CN104897160B - A kind of localization method and device based on vector quantization indoor map - Google Patents
A kind of localization method and device based on vector quantization indoor map Download PDFInfo
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- CN104897160B CN104897160B CN201510289245.5A CN201510289245A CN104897160B CN 104897160 B CN104897160 B CN 104897160B CN 201510289245 A CN201510289245 A CN 201510289245A CN 104897160 B CN104897160 B CN 104897160B
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of method and device for making indoor map and positioning, and the method for indoor map is made applied to server end to be included：Interior architecture structure chart is pre-processed, to extract the required map data mining platform of map, generates picture file；Picture file is converted into the map data file for carrying out map edit；Corresponding map metadata is bound for the map layer of map data file, the map data file that binding has map metadata is saved in spatial database；Map datum is taken out from the spatial database, is reduced into map layer；The figure layer of superposed pattern on map layer, to form vector quantization indoor map, is stored in server end memory.Using the present invention can flexible expansion indoor map, and realize be accurately positioned.
Description
Technical field
The present invention relates to field of navigation systems, more particularly to a kind of localization method and dress based on vector quantization indoor map
Put.
Background technology
Indoor map, makes user remain to what is found using accurate positioning function in building by mobile equipment
Shop, toilet, elevator, rest area, entrance etc., get through the relation between " people, position, businessman ".Indoor map is except can be with
The plan in place is shown on the mobile apparatus, moreover it is possible to help user to understand various information at any time, commodity are divided
Class is searched for, and greatly facilitates understanding of the user to unknown destination, and most find information needed soon.
Currently used indoor map is drawn by static images and formed, and the information preserved in picture is than relatively limited
, while the scalability of static images, flexibility are poor.On the other hand, with the raising of scientific and technological level, mobile and Internet of Things
The rapid development of network service, people increasingly increase for the demand of positioning service, are especially usually needed in complicated indoor environment
Determine the positional information of mobile terminal or its holder indoors.Yet with multipath signal and multipath fading etc. interference because
The presence of element, often leads to the positioning based on indoor transmissions model and becomes precision to be difficult to reach requirement.
The content of the invention
, being capable of flexible expansion room it is an object of the invention to provide a kind of method and device for making indoor map and positioning
Interior map, and realize and be accurately positioned.
For achieving the above object, the present invention provides a kind of method for making indoor map, applied to server end,
This method includes：Interior architecture structure chart is pre-processed, to extract the required map data mining platform of map, generation picture text
Part；Picture file is converted into the map data file for carrying out map edit；For the map layer of map data file
Corresponding map metadata is bound, the map data file that binding has map metadata is saved in spatial database；From institute
State and map datum is taken out in spatial database, be reduced into map layer；The figure layer of superposed pattern on map layer, to form arrow
Quantify indoor map, be stored in server end memory.
For achieving the above object, present invention also offers a kind of positioning side based on the vector quantization indoor map
Method, this method include：After the request of access vector quantization indoor map of client transmission is received, return and swear to client
Quantify indoor map；This method further includes：The signal launched according to beacon source bluetooth equipment, using triangle polyester fibre algorithm,
Obtain current first coordinates regional of client；The signal launched according to beacon source access point apparatus, using fingerprint algorithm, obtains
To current second coordinates regional of client；By blending algorithm, by current first coordinates regional of client and the second coordinates regional
Merged, obtain the accurate position coordinates of client；Accurate position coordinates are returned to client, for client in vector quantization
The accurate position coordinates are shown in indoor map.
For achieving the above object, present invention also offers a kind of device for making indoor map, applied to server
End, the device include：Pretreatment module, for being pre-processed to interior architecture structure chart, to extract the required figure of map
Layer information, generates picture file；Modular converter, for picture file to be converted into the map datum for carrying out map edit
File；Map edit module, for binding corresponding map metadata for the map layer of map data file, has ground by binding
The map data file of primitive data is saved in spatial database；Engine map module, for from the spatial database
Map datum is taken out, is reduced into map layer；The figure layer of superposed pattern on map layer, to form vector quantization indoor map,
It is stored in server end memory.
For achieving the above object, present invention also offers a kind of positioning dress based on the vector quantization indoor map
Put, which includes：Processing module, for receive client transmission access vector quantization indoor map request after,
Vector quantization indoor map is returned to client；Locating module, for the signal launched according to bluetooth equipment, is determined using triangle
Position algorithm, obtains current first coordinates regional of client；The signal launched according to access point apparatus, using fingerprint algorithm,
Obtain current second coordinates regional of client；By blending algorithm, by current first coordinates regional of client and the second coordinate area
Domain is merged, and obtains the accurate position coordinates of client；Accurate position coordinates are returned to client, for client in vector
Change and show the accurate position coordinates in indoor map.
In conclusion the method and device provided in an embodiment of the present invention for making indoor map and positioning, based on building body
Original indoor picture, after pre-processing the extraction required map data mining platform of map, generates picture file, is then converted into
It is that the map layer of map data file is bound using map edit module for carrying out the map data file of map edit
Corresponding map metadata, the map data file that binding has map metadata is saved in spatial database, utilizes map
Engine modules take out map datum from the spatial database, are reduced into map layer；The superposed pattern on map layer
Figure layer, to form vector quantization indoor map, is stored in server end memory.The vector quantization indoor map that the present invention is formed,
Easy to the extension of map, flexibility is enhanced.In addition, by bluetooth and the scheme of WiFi fusion positioning, realize and be accurately positioned.
Brief description of the drawings
Fig. 1 is the method flow schematic diagram that the embodiment of the present invention makes indoor map.
Fig. 2 is the apparatus structure schematic diagram for the making indoor map for being applied to the above method in the specific embodiment of the invention.
Fig. 3 is the flow diagram of localization method of the embodiment of the present invention.
Fig. 4 is the structure diagram for the positioner for being applied to the above method in the specific embodiment of the invention.
Embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, develop simultaneously embodiment referring to the drawings, right
Scheme of the present invention is described in further detail.
The embodiment of the invention discloses a kind of method for making indoor map, applied to server end, its flow diagram
As shown in Figure 1, this method includes：
Step 11, pre-process interior architecture structure chart, to extract the required map data mining platform of map, generates picture
File；
Step 12, by picture file be converted into the map data file for carrying out map edit；
Step 13, the corresponding map metadata of map layer binding for map data file, have ground pel number by binding
According to map data file be saved in spatial database；
At the same time it can also increase map element for the map layer of map data file, tied up for increased map element
Fixed corresponding map metadata.
Wherein, the species of map layer includes word, point, line or face；Map metadata for the corresponding title of map layer,
Mark or remark information.
Step 14, take out map datum from the spatial database, is reduced into map layer；It is superimposed on map layer
The figure layer of pattern, to form vector quantization indoor map, is stored in server end memory.
Based on same inventive concept, the embodiment of the present invention also proposes a kind of device for making indoor map, applied to clothes
Business device end, as shown in Fig. 2, the device includes：
Pretreatment module 201, for being pre-processed to interior architecture structure chart, is believed with extracting the required figure layer of map
Breath, generates picture file.
Interior architecture structure chart can be the file formats such as DWG, and pretreatment module can be Auto cad tools, Auto
Cad tools can pre-process DWG file, to extract the required map data mining platform of map, generate CAD diagram piece file.Its
In, including word, four class map data mining platform of point, line, surface.The cad file generated is still picture format, but only retains map institute
The information such as the map data mining platform needed, other unnecessary decorative articles is removed.
Modular converter 202, for picture file to be converted into the map data file for carrying out map edit.
Modular converter can be ArcGIS Desktop instruments, can identify CAD diagram piece file, and CAD diagram piece file is turned
Metaplasia is into the map data file for carrying out map edit, i.e. shape files.The number of map layer is included in shape files
According to.
Map edit module 203, for binding corresponding map metadata for the map layer of map data file；Into one
Step ground, increases map element on the basis of map layer, and corresponding map metadata is bound for map element；It is additionally operable to tie up
Surely the map data file for having map metadata is saved in spatial database.
Map edit module can be QGIS map edit instruments.Map metadata can be the corresponding name of map layer
Claim, mark (ID) or remark information etc..For example, corresponding entitled meeting room, ID 001, remark information are bound in certain point
It is 100 people for galleryful.QGIS map edits instrument to be converted into the map layer of shape files by cad file except tying up
Fixed corresponding map metadata, can also add new map element according to inside plant on the basis of original map layer,
Corresponding map metadata is bound for new map element.For example, there is no ATM machine in the map datum of original shape files
Coordinate, therefore increase on the basis of some region of the coordinate value of ATM machine, bind corresponding entitled ATM machine for the coordinate value.
Engine map module 204, for taking out map datum from the spatial database, is reduced into map layer；
The figure layer of superposed pattern on map layer, to form vector quantization indoor map, is stored in server end memory.
Engine map module can be GeoServer engine map instruments.Specifically, first with PostgreSQL spaces number
Establish and connect according to storehouse, take out map datum from PostgreSQL spatial databases, map datum is reduced into visually
Figure figure layer.Pattern, i.e. effect, color etc., thus on map layer superposed pattern figure layer, finally server end issue
Vectorgraph can visually distinguish regional, road etc..It is exactly by vector quantization room in server end issue
Figure is stored in server end memory.
Formed vector quantization indoor map after, user can invoking server end navigation interface, realize indoor navigation work(
Energy：
First, after the request for the access vector quantization indoor map that received server-side client is sent, returned to client
Return the map of vector quantization.
Then, the navigation requests for carrying initial position and target location that client is sent are received；Call function storehouse, it is right
Map datum in spatial database carries out spatial analysis, carries out path planning and shortest path calculates；Returned most to client
Good guidance path, shows the optimal guidance path in vector quantization indoor map for client.In the present invention, letter
Number storehouse can be PostGIS function libraries, and spatial database can be PostgreSQL spatial databases.PostGIS function libraries are protected
What is deposited is that function formula is used for server end when receiving navigation requests, by itself and the ground in PostgreSQL spatial databases
Diagram data is combined, and calculates shortest path, carries out path planning etc..
Based on above-mentioned vector quantization indoor map, the invention also discloses a kind of localization method, its flow diagram such as Fig. 3
Shown, this method includes：
Step 31, receive client transmission access vector quantization indoor map request after, to client return
Vector quantization indoor map；
Step 32, the signal launched according to beacon source bluetooth equipment, using triangle polyester fibre algorithm, obtain client and work as
Preceding first coordinates regional；
Step 33, the signal launched according to beacon source access point apparatus, using fingerprint algorithm, it is current to obtain client
Second coordinates regional；
Step 34, by blending algorithm, current first coordinates regional of client and the second coordinates regional are merged, obtained
To the accurate position coordinates of client；
Wherein, specific method includes：Obtain the first coordinates regional and superimposed the 3rd coordinates regional of the second coordinates regional；
According to the self-acceleration of client feedback and direction, and the intensity of beacon source signal is received, be in the 3rd coordinates regional
Each coordinate points increase weight coefficient, each coordinate points for adding weight coefficient are averaged, obtain the accurate of client
Position coordinates；Wherein, beacon source signal strength is stronger, and in the positive direction of current path, then weight coefficient is bigger.
Step 35, to client return accurate position coordinates, for client in vector quantization indoor map by the essence
True position coordinates is shown.
When stating localization method in realization, first indoors in scene, a bluetooth equipment is built at a certain distance, this
In bluetooth equipment as a kind of beacon source, can be with overseas broadcast Bluetooth signal, near client is opened and can received after bluetooth
The Bluetooth signal that bluetooth equipment is sent.Specific implementation can be the signal that bluetooth equipment is launched around client scan, and
Acquired bluetooth signal intensity is fed back into server end；Server end measures the distance of client and surrounding bluetooth equipment；
If carrying out location Calculation using triangle polyester fibre algorithm, server end measures client and nearest three bluetooth equipments of surrounding
Distance, then using triangle polyester fibre algorithm, calculates current first coordinates regional of client.First coordinates regional includes
Multiple coordinate points.
Meanwhile indoors in scene, access point (AP) equipment is built at a certain distance, AP equipment is believed as a kind of
Mark source.So client by the intensity feedback of acquired WiFi signal to server end；Server end utilizes fingerprint algorithm, pushes away
Calculate current second coordinates regional of client.Second coordinates regional includes multiple coordinate points.
Intersection occurs in the coordinate points in coordinate points and the second coordinates regional in first coordinates regional, by intersection location
Domain is as the 3rd coordinates regional.
Meanwhile sensor is set on the client, such as accelerator and gyroscope, accelerator are used for working as test client
Preacceleration, gyroscope work as front direction for test client.The current acceleration of client and direction can be fed back to
Server end, each coordinate points in the 3rd region have corresponded to acceleration and the direction of client, and with beacon source away from
From.Here beacon source does not differentiate between bluetooth equipment or AP equipment, nearer apart from beacon source, and the corresponding signal strength of the coordinate points is got over
By force, and then corresponding weight coefficient is bigger.Finally, each coordinate points in the 3rd coordinates regional are asked after weight coefficient is increased
Average value, obtains the accurate position coordinates of client.
Therefore, the present invention by AP equipment and fingerprint algorithm realizes positioning of the precision in 5 meters of scopes, by bluetooth equipment and
Triangle polyester fibre algorithm realizes positioning of the precision in 2 meters of scopes, and client current location is then finally realized by blending algorithm
It is accurately positioned.
Based on same inventive concept, the embodiment of the present invention also proposes a kind of positioner, as shown in figure 4, the device bag
Include：
Processing module 401, for receive client transmission access vector quantization indoor map request after, to visitor
Family end returns to vector quantization indoor map；
Locating module 402, for the signal launched according to bluetooth equipment, using triangle polyester fibre algorithm, obtains client
Hold current first coordinates regional；The signal launched according to access point apparatus, using fingerprint algorithm, obtains client current
Two coordinates regionals；By blending algorithm, current first coordinates regional of client and the second coordinates regional are merged, obtain visitor
The accurate position coordinates at family end；To client return accurate position coordinates, for client in vector quantization indoor map by institute
Accurate position coordinates are stated to show.
The locating module 402 is used to pass through blending algorithm, by current first coordinates regional of client and the second coordinate area
Domain is merged, and when obtaining the accurate position coordinates of client, is specifically included：Obtain the first coordinates regional and the second coordinates regional
The 3rd superimposed coordinates regional；According to the self-acceleration of client feedback and direction, and receive beacon source signal
Intensity, is that each coordinate points increase weight coefficient in the 3rd coordinates regional, each coordinate points for adding weight coefficient is made even
Average, obtains the accurate position coordinates of client；Wherein, beacon source signal strength is stronger, and positioned at the positive direction of current path
On, then weight coefficient is bigger.
The making indoor map and localization method and device of the present invention, can bring following benefit：
First, by the conversion to original interior architecture structure chart and editor, map datum is stored in spatial database, then
Map datum is taken out from spatial database by engine map to be issued, considerably increase map scalability and flexibly
Property.
2nd, client realizes accurate navigation function by accessing the indoor map of vector quantization.
3rd, by fingerprint algorithm and triangle polyester fibre algorithm, blended by blending algorithm, realize the integration of positioning method,
Reach and be accurately positioned.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on, should be included in the protection of the present invention
Within the scope of.
Claims (2)
1. a kind of localization method based on vector quantization indoor map, it is characterised in that this method includes：Receiving client hair
After the request for the access vector quantization indoor map sent, vector quantization indoor map is returned to client；This method further includes：
The signal launched according to beacon source bluetooth equipment, using triangle polyester fibre algorithm, obtains current first coordinate of client
Region；
The signal launched according to beacon source access point apparatus, using fingerprint algorithm, obtains the current second coordinate area of client
Domain；
By blending algorithm, current first coordinates regional of client and the second coordinates regional are merged, obtain client
Accurate position coordinates；
Accurate position coordinates are returned to client, show the accurate position coordinates in vector quantization indoor map for client
Show to come；
It is described by blending algorithm, current first coordinates regional of client and the second coordinates regional are merged, obtain client
The accurate position coordinates at end include：
Obtain the first coordinates regional and superimposed the 3rd coordinates regional of the second coordinates regional；
According to the self-acceleration of client feedback and direction, and the intensity of beacon source signal is received, be the 3rd coordinate area
Each coordinate points increase weight coefficient, each coordinate points for adding weight coefficient are averaged, obtain client in domain
Accurate position coordinates；Wherein, beacon source signal strength is stronger, and in the positive direction of current path, then weight coefficient is bigger.
2. a kind of positioner based on vector quantization indoor map, it is characterised in that the device includes：
Processing module, for after the request of access vector quantization indoor map of client transmission is received, being returned to client
Return vector quantization indoor map；
Locating module, for the signal launched according to bluetooth equipment, using triangle polyester fibre algorithm, obtains client current
One coordinates regional；The signal launched according to access point apparatus, using fingerprint algorithm, obtains the current second coordinate area of client
Domain；By blending algorithm, current first coordinates regional of client and the second coordinates regional are merged, obtain the essence of client
True position coordinates；To client return accurate position coordinates, for client in vector quantization indoor map by the accurate position
Coordinate is put to show；
The locating module is used to pass through blending algorithm, and current first coordinates regional of client and the second coordinates regional are melted
Close, when obtaining the accurate position coordinates of client, specifically include：Obtain the first coordinates regional and the second coordinates regional is superimposed
3rd coordinates regional；According to the self-acceleration of client feedback and direction, and the intensity of beacon source signal is received, for the
Each coordinate points increase weight coefficient, each coordinate points for adding weight coefficient are averaged, are obtained in three coordinates regionals
The accurate position coordinates of client；Wherein, beacon source signal strength is stronger, and is located in the positive direction of current path, then weight
Coefficient is bigger.
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