene map;
User's initial position and target location is demarcated in described scene map;
According to the initial position demarcated, target location and scene map, calculate the optimal path of user from initial position to target location;
Display optimal path, and navigate by optimal path;
In navigation procedure, calculate user in real time relative to the azimuth-range of initial position, determine the real time position of user, realize real-time navigation.
Before acquisition scene map, also comprise the step that user's step pitch is calibrated:
Select distance to be calibrated;
User advances described distance to be calibrated, and obtains step number of advancing;
According to distance to be calibrated and step number of advancing, calculate and obtain user's step pitch.
Described acquisition scene ground drawing method is comprised by shooting acquisition or is obtained by download.
After acquisition scene map, and also comprise the step of calibrating scene map before demarcating initial position and target location: described Map calibration step comprises direction in map-making calibration and map size calibration, wherein said direction in map-making calibration comprises;
In scene map, demarcate user position and select location, the orientation of described select location is known;
User marches to select location from position, obtains position to the direction of select location, completes the calibration to direction in map-making;
Described map size calibration comprises;
User position and select location is demarcated in scene map;
User marches to select location from position, obtains the step number of position to select location;
According to user's step pitch and step number, calculate the actual range between position and select location;
Measure the map distance between user position and select location in scene map;
According to actual range and map distance, calculate the dimension scale of map, complete the calibration to map size.
A kind of navigational system, is characterized in, comprises:
Storage unit, for storage scenarios map and the initial position demarcated in scene map, target location and select location;
Path-calculating element, is connected with described storage unit, for calculating optimal path according to initial position and target location;
Direction-determining unit, for determining the direction of user's movement;
Metrics calculation unit, for determining the distance that user advances;
Position calculation unit, is connected with direction-determining unit and metrics calculation unit respectively, for according to direction-determining unit and metrics calculation unit feedack, calculates user position in real time;
Display unit, is connected with described path-calculating element and position calculation unit respectively, for showing optimal path and user position;
Image unit, is connected with described storage unit, for obtaining scene map by shooting.
Described navigational system also comprises a download unit, is connected with described storage unit, for downloading scene map.
Described direction-determining unit is direction sensor.
Described direction-determining unit is compass or gyroscope.
Described metrics calculation unit is passometer.
A kind of mobile terminal, is characterized in, comprises above-mentioned navigational system.
A kind of air navigation aid of the present invention, system and corresponding mobile terminal compared with prior art have the following advantages: map obtain manner is various, and without the need to relying on gps signal and mobile terminal Internet access, cost is low; Be provided with step pitch calibration, can for the difference of end user, accurately locate, positioning precision is high.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of navigational system of the present invention;
Fig. 2 be a kind of air navigation aid of the present invention process flow diagram.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As shown in Figure 1, a kind of navigational system, install on mobile terminals, such as mobile phone or panel computer, comprise: storage unit 101, for storage scenarios map and the initial position demarcated in scene map, target location and select location; Path-calculating element 102, is connected with described storage unit 101, for calculating optimal path according to initial position and target location; Direction-determining unit 103, for determining the direction of user's movement; Metrics calculation unit 104, for determining the distance that user advances; Position calculation unit 105, is connected with direction-determining unit 103 and metrics calculation unit 104 respectively, for according to direction-determining unit 103 and metrics calculation unit 104 feedack, calculates user position in real time; Display unit 106, is connected with described path-calculating element 102 and position calculation unit 105 respectively, for showing optimal path and user position; Image unit 107, is connected with described storage unit 101, for obtaining scene map by shooting; Download unit 108, is connected with described storage unit 101, for downloading scene map.
Preferably, direction-determining unit is the direction sensor that mobile phone carries, such as compass or gyroscope; Metrics calculation unit is passometer.
As shown in Figure 2, a kind of air navigation aid, comprises following steps:
Step 201, user carry out step pitch calibration.
Select distance S to be calibrated, such as travel distance is 5 meters, 10 meters or 15 meters, and user can select voluntarily;
User advances described distance S to be calibrated, and obtains the step number N that advances;
According to distance the S to be calibrated and step number N that advances, calculate and obtain user step pitch P, be i.e. P=S/N.
Step 201 optional step, if the step pitch of user to oneself is known, so can directly select corresponding step pitch, skip this step.
Step 202, acquisition scene map.
Obtained by shooting or obtain by downloading.Such as, what have respective storey in market introduces map, and doorway, park has the synoptic chart in corresponding whole park, is taken by mobile phone camera.Moreover such as website introduce, public number etc. have corresponding map for downloading, or can copy from the terminal of friend.
Step 203, calibrate scene map, scene Map calibration comprises direction in map-making calibration and map size calibration.
Direction in map-making calibration comprises:
In scene map, demarcate user position and select location, the orientation of described select location is known;
User marches to select location from position, obtains position to the direction of select location, completes the calibration to direction in map-making.
Described map size calibration comprises:
User position and select location is demarcated in scene map;
User marches to select location from position, obtains the step number M of position to select location;
According to user step pitch P and step number M, calculate the actual range D between position and select location, i.e. D=P × M;
Measure the map distance G between user position and select location in scene map;
According to actual range D and map distance G, calculate the dimension scale I of map, that is, I=D/G, complete the calibration to map size.
Step 204, in described scene map, demarcate user's initial position and target location.
Such as, all can show the position at your place, i.e. initial position in market in the synoptic chart of position, position is wanted, such as toilet or certain trade company for user in target location.
Step 205, the initial position according to demarcating, target location and scene map, calculate the optimal path of user from initial position to target location.
Step 206, display optimal path, and navigate by optimal path.
Step 207, in navigation procedure, calculate in real time user relative to the azimuth-range of initial position, determine the real time position of user, realize real-time navigation.
By the step pitch selected and passometer, the distance that user advances on map can be obtained, and pass through direction sensor, can obtain the direction that user advances on map, thus the accurate location that can obtain user realizes location, after user have selected target location on map, map can according to the customer location obtained behind location, by the direction of arrow display-object position on map, ensure that user's course is correct, thus realize navigation feature.
After navigation, user can select to preserve scene map file, is such as stored on mobile phone, or uploads to Cloud Server by network.Just can directly use calibrated map when arriving same place so next time, and without the need to calibrating again.And by sharing between different user, user can obtain the map of calibration in other regions more, more effective map use can be reached like this.
Although content of the present invention has done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. an air navigation aid, is characterized in that, comprises following steps:
Obtain scene map;
User's initial position and target location is demarcated in described scene map;
According to the initial position demarcated, target location and scene map, calculate the optimal path of user from initial position to target location;
Display optimal path, and navigate by optimal path;
In navigation procedure, calculate user in real time relative to the azimuth-range of initial position, determine the real time position of user, realize real-time navigation.
2. air navigation aid as claimed in claim 1, is characterized in that, before acquisition scene map, also comprises the step of calibrating user's step pitch:
Select distance to be calibrated;
User advances described distance to be calibrated, and obtains step number of advancing;
According to distance to be calibrated and step number of advancing, calculate and obtain user's step pitch.
3. air navigation aid as claimed in claim 1, is characterized in that, described acquisition scene ground drawing method comprises by taking acquisition or obtaining by downloading.
4. air navigation aid as claimed in claim 2, it is characterized in that, after acquisition scene map, also comprise the step of calibrating scene map with before demarcation initial position and target location: described Map calibration step comprises direction in map-making calibration and map size calibration, wherein said direction in map-making calibration comprises;
In scene map, demarcate user position and select location, the orientation of described select location is known;
User marches to select location from position, obtains position to the direction of select location, completes the calibration to direction in map-making;
Described map size calibration comprises;
User position and select location is demarcated in scene map;
User marches to select location from position, obtains the step number of position to select location;
According to user's step pitch and step number, calculate the actual range between position and select location;
Measure the map distance between user position and select location in scene map;
According to actual range and map distance, calculate the dimension scale of map, complete the calibration to map size.
5. a navigational system, is characterized in that, comprises:
Storage unit, for storage scenarios map and the initial position demarcated in scene map, target location and select location;
Path-calculating element, is connected with described storage unit, for calculating optimal path according to initial position and target location;
Direction-determining unit, for determining the direction of user's movement;
Metrics calculation unit, for determining the distance that user advances;
Position calculation unit, is connected with direction-determining unit and metrics calculation unit respectively, for according to direction-determining unit and metrics calculation unit feedack, calculates user position in real time;
Display unit, is connected with described path-calculating element and position calculation unit respectively, for showing optimal path and user position;
Image unit, is connected with described storage unit, for obtaining scene map by shooting.
6. navigational system as claimed in claim 5, is characterized in that, comprise a download unit further, be connected with described storage unit, for downloading scene map.
7. navigational system as claimed in claim 5, it is characterized in that, described direction-determining unit is direction sensor.
8. navigational system as claimed in claim 6, it is characterized in that, described direction-determining unit is compass or gyroscope.
9. navigational system as claimed in claim 5, it is characterized in that, described metrics calculation unit is passometer.
10. a mobile terminal, is characterized in that, comprises as any one navigational system in claim 5 ~ 6.
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| CN107869991A (en) * | 2017-09-20 | 2018-04-03 | 百度在线网络技术（北京）有限公司 | Acquisition method and device, the computer equipment and computer-readable recording medium of indoor location data |
| CN107885763A (en) * | 2017-09-20 | 2018-04-06 | 百度在线网络技术（北京）有限公司 | The update method of interest point information, device and computer-readable medium in indoor figure |
| CN108844534A (en) * | 2018-04-27 | 2018-11-20 | 北京小米移动软件有限公司 | Acquisition methods and device, the storage medium of location information |
| CN109798892A (en) * | 2017-11-17 | 2019-05-24 | 北京搜狗科技发展有限公司 | A kind of information processing method, device and electronic equipment |
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