CN104936283B - Indoor orientation method, server and system - Google Patents
Indoor orientation method, server and system Download PDFInfo
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- CN104936283B CN104936283B CN201410106331.3A CN201410106331A CN104936283B CN 104936283 B CN104936283 B CN 104936283B CN 201410106331 A CN201410106331 A CN 201410106331A CN 104936283 B CN104936283 B CN 104936283B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The present invention discloses a kind of indoor orientation method, server and system.Wherein server is when receiving the Location Request of user terminal transmission, extract the location information for including in Location Request, coarse positioning is carried out to user terminal using location information, first object image associated with rough estimate position is obtained from database, wherein the coordinate position of first object image is less than preset distance at a distance from rough estimate position；When receiving the positioning image of user terminal transmission, judge in first object image with the presence or absence of the matching image to match with positioning image；Matching image if it exists, the coordinate information of matching image and directional information are then sent to the user terminal, to show the coordinate information and directional information of the matching image on the user terminal indoors map, thus using the coordinate information of display and the directional information position coordinates current as user and direction.So as to effectively realize indoor accurate position.
Description
Technical field
The present invention relates to the communications field, in particular to a kind of indoor orientation method, server and system.
Background technique
It is being developed rapidly currently based on the application field of position, demand of the people to positioning and navigation increasingly increases, especially
The problem of it is which layer for how positioning a user in a solitary building, is an awfully hot door.Because in some complexity
In indoor environment, such as airport hall, exhibition room, warehouse, supermarket, library, underground parking, pass through this type of information, so that it may
Useful information on services, such as advertisement are provided for user, shown the way, and rescue search etc..But currently, by positioning time, positioning
The constraint of the indoor conditions of precision and complexity, there are no a fairly perfect indoor positioning technologies.
GPS(Global Positioning System based on satellite communication, global positioning system) it is current using most
For extensive location technology.Its good positioning accuracy solves the practical problem of many military and civilians, but the disadvantage is that defends
Star signal cannot penetrate building, therefore be not particularly suited for indoor positioning, and furthermore the cost of its locator terminal is also higher.
Location technology based on base station, positioning accuracy is insufficient, can not position which floor user is located at, it is impossible to be used in
Indoor positioning.
Existing indoor wireless locating system mainly uses ultrasonic wave, infrared ray, optics (vision), RF(Radio
Frequency, radio frequency) etc. short distance wireless technicals, wherein RF can be divided into WiFi(wireless fidelity again, wireless to protect
Very), bluetooth, RFID(Radio Frequency Identification, radio frequency identification) technology, among these based on the nothing of WiFi
The deployment of line location technology is extensively and cost is relatively low.
Current overwhelming majority WiFi locating scheme is all to receive signal using RSS(Received Signal Strength
Intensity), two kinds are broadly divided into according to algorithm, one is triangle algorithms, and one is location fingerprint method of identifications.Triangle algorithm benefit
The position of target is estimated with the distance between object to be measured at least three known reference points, and location fingerprint identification rule passes through
Signal characteristic finger print information needed for comparison and location obtains target position.The accuracy of the latter one is higher, error 30m with
It is interior.However such accuracy can not fully meet the demand of indoor positioning.
WiFi router all can only region within 90 meters of covering radius, and there are signals weak, covering Dead Core Problems, institute
Cannot all have the robustness of positioning system at any time and in any case.
Method based on optics (vision) is that a matching user is found in the database and captures by image processing techniques
The image of image, to obtain positioning result, accuracy is very high, meets the needs of indoor positioning, but it needs high calculating energy
Power and big memory space, it is difficult to meet the requirement of real-time.
Summary of the invention
The embodiment of the present invention provides a kind of indoor orientation method, server and system.By by wireless location technology and figure
As matching technique combines, indoor accurate position can be effectively realized.
According to an aspect of the present invention, a kind of indoor orientation method is provided, comprising:
When receiving the Location Request of user terminal transmission, the location information for including in Location Request is extracted；
Coarse positioning is carried out to the user terminal using the location information, to obtain rough estimate position；
First object image associated with the rough estimate position is obtained from database, wherein the first object image
Coordinate position at a distance from the rough estimate position be less than preset distance, wherein the image stored in the database has
The location of there are a coordinate information and directional information, coordinate information indicates when user shoots image, directional information indicates shooting figure
As when shooting direction；
When receiving the positioning image that the user terminal is sent, judge to whether there is in the first object image
The matching image to match with the positioning image, is asked wherein the user terminal first sends the positioning when being positioned
It asks, then sends the positioning image of shooting；
It is whole to be then sent to the user by matching image if it exists for the coordinate information of the matching image and directional information
End, to show the coordinate information and directional information of the matching image on the user terminal indoors map, to will show
The coordinate information and directional information shown the position coordinates and direction current as user.
In one embodiment, matching image if it does not exist, then be sent to the user for the coordinate information of rough estimate position
Terminal, to show the coordinate information of the rough estimate position on the user terminal indoors map, thus by the coordinate of display
The information position coordinates current as user.
In one embodiment, when receiving the positioning image that the user terminal is sent, judge in first mesh
Include: with the presence or absence of the step of matching image to match with the positioning image in logo image
When receiving the positioning image that the user terminal is sent, judge whether further include angle in the Location Request
Changing value is spent, wherein angle change value is shooting direction of the user terminal when shooting the positioning image relative to previous
The angle change value in secondary the determined direction of positioning；
If not including that angle change value is sentenced using the first object image as candidate image in the Location Request
Break in candidate image with the presence or absence of the matching image to match with positioning image.
In one embodiment, it if in the Location Request including angle change value, is determined using preceding primary positioning
Direction and the angle change value, judge the user terminal shoot it is described positioning image when shooting direction；
Using the shooting direction, the second target image is obtained in the first object image, wherein second mesh
Differential seat angle between the direction of logo image and the shooting direction is no more than scheduled angle threshold value；
Using second target image as candidate image, judge to whether there is in candidate image and positioning image phase
The matching image matched.
In one embodiment, the angle threshold value is 45 degree.
In one embodiment, judge in candidate image with the presence or absence of the step of the matching image to match with positioning image
Suddenly include:
Positioning image is pre-processed, there is unified resolution ratio to make to position image and candidate image；
Image procossing is carried out respectively to pretreated positioning image and candidate image, with extract respectively with illumination,
The characteristic information S and Fi of dimension rotation invariance, wherein S is the characteristic information obtained from pretreated positioning image, and Fi is
The characteristic information obtained from i-th of candidate image, 1≤i≤N, N are the quantity of candidate image；
Judge whether there is the Fi to match with S；
The Fi to match if it exists with S, then using candidate image corresponding to the Fi to match with S as with positioning image phase
Matched matching image；
The Fi to match if it does not exist with S, then matching image is not present in judgement.
In one embodiment, preset distance is not more than 20 meters.
In one embodiment, the location information includes that the collected wireless network access point of the user terminal issues
Wireless signal strength and the wireless network access point identification information.
According to another aspect of the present invention, a kind of indoor positioning server is provided, including receiving unit, extraction unit, thick
Positioning unit, first object image acquisition unit, database, recognition unit and transmission unit, in which:
Receiving unit, for receiving the Location Request of user terminal transmission, wherein the user terminal is when being positioned
The Location Request is first sent, the positioning image of shooting is then sent；
Extraction unit extracts Location Request when for receiving the Location Request of user terminal transmission when receiving unit
In include location information；
Coarse positioning unit, for carrying out coarse positioning to the user terminal using the location information, to obtain rough estimate position
It sets；
First object image acquisition unit, for obtaining first object associated with the rough estimate position from database
Image, wherein the coordinate position of the first object image is less than preset distance at a distance from the rough estimate position；
Database, for storing image, wherein the image stored all has coordinate information and directional information, coordinate information table
Show user shoot image when the location of, directional information indicate shooting image when shooting direction；
Recognition unit, for judging described when receiving unit receives the positioning image that the user terminal is sent
With the presence or absence of the matching image to match with the positioning image in first object image；
Transmission unit, for the judging result according to recognition unit, matching image if it exists, then by the matching image
Coordinate information and directional information are sent to the user terminal, to show the matching on the user terminal indoors map
The coordinate information and directional information of image, thus the position coordinates that the coordinate information of display and directional information is current as user
The direction and.
In one embodiment, transmission unit is also used to the judging result according to recognition unit, if it does not exist matching image,
The coordinate information of rough estimate position is then sent to the user terminal, so as to described in display on the user terminal indoors map
The coordinate information of rough estimate position, thus the position coordinates that the coordinate information of display is current as user.
In one embodiment, recognition unit specifically includes judgment module, matching module, in which:
Judgment module, for judging described when receiving unit receives the positioning image that the user terminal is sent
It whether further include angle change value in Location Request, wherein angle change value is that the user terminal is shooting the positioning image
When angle change value of the shooting direction relative to the determined direction of preceding primary positioning；
Matching module, for the judging result according to judgment module, if in the Location Request not including angle change value,
Then using the first object image as candidate image, judge in candidate image with the presence or absence of to match with positioning image
With image.
In one embodiment, recognition unit further includes direction discernment module and target identification module, in which:
Direction discernment module, for the judging result according to judgment module, if in the Location Request including angle change
Value judges that the user terminal is described fixed in shooting then using direction and the angle change value determined by preceding primary positioning
Shooting direction when bit image；
Target identification module obtains the second target figure for utilizing the shooting direction in the first object image
Picture, wherein the differential seat angle between the direction and the shooting direction of second target image is no more than scheduled angle threshold
Value；
Matching module is also used to judge to whether there is in candidate image using second target image as candidate image
The matching image to match with positioning image.
In one embodiment, the angle threshold value is 45 degree.
In one embodiment, matching module specifically pre-processes positioning image, to make to position image and candidate
Image has unified resolution ratio；Image procossing is carried out respectively to pretreated positioning image and candidate image, to mention respectively
The characteristic information S and Fi with illumination, dimension rotation invariance are taken out, wherein S is obtained from pretreated positioning image
Characteristic information, Fi are the characteristic information obtained from i-th of candidate image, and 1≤i≤N, N are the quantity of candidate image；Judge whether
In the presence of the Fi to match with S；The Fi to match if it exists with S, then using candidate image corresponding to the Fi to match with S as with
The matching image that positioning image matches；The Fi to match if it does not exist with S, then matching image is not present in judgement.
In one embodiment, preset distance is not more than 20 meters.
In one embodiment, the location information includes that the collected wireless network access point of the user terminal issues
Wireless signal strength and the wireless network access point identification information.
According to another aspect of the present invention, a kind of indoor locating system, including user terminal and indoor positioning service are provided
Device, in which:
User terminal, for when being positioned shooting positioning image, successively by include location information Location Request and
The positioning image of shooting is sent to indoor positioning server；When the coordinate for the matching image for receiving the transmission of indoor positioning server
When information and directional information, the coordinate information and directional information of the matching image are shown on map indoors, thus will display
Coordinate information and directional information position coordinates and direction current as user；
Indoor positioning server, the indoor positioning server being related to for any of the above-described embodiment.
The present invention is by extracting the positioning for including in Location Request when receiving the Location Request of user terminal transmission
Information；Coarse positioning is carried out to the user terminal using the location information, to obtain rough estimate position；From database obtain with
The associated first object image in rough estimate position, wherein the coordinate position of the first object image and the rough estimate position
Distance be less than preset distance；When receiving the positioning image that the user terminal is sent, judge described first
With the presence or absence of the matching image to match with the positioning image in target image；Matching image if it exists, then by the matching
The coordinate information and directional information of image are sent to the user terminal, to show institute on the user terminal indoors map
The coordinate information and directional information of matching image are stated, thus the position that the coordinate information of display and directional information is current as user
Set coordinate and direction.So as to effectively realize indoor accurate position.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of indoor orientation method one embodiment of the present invention.
Fig. 2 is the schematic diagram of another embodiment of indoor orientation method of the present invention.
Fig. 3 is the schematic diagram of match query image one embodiment of the present invention.
Fig. 4 is the schematic diagram of indoor positioning server one embodiment of the present invention.
Fig. 5 is the schematic diagram of recognition unit one embodiment of the present invention.
Fig. 6 is the schematic diagram of indoor locating system one embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the schematic diagram of indoor orientation method one embodiment of the present invention.Preferably, the method and step of the present embodiment can
It is executed by indoor positioning server.
Step 101, when receiving the Location Request of user terminal transmission, the positioning letter for including in Location Request is extracted
Breath.
The preferred location information includes the wireless communication that the collected wireless network access point of the user terminal issues
The identification information of number intensity RSS and the wireless network access point, such as MAC(Media Access Control, media
Access control) address information.
Step 102, coarse positioning is carried out to the user terminal using the location information, to obtain rough estimate position.
For example, coarse positioning can be carried out by WiFi fingerprint location.It is those skilled in the art due to how to carry out coarse positioning
It can know about, therefore be not unfolded to describe here.
Step 103, first object image associated with the rough estimate position is obtained from database, wherein described first
The coordinate position of target image is less than preset distance at a distance from the rough estimate position.
Preferably, preset distance is not more than 20 meters.
The image wherein stored in the database all has coordinate information and directional information, and coordinate information indicates user's shooting
The location of when image, directional information indicates shooting direction when shooting image.Information in the database can instruct offline
Practice stage generation.
Step 104, when receiving the positioning image that the user terminal is sent, judge in the first object image
With the presence or absence of the matching image to match with the positioning image, wherein the user terminal is when being positioned described in first transmission
Location Request then sends the positioning image of shooting.
Step 105, the coordinate information of the matching image and directional information are then sent to described by matching image if it exists
User terminal, to show the coordinate information and directional information of the matching image on the user terminal indoors map, from
And using the coordinate information of display and the directional information position coordinates current as user and direction.
Based on the indoor orientation method that the above embodiment of the present invention provides, by by wireless location technology and images match skill
Art combines, and can effectively realize indoor accurate position.
Fig. 2 is the schematic diagram of another embodiment of indoor orientation method of the present invention.Preferably, the method and step of the present embodiment can
It is executed by indoor positioning server.Wherein step 201-203 is identical as above-mentioned steps 101-103.
Step 201, when receiving the Location Request of user terminal transmission, the positioning letter for including in Location Request is extracted
Breath.
Step 202, coarse positioning is carried out to the user terminal using the location information, to obtain rough estimate position.
Step 203, first object image associated with the rough estimate position is obtained from database, wherein described first
The coordinate position of target image is less than preset distance at a distance from the rough estimate position.
Step 204, when receiving the positioning image that the user terminal is sent, judge in the Location Request whether
It further include angle change value.If not including angle change value in the Location Request, 205 are thened follow the steps；If the positioning is asked
Include angle change value in asking, thens follow the steps 206.
Wherein angle change value is shooting direction of the user terminal when shooting the positioning image relative to previous
The angle change value in secondary the determined direction of positioning.
Rest is positioned, due to and there is no the identified direction of previous positioning, angle is also not present
Changing value.
It, can be by the shooting direction when shooting the positioning image relative to preceding primary positioning for motion positions later
The angle change value in determined direction is sent to indoor positioning server, to carry out localization process.
Step 205, using the first object image as candidate image, judge to whether there is and positioning in candidate image
The matching image that image matches.Matching image if it exists thens follow the steps 209；Matching image if it does not exist thens follow the steps
210。
Step 206, using direction determined by preceding primary positioning and the angle change value, judge that the user terminal exists
Shoot the shooting direction when positioning image.
Step 207, using the shooting direction, the second target image is obtained in the first object image.
Wherein the differential seat angle between the direction and the shooting direction of second target image is no more than scheduled angle
Threshold value.
Preferably, the angle threshold value is 45 degree.More than 45 degree, picture material difference is larger, is not used to match.
Step 208, using second target image as candidate image, judge to whether there is and positioning in candidate image
The matching image that image matches.Matching image if it exists thens follow the steps 209；Matching image if it does not exist thens follow the steps
210。
Step 209, the coordinate information of the matching image and directional information are sent to the user terminal, so as to described
User terminal shows the coordinate information and directional information of the matching image on map indoors, thus by the coordinate information of display
The position coordinates current as user and direction with directional information.Later, other steps of the present embodiment are no longer executed.
Step 210, the coordinate information of rough estimate position is sent to the user terminal, indoors so as to the user terminal
The coordinate information of the rough estimate position is shown on map, thus the position coordinates that the coordinate information of display is current as user.
Fig. 3 is the schematic diagram of match query image one embodiment of the present invention.Wherein, above-mentioned judgement is in candidate image
It is no to include: in the presence of the step of matching image to match with positioning image
Step 301, positioning image is pre-processed, there is unified resolution to make to position image and candidate image
Rate.
Step 302, image procossing is carried out to pretreated positioning image and candidate image respectively, is provided with extracting respectively
There are the characteristic information S and Fi of illumination, dimension rotation invariance, wherein S is the feature letter obtained from pretreated positioning image
Breath, Fi are the characteristic information obtained from i-th of candidate image, and 1≤i≤N, N are the quantity of candidate image.
For example, SURF(Speeded Up Robust Features can be passed through) to image carry out feature extraction processing,
Obtained characteristic point has illumination, dimension rotation invariance.SURF extracts feature and passes through building Hessian matrix, scale space,
It determines that stable extreme point is key point, finally according to the gradient characteristics of key point peripheral point, produces Feature Descriptor, finally will
Obtained feature vector for matching in next step.
Step 303, the Fi to match with S is judged whether there is.The Fi to match if it exists with S, thens follow the steps 304；
The Fi to match if it does not exist with S, thens follow the steps 305.
For example, can be matched to the feature multi-C vector of image according to k-d tree algorithm, meet matching condition and then obtain
Immediate matching image.
Step 304, using candidate image corresponding to the Fi to match with S as the matching figure to match with positioning image
Picture.
Step 305, matching image is not present in judgement.
Fig. 4 is the schematic diagram of indoor positioning server one embodiment of the present invention.As shown in figure 4, the server includes connecing
Receive unit 401, extraction unit 402, coarse positioning unit 403, first object image acquisition unit 404, database 405, identification list
Member 406 and transmission unit 407.Wherein:
Receiving unit 401, for receiving the Location Request of user terminal transmission.
Wherein the user terminal first sends the Location Request when being positioned, and then sends the positioning figure of shooting
Picture.
Extraction unit 402, when for receiving the Location Request of user terminal transmission when receiving unit 401, it is fixed to extract
The location information for including in the request of position.
Preferably, the location information includes the wireless communication that the collected wireless network access point of the user terminal issues
The identification information of number intensity and the wireless network access point, such as mac address information.
Coarse positioning unit 403, for carrying out coarse positioning to the user terminal using the location information, to obtain rough estimate
Position.
First object image acquisition unit 404, for being obtained and the rough estimate position associated first from database
Target image, wherein the coordinate position of the first object image at a distance from the rough estimate position be less than it is preset away from
From.
Preferably, preset distance is not more than 20 meters.
Database 405, for storing image, wherein the image stored all has coordinate information and directional information, coordinate letter
The location of when breath expression user's shooting image, directional information indicates shooting direction when shooting image.
Recognition unit 406, for judging when receiving unit 401 receives the positioning image that the user terminal is sent
With the presence or absence of the matching image to match with the positioning image in the first object image.
Transmission unit 407, for the judging result according to recognition unit 406, matching image if it exists, then by the matching
The coordinate information and directional information of image are sent to the user terminal, to show institute on the user terminal indoors map
The coordinate information and directional information of matching image are stated, thus the position that the coordinate information of display and directional information is current as user
Set coordinate and direction.
Based on the indoor positioning server that the above embodiment of the present invention provides, by by wireless location technology and images match
Technology combines, and can effectively realize indoor accurate position.
Preferably, transmission unit 407 is also used to the judging result according to recognition unit 406, if it does not exist matching image, then
The coordinate information of rough estimate position is sent to the user terminal, it is described thick to be shown on the user terminal indoors map
The coordinate information of position is estimated, thus the position coordinates that the coordinate information of display is current as user.
Fig. 5 is the schematic diagram of recognition unit one embodiment of the present invention.As shown in figure 5, recognition unit 406 specifically includes and sentences
Disconnected module 501 and matching module 502.Wherein:
Judgment module 501, for judging in institute when receiving unit receives the positioning image that the user terminal is sent
Whether further include angle change value, wherein angle change value is that the user terminal is shooting the positioning figure if stating in Location Request
As when angle change value of the shooting direction relative to the determined direction of preceding primary positioning.
Matching module 502, for the judging result according to judgment module 501, if not including angle in the Location Request
Changing value judges to whether there is in candidate image and positioning image phase then using the first object image as candidate image
Matched matching image.
Preferably, recognition unit further includes direction discernment module 503 and target identification module 504, in which:
Direction discernment module 503, for the judging result according to judgment module 501, if in the Location Request including angle
Changing value is spent, then using direction and the angle change value determined by preceding primary positioning, judges that the user terminal is being shot
Shooting direction when the positioning image.
Target identification module 504 obtains the second target in the first object image for utilizing the shooting direction
Image, wherein the differential seat angle between the direction and the shooting direction of second target image is no more than scheduled angle threshold
Value.
Preferably, the angle threshold value is 45 degree.
Matching module 502 is also used to using second target image as candidate image, judge in candidate image whether
In the presence of the matching image to match with positioning image.
Preferably, matching module 502 specifically pre-processes positioning image, to make to position image and candidate image tool
There is unified resolution ratio；Image procossing is carried out to pretreated positioning image and candidate image respectively, is provided with extracting respectively
There are the characteristic information S and Fi of illumination, dimension rotation invariance, wherein S is the feature letter obtained from pretreated positioning image
Breath, Fi are the characteristic information obtained from i-th of candidate image, and 1≤i≤N, N are the quantity of candidate image；Judge whether there is with
The Fi that S matches；The Fi to match if it exists with S then schemes using candidate image corresponding to the Fi to match with S as with positioning
As the matching image to match；The Fi to match if it does not exist with S, then matching image is not present in judgement.
Fig. 6 is the schematic diagram of indoor locating system one embodiment of the present invention.As shown in fig. 6, the system includes user's end
End 601 and indoor positioning server 602.For convenience's sake, a user terminal, art technology are only gived in Fig. 6
Personnel are it will be appreciated that can have multiple user terminals and indoor positioning server to carry out communication interaction.Wherein:
User terminal 601 will include the Location Request transmission of location information for the shooting positioning image when being positioned
Indoor positioning server 602 is sent to after indoor positioning server 602, then by the positioning image of shooting；When receiving interior
When the coordinate information and directional information of the matching image that location-server 602 is sent, the matching figure is shown on map indoors
The coordinate information and directional information of picture, thus using the coordinate information of display and the directional information position coordinates current as user and
Direction.
Indoor positioning server 602, the indoor positioning server being related to for any embodiment in Fig. 4 and Fig. 5.
Based on the indoor locating system that the above embodiment of the present invention provides, by by wireless location technology and images match skill
Art combines, and can effectively realize indoor accurate position.
In one embodiment, user terminal may include WiFi scan module, gyro sensor module, camera model and
Display module.Wherein, WiFi, which scans mould, can be used for scanning the different router signal strengths of reception and MAC Address；Gyro sensors
Device module is used to record the angle of opposite reference point；Camera model is for capturing position image；Display module is for showing
Last positioning result.
Below by specific example, the present invention will be described.User carries the user terminal of such as mobile phone in building
It is mobile.Wherein user shoots positioning image towards east in a region in upper primary positioning, when user is moved to another region,
When being positioned again:
The first step, user using user terminal towards south shoot positioning image, user terminal acquire simultaneously indoor positioning information,
The angle change of a terminal orientation earlier above.User terminal will include the Location Request of location information and angle change with word
Symbol string form is transferred to indoor positioning server, and the positioning image of shooting is sent to indoor positioning server later.
Second step, indoor positioning server by utilizing location information carry out coarse positioning.It is searched in the database from rough estimate position
All images within 20m obtain n width image.Angle change information is recycled to determine that user Chao Nan is shot in this positioning
Image, and then shooting direction is filtered out towards southern m width image in n width image.Thus it can effectively reduce and carry out matched image
Range.The m width image angle in view of angular deviation is more than that 45 degree of picture material difference are too big, being not used to match, therefore selecting
Deviation is spent in 45 degree.
Third step, indoor positioning server pre-process the image that user captures, and make the image and m width to be matched
The resolution ratio of image is consistent.Then feature extraction processing is carried out to image using SURF, to obtain with illumination, dimension rotation not
The characteristic point of denaturation.
4th step, the characteristic point that the characteristic point that the image that user captures obtains is obtained with m width image respectively carry out multidimensional
Vectors matching meets matching condition and then obtains immediate image coordinate to be matched.Using the image coordinate in image data base
It scans for, obtains more accurate position coordinates and direction.Such as without the image coordinate for meeting matching condition, then coarse positioning seat is fed back
Mark.
Previous step is obtained positioning result and is transmitted to user terminal, and is shown in indoor map by the 4th step.To complete
It is accurately positioned.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (15)
1. a kind of indoor orientation method characterized by comprising
When receiving the Location Request of user terminal transmission, the location information for including in Location Request is extracted；
Coarse positioning is carried out to the user terminal using the location information, to obtain rough estimate position；
First object image associated with the rough estimate position is obtained from database, wherein the seat of the first object image
Cursor position is less than preset distance at a distance from the rough estimate position, wherein the image stored in the database all has seat
The location of mark information and directional information, coordinate information indicates when user shoots image, when directional information indicates shooting image
Shooting direction；
When receiving the positioning image that the user terminal is sent, judge to whether there is and institute in the first object image
The matching image that positioning image matches is stated, wherein the user terminal first sends the Location Request when being positioned, with
The positioning image of shooting is sent afterwards；
The coordinate information of the matching image and directional information are then sent to the user terminal by matching image if it exists, with
Toilet states the coordinate information and directional information that user terminal shows the matching image on map indoors, thus by the seat of display
Mark information and directional information position coordinates and direction current as user；
Wherein, when receiving the positioning image that the user terminal is sent, judge whether deposit in the first object image
Include: in the matching image to match with the positioning image
When receiving the positioning image that the user terminal is sent, judge whether further include that angle becomes in the Location Request
Change value, wherein angle change value is shooting direction of the user terminal when shooting the positioning image relative to preceding primary fixed
The angle change value in the determined direction in position；
If not including that angle change value judges using the first object image as candidate image in the Location Request
With the presence or absence of the matching image to match with positioning image in candidate image.
2. the method according to claim 1, wherein
The coordinate information of rough estimate position is then sent to the user terminal by matching image if it does not exist, so that the user is whole
The coordinate information that the rough estimate position is shown on map indoors is held, thus the position that the coordinate information of display is current as user
Set coordinate.
3. the method according to claim 1, wherein
If in the Location Request including angle change value, direction and the angle change determined by preceding primary positioning are utilized
Value judges shooting direction of the user terminal when shooting the positioning image；
Using the shooting direction, the second target image is obtained in the first object image, wherein the second target figure
Differential seat angle between the direction of picture and the shooting direction is no more than scheduled angle threshold value；
Using second target image as candidate image, judges to whether there is in candidate image and position what image matched
Matching image.
4. according to the method described in claim 3, it is characterized in that,
The angle threshold value is 45 degree.
5. method according to any of claims 1-4, which is characterized in that
Judge that the step of whether there is the matching image to match with positioning image in candidate image includes:
Positioning image is pre-processed, there is unified resolution ratio to make to position image and candidate image；
Image procossing is carried out respectively to pretreated positioning image and candidate image, extracted respectively with illumination, scale
The characteristic information S and Fi of rotational invariance, wherein S is the characteristic information obtained from pretreated positioning image, and Fi is from i-th
The characteristic information that a candidate image obtains, 1≤i≤N, N are the quantity of candidate image；
Judge whether there is the Fi to match with S；
The Fi to match if it exists with S then matches using candidate image corresponding to the Fi to match with S as with positioning image
Matching image；
The Fi to match if it does not exist with S, then matching image is not present in judgement.
6. method according to claim 1 or 2, which is characterized in that
Preset distance is not more than 20 meters.
7. method according to claim 1 or 2, which is characterized in that
The location information include the wireless signal strength that the collected wireless network access point of the user terminal issues and
The identification information of the wireless network access point.
8. a kind of indoor positioning server, which is characterized in that including receiving unit, extraction unit, coarse positioning unit, first object
Image acquisition unit, database, recognition unit and transmission unit, in which:
Receiving unit, for receiving the Location Request of user terminal transmission, wherein the user terminal is first sent out when being positioned
The Location Request is sent, the positioning image of shooting is then sent；
Extraction unit is extracted in Location Request and is wrapped when for receiving the Location Request of user terminal transmission when receiving unit
The location information included；
Coarse positioning unit, for carrying out coarse positioning to the user terminal using the location information, to obtain rough estimate position；
First object image acquisition unit, for obtaining first object figure associated with the rough estimate position from database
Picture, wherein the coordinate position of the first object image is less than preset distance at a distance from the rough estimate position；
Database, for storing image, wherein the image stored all has coordinate information and directional information, coordinate information indicates to use
The location of when the shooting image of family, directional information indicates shooting direction when shooting image；
Recognition unit, for judging described first when receiving unit receives the positioning image that the user terminal is sent
With the presence or absence of the matching image to match with the positioning image in target image；
Transmission unit, for the judging result according to recognition unit, matching image if it exists, then by the coordinate of the matching image
Information and directional information are sent to the user terminal, to show the matching image on the user terminal indoors map
Coordinate information and directional information, thus using the coordinate information of display and the directional information position coordinates current as user and side
To
Recognition unit includes judgment module and matching module, wherein
Judgment module, for judging in the positioning when receiving unit receives the positioning image that the user terminal is sent
It whether further include angle change value in request, wherein angle change value is the user terminal when shooting the positioning image
Angle change value of the shooting direction relative to preceding primary the determined direction of positioning；
Matching module, will if in the Location Request not including angle change value for the judging result according to judgment module
The first object image judges in candidate image as candidate image with the presence or absence of the matching figure to match with positioning image
Picture.
9. server according to claim 8, which is characterized in that
Transmission unit is also used to the judging result according to recognition unit, if it does not exist matching image, then by the coordinate of rough estimate position
Information is sent to the user terminal, to show the coordinate letter of the rough estimate position on the user terminal indoors map
Breath, thus the position coordinates that the coordinate information of display is current as user.
10. server according to claim 9, which is characterized in that recognition unit further includes direction discernment module and target
Identification module, in which:
Direction discernment module, for the judging result according to judgment module, if in the Location Request including angle change value,
Using direction determined by preceding primary positioning and the angle change value, judge that the user terminal is shooting the positioning image
When shooting direction；
Target identification module, for obtaining the second target image in the first object image using the shooting direction,
Described in the second target image direction and the shooting direction between differential seat angle be no more than scheduled angle threshold value；
Matching module is also used to judge to whether there is in candidate image and determine using second target image as candidate image
The matching image that bit image matches.
11. server according to claim 10, which is characterized in that
The angle threshold value is 45 degree.
12. the server according to any one of claim 8-11, which is characterized in that
Matching module specifically pre-processes positioning image, has unified resolution to make to position image and candidate image
Rate；Image procossing is carried out respectively to pretreated positioning image and candidate image, extracted respectively with illumination, scale rotation
Turn the characteristic information S and Fi of invariance, wherein S is the characteristic information obtained from pretreated positioning image, and Fi is from i-th
The characteristic information that candidate image obtains, 1≤i≤N, N are the quantity of candidate image；Judge whether there is the Fi to match with S；If
In the presence of the Fi to match with S, then using candidate image corresponding to the Fi to match with S as the matching to match with positioning image
Image；The Fi to match if it does not exist with S, then matching image is not present in judgement.
13. server according to claim 8 or claim 9, which is characterized in that
Preset distance is not more than 20 meters.
14. server according to claim 8 or claim 9, which is characterized in that
The location information include the wireless signal strength that the collected wireless network access point of the user terminal issues and
The identification information of the wireless network access point.
15. a kind of indoor locating system, which is characterized in that including user terminal and indoor positioning server, in which:
User terminal, for the shooting positioning image when being positioned, successively by Location Request and shooting including location information
Positioning image be sent to indoor positioning server；When the coordinate information for the matching image for receiving the transmission of indoor positioning server
When with directional information, the coordinate information and directional information of the matching image are shown on map indoors, thus by the seat of display
Mark information and directional information position coordinates and direction current as user；
Indoor positioning server, the indoor positioning server being related to for any one of claim 8-14.
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