CN109031383A - Indoor and outdoor navigation seamless handover method and control system - Google Patents

Indoor and outdoor navigation seamless handover method and control system Download PDF

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Publication number
CN109031383A
CN109031383A CN201810813783.3A CN201810813783A CN109031383A CN 109031383 A CN109031383 A CN 109031383A CN 201810813783 A CN201810813783 A CN 201810813783A CN 109031383 A CN109031383 A CN 109031383A
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China
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scene
outdoor
signal intensity
indoor
contextual data
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CN109031383B (en
Inventor
向泽君
刘浩
周智勇
陈良超
梁建国
胡开全
张俊前
马红
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Chongqing Institute Of Surveying And Mapping Science And Technology Chongqing Map Compilation Center
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Chongqing Survey Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention proposes a kind of indoor and outdoor navigation seamless handover method and control systems, method includes the following steps: acquiring contextual data in real time, whether judgement is currently doubtful scene changes situation；Contextual data collected and contextual data when last moment t0 are compared and analyzed, whether scene changes at this time for preliminary judgement, acquire the contextual data at t2 moment, the contextual data at t2 moment and the contextual data at t1 moment are compared, determine that scene changes at this time, control navigation switching.It is simple by indoor and outdoor navigation seamless handover method, changing scene by doubtful scene changes -> scene changes at this time for preliminary judgement ->, the step of determining scene generation at this time realizes the switching of navigation, accuracy is high, the time error of indoor and outdoor location navigation switching is small, the ping-pong being likely to occur in indoor and outdoor positioning handoff procedure can be effectively eliminated, the seamless smooth transition for realizing indoor and outdoor location navigation, promotes the experience sense of user.

Description

Indoor and outdoor navigation seamless handover method and control system
Technical field
The present invention relates to indoor and outdoor seamless navigation fields, and in particular to a kind of indoor and outdoor navigation seamless handover method and control System.
Background technique
Outdoor satellite Position Fixing Navigation System based on Global Navigation Satellite System (guide number SS) quickly grows and tends into Ripe, the demand navigated recently as people to indoor positioning is growing, and indoor positioning airmanship is also obtained in recent years It rapidly develops, but indoor positioning navigation is constantly in the state of respective independent development with outdoor positioning navigation, it is how that the two is whole The seamless smooth transition for realizing indoor and outdoor location navigation is closed, i.e. indoor and outdoor navigation seamless switching technique becomes a research hotspot.
With the development of smart phone, GNSS satellite navigation, Bluetooth technology, WiFi, optical sensor, baroceptor etc. are passed Sensor has become at present the standard configuration of smart phone on the market, while the deployment of public Wi-Fi hotspot is more and more intensive, these biographies Sensor provides efficient reliable technological means for the seamless switching for realizing that indoor and outdoor is navigated by mobile phone terminal.At present There are some investigators to pass through some separated sensor to analyze and determine the variation of indoor and outdoor scene and realize indoor and outdoor The switching of air navigation aid, but reliability and smooth transition aspect are restricted.
Summary of the invention
In order to overcome above-mentioned defect existing in the prior art, the object of the present invention is to provide a kind of navigation of indoor and outdoor is seamless Switching method and control system.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of indoor and outdoor navigation seamless handover methods, including Following steps:
S1 acquires contextual data in real time, when contextual data threshold value of the contextual data beyond setting, judges to be currently doubtful Like scene changes situation, contextual data when moment t1 at that time is recorded, and executes step S2, if not doubtful scene changes feelings Shape, then it is assumed that scene does not change；
S2 compares and analyzes contextual data collected and contextual data when last moment t0, and calculating difference obtains To the first changing value, when the first changing value is beyond setting change threshold T, scene changes at this time for preliminary judgement, and executes Step S3；When the first changing value is without departing from setting change threshold, then determines that scene does not change, execute step S1；
S3 acquires the contextual data at t2 moment, the contextual data at t2 moment and the contextual data at t1 moment is compared, Calculating difference obtains the second changing value, when the second changing value is consistent with the first changing value variation tendency and changes threshold beyond setting When value T, determine that scene changes at this time, and execute step S5；When the second changing value is consistent with the first changing value variation tendency And second the non-duration of changing value beyond setting change threshold T when, then be determined as doubtful scene changes situation, execute step S4, When the second changing value and the first changing value variation tendency are inconsistent, then determine that scene does not change, executes step S1；
S4 acquires the contextual data of subsequent time t3, when by the method in step S3 by the contextual data and t2 at t3 moment The contextual data at quarter compares verifying, when changing up to being verified as scene, executes step S5；
S5, control navigation switching: if map is changed to outdoor map, and use satellite to outdoor by indoor Positioning, if map is changed to indoor map, and position using wifi or bluetooth to interior by outdoor.
It is simple by indoor and outdoor navigation seamless handover method, scene is changed through doubtful scene changes -> preliminary judgement At this time scene change -> determine the generation of scene at this time the step of realize the switching of navigation, accuracy is high, and indoor and outdoor positioning is led The time error switched of navigating is small, can effectively eliminate the ping-pong being likely to occur in indoor and outdoor positioning handoff procedure, realize indoor The seamless smooth transition of outer location navigation, promotes the experience sense of user.
Further, the contextual data of acquisition includes GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi Signal strength, luminous flux, at least two contextual datas in atmospheric pressure value.
This method is from GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, gas Five aspects of pressure value are acquired contextual data, and the especially acquisition to luminous flux and atmospheric pressure value is able to detect scene characteristic Minor change, such as indoor minor change of outer light source, the difference of automobile driving speed and people's walking speed, ground with get off The air pressure change in library, air pressure change of different floors etc., so that the method for the invention has higher susceptibility.
Further, in step S1, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal are strong Degree, luminous flux when having 2 or 2 or more contextual datas to have exceeded the given threshold of corresponding contextual data in atmospheric pressure value, are then sentenced It is doubtful scene changes situation before settled, and contextual data when recording current time t1；
In step S2, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, When having the first changing value of 2 or 2 or more contextual datas in atmospheric pressure value beyond setting change threshold T, preliminary judgement is at this time Scene changes；
In step S3, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, Have in atmospheric pressure value the second changing value of 2 or 2 or more contextual datas it is consistent with the first changing value variation tendency and beyond pair When answering the given threshold of contextual data, determine that scene changes at this time, is otherwise determined as doubtful scene changes situation.
Contextual data by 2 or 2 or more judges scene changes situation, improves accuracy.
It is further, preliminary to judge the whether changed method of scene at this time in step S2 are as follows:
When
When
When
When
When
Wherein, A is that GNSS satellite location navigation signal strength sets change threshold, and B is bluetooth signal intensity setting variation Threshold value, C are that WiFi signal intensity sets change threshold, and D is that luminous flux sets change threshold, and E is that atmospheric pressure value sets change threshold, And A, B, C, D, E are positive real number.
Further, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, Any two or two or more contextual datas are determined as scene to be outdoor to interior in atmospheric pressure value, and in other scenario parameters not It is not changed to outdoor or scene to there is interior, then preliminary judgement scene arrives interior to be outdoor；
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Any two or two or more contextual datas are determined as scene to be indoor to outdoor, and do not occur in other scenario parameters outdoor It is not changed to indoor or scene, then preliminary judgement scene is indoor to outdoor；
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value There is 1 or 1 or more judgement scene not changed, then it is assumed that it is current to determine that conclusion leaves a question open, new scene need to be resurveyed Data are determined.
This improves the whether changed accuracy of preliminary judgement scene, and judges how scene changes.
Further, in the step S3,
WhenWhen, determine indoor to outdoor；
WhenWhen, determine outdoor to interior；
When GNSS satellite navigation signal intensityt2With GNSS satellite navigation signal intensityt1Variation tendency it is consistent and | GNSS is defended Star navigation signal intensityt2GNSS satellite navigation signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
When GNSS satellite navigation signal intensityt2With GNSS satellite navigation signal intensityt1Variation tendency is inconsistent, then determines Scene does not change；
WhenWhen, determine outdoor to interior；
WhenWhen, determine indoor to outdoor；
Work as bluetooth signal intensityt2With bluetooth signal intensityt1Variation tendency it is consistent and
| bluetooth signal intensityt2Bluetooth signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
Work as bluetooth signal intensityt2With bluetooth signal intensityt1Variation tendency is inconsistent, then determines that scene does not change；
WhenWhen, determine outdoor to interior；
WhenWhen, determine indoor to outdoor；
When WiFi signal intensityt2With WiFi signal intensityt1Variation tendency it is consistent and
| WiFi signal intensityt2WiFi signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
When WiFi signal intensityt2With WiFi signal intensityt1Variation tendency is consistent, then determines that scene does not change；
WhenWhen, determine indoor to outdoor；
WhenWhen, determine outdoor to interior；
Work as luminous fluxt2With luminous fluxt1Variation tendency it is consistent and | luminous fluxt2Luminous fluxt1When | < A, then it is determined as doubtful field Scape changes situation；
Work as luminous fluxt2With luminous fluxt1Variation tendency is inconsistent, then determines that scene does not change；
WhenWhen, determine indoor to outdoor；
WhenWhen, determine outdoor to interior；
Work as atmospheric pressure valuet2With atmospheric pressure valuet1Luminous fluxt1Variation tendency it is consistent and | atmospheric pressure valuet2Atmospheric pressure valuet1When | < A, then determine For doubtful scene changes situation；
Work as atmospheric pressure valuet2With atmospheric pressure valuet1Luminous fluxt1Variation tendency is inconsistent, then determines that scene does not change.
By analyzing concrete scene data, more accurately learn whether scene changes.
Further, when judging whether scene changes, α filter function is established, the α filter function is defined as:Wherein, L is a discrete time variable, and RSSI is to receive signal Intensity instruction, RSSI (L) are the intensity instruction of L moment received signal, TrssiIt is signal strength threshold, when α (L) is record L Carve rssi measurement value ratio TrssiBig number；When the RSSI (L) of at least three wireless access point is more than signal strength threshold Trssi, Then determine that the testing conditions are set up, it is believed that scene is doubtful at this time changes or have occurred and that variation, and D is constant, the signal Refer to one of GNSS satellite location navigation signal, Bluetooth signal, WiFi signal, luminous flux, atmospheric pressure value.
Further, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, Any two or two or more contextual datas are determined as scene to be outdoor to interior in atmospheric pressure value, and in other scenario parameters not It is not changed to outdoor or scene to there is interior, then determines scene to be outdoor to indoor；
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Any two or two or more contextual datas are determined as scene to be indoor to outdoor, and do not occur in other scenario parameters outdoor It is not changed to indoor or scene, then determining scene for interior to outdoor；
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value There is 1 or 1 or more judgement scene not changed, then it is assumed that it is current to determine that conclusion leaves a question open, execute step S4.
This, which is improved, determines the whether changed accuracy of scene, and judges how scene changes.
The invention also provides a kind of indoor and outdoor navigation seamless switchings based on above-mentioned indoor and outdoor navigation seamless handover method Control system, including scene perception module, scene change analysis module, controller and localization method switching module；
The scene perception module acquires contextual data, and output end is connected to scene change analysis module, the scene Analysis module analyzes contextual data by above-mentioned method, and analysis result is sent to the controller, the control Device output end connects controller described in the localization method switching module according to the received analysis result of institute to the localization method Switching module issues navigation switching command, and the localization method switching module executes navigation switching command.
The Control system architecture is simple, and the sensor that the configuration of existing mobile intelligent terminal can be used in scene perception module is real Existing, practicability is high, and fast and accurately can realize indoor and outdoor navigation switching according to the variation of scene.
Further, the scene perception module include GNSS satellite navigation signal sensor, Bluetooth signal sensor, WiFi signal sensor, optical sensor, the two of baroceptor or any combination greater than two.
There is higher accuracy by multi sensor combination detection, compared with single-sensor detection method, according to more A biosensor analysis result comprehensive descision, it is ensured that multi sensor combination detection method has higher than single-sensor detection Accuracy.
Further, the GNSS satellite navigation signal sensor, Bluetooth signal sensor, WiFi signal sensor, light Sensor, baroceptor are integrated in mobile intelligent terminal.This improves the reality of indoor and outdoor navigation seamless switching control system The property used.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart of indoor and outdoor navigation seamless handover method；
Fig. 2 is indoor and outdoor navigation seamless switching control system functional block diagram；
Fig. 3 is positioning switching principle figure.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can , can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis Concrete condition understands the concrete meaning of above-mentioned term.
The present invention provides one kind to provide a kind of indoor and outdoor navigation seamless handover method, as shown in Figure 1, including following step It is rapid:
S1 acquires contextual data in real time, when contextual data threshold value of the contextual data beyond setting, judges to be currently doubtful Like scene changes situation, contextual data when moment t1 at that time is recorded, and executes step S2, if not doubtful scene changes feelings Shape, then it is assumed that scene does not change.
S2 compares and analyzes contextual data collected and contextual data when last moment t0, and calculating difference obtains To the first changing value, when the first changing value is beyond setting change threshold T, scene changes at this time for preliminary judgement, and executes Step S3；When the first changing value is without departing from setting change threshold, then determines that scene does not change, execute step S1.
S3 acquires the contextual data at t2 moment, the contextual data at t2 moment and the contextual data at t1 moment is compared, Calculating difference obtains the second changing value, when the second changing value is consistent with the first changing value variation tendency and changes threshold beyond setting When value T, determine that scene changes at this time, and execute step S5；When the second changing value is consistent with the first changing value variation tendency And second the non-duration of changing value beyond setting change threshold T when, then be determined as doubtful scene changes situation, execute step S4； When the second changing value and the first changing value variation tendency are inconsistent, then determine that scene does not change, executes step S1.Here Variation tendency unanimously refers to the first changing value and the second changing value all and is enhancing or is all to weaken.
S4 acquires the contextual data of subsequent time t3, when by the method in step S3 by the contextual data and t2 at t3 moment The contextual data at quarter compares verifying, when changing up to being verified as scene, executes step S5；
S5, control navigation switching: if map is changed to outdoor map, and use satellite to outdoor by indoor Positioning, if map is changed to indoor map, and position using wifi or bluetooth to interior by outdoor.
In actual use, the contextual data of acquisition include GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, at least two contextual datas in atmospheric pressure value.
In step S1, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, When there are 2 or 2 or more contextual datas to have exceeded the given threshold of corresponding contextual data in atmospheric pressure value, then determine to be currently doubtful Contextual data like scene changes situation, and when recording current time t1.
In step S2, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, When having the first changing value of 2 or 2 or more contextual datas in atmospheric pressure value beyond setting change threshold T, preliminary judgement is at this time Scene changes.
In step S3, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, Have in atmospheric pressure value the second changing value of 2 or 2 or more contextual datas it is consistent with the first changing value variation tendency and beyond pair When answering the given threshold of contextual data, determine that scene changes at this time, is otherwise determined as doubtful scene changes situation.
In a preferred embodiment of the present invention, when judging whether scene changes, α filter function is established, The α filter function is defined as:Wherein, L is to become a discrete time Amount, RSSI are the intensity instructions for receiving signal, and RSSI (L) is the intensity instruction of L moment received signal, TrssiIt is signal strength Threshold value, α (L) are record L moment rssi measurement value ratio TrssiBig number；When the RSSI (L) of at least three wireless access point is super Cross signal strength threshold Trssi, then determine that the testing conditions are set up, it is believed that scene is doubtful at this time changes or have occurred and that change Change, D is constant, and expression is down to signal strength threshold T for eachrssiUnder α (L) slip.The determination of D value, which depends on, to be needed The exactness and accuracy wanted, a higher D value increase the weight of wrong report, and the selection of D value depends on measurement RSSI per second Frequency n and the mobile speed s of user.If n value is high, s value is low, then can choose a low D value when calculating.Here Signal just include one of GNSS satellite location navigation signal, Bluetooth signal, WiFi signal, luminous flux, atmospheric pressure value, each The generally applicable above formula of the corresponding α filter function of signal is calculated.
In a preferred embodiment of the present invention, specifically how to carry out tentatively judging whether scene becomes at this time Change, following methods can be used:
When
When
When
When
When
Wherein, A is that GNSS satellite location navigation signal strength sets change threshold, and B is bluetooth signal intensity setting variation Threshold value, C are that WiFi signal intensity sets change threshold, and D is that luminous flux sets change threshold, and E is that atmospheric pressure value sets change threshold, And A, B, C, D, E are positive real number.
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Any two or two or more contextual datas are determined as scene to be outdoor to interior, and do not occur in other scenario parameters indoor It is not changed to outdoor or scene, then preliminary judgement scene is outdoor to interior.
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Any two or two or more contextual datas are determined as scene to be indoor to outdoor, and do not occur in other scenario parameters outdoor It is not changed to indoor or scene, then preliminary judgement scene is indoor to outdoor.
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value There is 1 or 1 or more judgement scene not changed, then it is assumed that it is current to determine that conclusion leaves a question open, new scene need to be resurveyed Data are determined.
For further guarantee judgement accuracy, to GNSS satellite location navigation signal strength, bluetooth signal intensity, When WiFi signal intensity, luminous flux, atmospheric pressure value are judged, successively judged according to above-mentioned alignment sequence.
In a preferred embodiment of the present invention, specifically how to be determined whether scene at this time changes, it can Using following methods:
WhenWhen, determine indoor to outdoor；
WhenWhen, determine outdoor to interior；
When GNSS satellite navigation signal intensityt2With GNSS satellite navigation signal intensityt1Variation tendency it is consistent and | GNSS is defended Star navigation signal intensityt2GNSS satellite navigation signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
When GNSS satellite navigation signal intensityt2With GNSS satellite navigation signal intensityt1Variation tendency is inconsistent, then determines Scene does not change；
WhenWhen, determine outdoor to interior；
WhenWhen, determine indoor to outdoor；
Work as bluetooth signal intensityt2With bluetooth signal intensityt1Variation tendency it is consistent and
| bluetooth signal intensityt2Bluetooth signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
Work as bluetooth signal intensityt2With bluetooth signal intensityt1Variation tendency is inconsistent, then determines that scene does not change；
WhenWhen, determine outdoor to interior；
WhenWhen, determine indoor to outdoor；
When WiFi signal intensityt2With WiFi signal intensityt1Variation tendency it is consistent and
| WiFi signal intensityt2WiFi signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
When WiFi signal intensityt2With WiFi signal intensityt1Variation tendency is consistent, then determines that scene does not change；
WhenWhen, determine indoor to outdoor；
WhenWhen, determine outdoor to interior；
Work as luminous fluxt2With luminous fluxt1Variation tendency it is consistent and | luminous fluxt2Luminous fluxt1When | < A, then it is determined as doubtful field Scape changes situation；
Work as luminous fluxt2With luminous fluxt1Variation tendency is inconsistent, then determines that scene does not change；
WhenWhen, determine indoor to outdoor；
WhenWhen, determine outdoor to interior；
Work as atmospheric pressure valuet2With atmospheric pressure valuet1Luminous fluxt1Variation tendency it is consistent and | atmospheric pressure valuet2Atmospheric pressure valuet1When | < A, then determine For doubtful scene changes situation；
Work as atmospheric pressure valuet2With atmospheric pressure valuet1Luminous fluxt1Variation tendency is inconsistent, then determines that scene does not change.
Further, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, Any two or two or more contextual datas are determined as scene to be outdoor to interior in atmospheric pressure value, and in other scenario parameters not It is not changed to outdoor or scene to there is interior, then determines scene to be outdoor to indoor.
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Any two or two or more contextual datas are determined as scene to be indoor to outdoor, and do not occur in other scenario parameters outdoor It is not changed to indoor or scene, then determining scene for interior to outdoor.
When in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value There is 1 or 1 or more judgement scene not changed, then it is assumed that it is current to determine that conclusion leaves a question open, execute step S4.
The invention also provides a kind of indoor and outdoor navigation seamless switchings based on above-mentioned indoor and outdoor navigation seamless handover method Control system, as shown in Fig. 2, including that scene perception module, scene change analysis module, controller and localization method switch mould Block.
The scene perception module acquires contextual data, and output end is connected to scene change analysis module, the scene Analysis module according to the above method analyzes contextual data, and analysis result is sent to the controller, the controller Output end connects the localization method switching module, and the controller is cut according to the received analysis result of institute to the localization method It changes the mold block and issues navigation switching command, the localization method switching module executes navigation switching command.
After localization method switching module receives instruction, decided whether to switch localization method according to instruction.In the present embodiment, The instruction received is divided into " not switching " and " switching " two class, wherein " switching " class is divided into " outdoor is switched to interior " and " interior It is switched to outdoor " two subclasses, after localization method switching module receives specific instruction, scheduling digital map navigation APP switching positioning Air navigation aid.
In the present embodiment, the scene perception module include GNSS satellite navigation signal sensor, Bluetooth signal sensor, WiFi signal sensor, optical sensor, the two of baroceptor or any combination greater than two.Wherein GNSS satellite navigation signal Sensor, Bluetooth signal sensor, WiFi signal sensor, optical sensor, baroceptor are integrated in mobile intelligent terminal (such as Mobile phone) in.
The realization for positioning switching is as shown in Figure 3, wherein " perception interface " is one of various sensor devices in perception environment The perception such as a perception interface, including GNSS satellite navigation, Bluetooth technology, WiFi, optical sensor, baroceptor；" positioning is calculated Method " is the abstract class of location algorithm, is " virtual " location algorithm, mainly by interacting with server, requests phase The positioning result for answering localization method, what is used here is all existing location algorithm；" filter function ", which is realized, filters letter based on α Several sensing data calculation methods；" map datum " is tile map requestor interface, realizes outdoor such map requests and room Interior such map requests；" switch " is the core classes of switching, by calling above-mentioned location algorithm, map datum interface, filter function The switching of indoor and outdoor location technology and indoor and outdoor map is realized with perception interface.
Scene perception module sends scene information collected to scene change analysis module by perception interface, and scene becomes Change analysis module to analyze contextual data, filters letter which includes the calculating of above-mentioned scene change analysis and based on α The calculating of several sensing datas, controller decide whether to carry out positioning switching according to calculated result, if necessary to position switching, " switch " so in localization method switching module can reselect corresponding " location algorithm " and " map datum " first, Then positioning result and map are requested from server；If do not need positioning switching, call directly current " location algorithm " with And " map datum " requests positioning result and map.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this The range of invention is defined by the claims and their equivalents.

Claims (10)

  1. The seamless handover method 1. a kind of indoor and outdoor is navigated, which comprises the following steps:
    S1 acquires contextual data in real time, when contextual data threshold value of the contextual data beyond setting, judges currently as doubtful field Scape changes situation, record at that time moment t1 when contextual data, and execute step S2, if not doubtful scene changes situation, Then think that scene does not change；
    S2 compares and analyzes contextual data collected and contextual data when last moment t0, calculating difference, obtains One changing value, when the first changing value is beyond setting change threshold T, scene changes at this time for preliminary judgement, and executes step S3；When the first changing value is without departing from setting change threshold, then determines that scene does not change, execute step S1；
    S3 acquires the contextual data at t2 moment, the contextual data at t2 moment and the contextual data at t1 moment is compared, and calculates Difference obtains the second changing value, when the second changing value is consistent with the first changing value variation tendency and exceeds setting change threshold T When, determine that scene changes at this time, and execute step S5；When the second changing value is consistent with the first changing value variation tendency and When the non-duration of two changing values is beyond setting change threshold T, then it is determined as doubtful scene changes situation, executes step S4；When Two changing values and the first changing value variation tendency are inconsistent, then determine that scene does not change, execute step S1；
    S4 acquires the contextual data of subsequent time t3, by the method in step S3 by the contextual data at t3 moment and t2 moment Contextual data compares verifying, when changing up to being verified as scene, executes step S5；
    S5, control navigation switching: if map is changed to outdoor map, and use satellite positioning to outdoor by indoor, If map is changed to indoor map, and position using wifi or bluetooth to interior by outdoor.
  2. The seamless handover method 2. indoor and outdoor according to claim 1 is navigated, which is characterized in that the contextual data of acquisition includes GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, at least two in atmospheric pressure value Scape data.
  3. The seamless handover method 3. indoor and outdoor according to claim 2 is navigated, which is characterized in that in step S1, when GNSS is defended Star location navigation signal strength, WiFi signal intensity, luminous flux, has 2 or 2 or more in atmospheric pressure value at bluetooth signal intensity When contextual data has exceeded the given threshold of corresponding contextual data, then determine currently to be doubtful scene changes situation, and record and work as Contextual data when preceding moment t1；
    In step S2, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, air pressure It is preliminary to judge scene at this time when having the first changing value of 2 or 2 or more contextual datas in value beyond setting change threshold T It changes；
    In step S3, when GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, air pressure There is the second changing value of 2 or 2 or more contextual datas consistent with the first changing value variation tendency in value and exceeds corresponding fields When the given threshold of scape data, determine that scene changes at this time, is otherwise determined as doubtful scene changes situation.
  4. The seamless handover method 4. indoor and outdoor according to claim 2 is navigated, which is characterized in that preliminary to judge in step S2 The whether changed method of scene at this time are as follows:
    When
    When
    When
    When
    When
    Wherein, A is that GNSS satellite location navigation signal strength sets change threshold, and B is that bluetooth signal intensity sets change threshold, C be WiFi signal intensity set change threshold, D be luminous flux set change threshold, E be atmospheric pressure value set change threshold, and A, B, C, D, E are positive real number.
  5. The seamless handover method 5. indoor and outdoor according to claim 4 is navigated, which is characterized in that when GNSS satellite location navigation Signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, any two or two or more contextual datas in atmospheric pressure value Scene is determined as to be outdoor to interior, and appearance is not indoor changed to outdoor or scene in other scenario parameters, So preliminary judgement scene is outdoor to interior；
    When any in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value It is interior to outdoor that two or two or more contextual datas, which are determined as scene, and is occurred in other scenario parameters outdoor to room Interior or scene is not changed, then preliminary judgement scene is indoor to outdoor；
    When having 1 in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Or 1 or more judgement scene is not changed, then it is assumed that it is current to determine that conclusion leaves a question open, need to resurvey new contextual data into Row determines.
  6. The seamless handover method 6. indoor and outdoor according to claim 4 is navigated, which is characterized in that in the step S3,
    WhenWhen, determine indoor to outdoor；
    WhenWhen, determine outdoor to interior；
    When GNSS satellite navigation signal intensityt2With GNSS satellite navigation signal intensityt1Variation tendency it is consistent and | GNSS satellite navigation Signal strengtht2GNSS satellite navigation signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
    When GNSS satellite navigation signal intensityt2With GNSS satellite navigation signal intensityt1Variation tendency is inconsistent, then determines scene not It changes；
    WhenWhen, determine outdoor to interior；
    WhenWhen, determine indoor to outdoor；
    Work as bluetooth signal intensityt2With bluetooth signal intensityt1Variation tendency it is consistent and
    | bluetooth signal intensityt2Bluetooth signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
    Work as bluetooth signal intensityt2With bluetooth signal intensityt1Variation tendency is inconsistent, then determines that scene does not change；
    WhenWhen, determine outdoor to interior；
    WhenWhen, determine indoor to outdoor；
    When WiFi signal intensityt2With WiFi signal intensityt1Variation tendency it is consistent and
    | WiFi signal intensityt2WiFi signal intensityt1When | < A, then it is determined as doubtful scene changes situation；
    When WiFi signal intensityt2With WiFi signal intensityt1Variation tendency is consistent, then determines that scene does not change；
    WhenWhen, determine indoor to outdoor；
    WhenWhen, determine outdoor to interior；
    Work as luminous fluxt2With luminous fluxt1Variation tendency it is consistent and | luminous fluxt2Luminous fluxt1When | < A, then it is determined as that doubtful scene becomes Change situation；
    Work as luminous fluxt2With luminous fluxt1Variation tendency is inconsistent, then determines that scene does not change；
    WhenWhen, determine indoor to outdoor；
    WhenWhen, determine outdoor to interior；
    Work as atmospheric pressure valuet2With atmospheric pressure valuet1Luminous fluxt1Variation tendency it is consistent and | atmospheric pressure valuet2Atmospheric pressure valuet1When | < A, then it is judged to doubting Like scene changes situation；
    Work as atmospheric pressure valuet2With atmospheric pressure valuet1Luminous fluxt1Variation tendency is inconsistent, then determines that scene does not change.
  7. 7. according to the described in any item indoor and outdoors navigation seamless handover methods of claim 3,4,6, which is characterized in that judging scene When whether changing, α filter function is established, the α filter function is defined as: Wherein, L is a discrete time variable, and RSSI is the intensity instruction for receiving signal, and RSSI (L) is L moment received signal Intensity instruction, TrssiIt is signal strength threshold, α (L) is record L moment rssi measurement value ratio TrssiBig number；When at least three The RSSI (L) of a wireless access point is more than signal strength threshold Trssi, then determine that the testing conditions are set up, it is believed that scene is doubted at this time Seemingly change or have occurred and that variation, D is constant, and the signal refers to GNSS satellite location navigation signal, Bluetooth signal, WiFi One of signal, luminous flux, atmospheric pressure value.
  8. The seamless handover method 8. indoor and outdoor according to claim 6 is navigated, which is characterized in that when GNSS satellite location navigation Signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, any two or two or more contextual datas in atmospheric pressure value Scene is determined as to be outdoor to interior, and appearance is not indoor changed to outdoor or scene in other scenario parameters, Then determine scene for outdoor to interior；
    When any in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value It is interior to outdoor that two or two or more contextual datas, which are determined as scene, and is occurred in other scenario parameters outdoor to room Interior or scene is not changed, then determining scene for interior to outdoor；
    When having 1 in GNSS satellite location navigation signal strength, bluetooth signal intensity, WiFi signal intensity, luminous flux, atmospheric pressure value Or 1 or more judgement scene is not changed, then it is assumed that it is current to determine that conclusion leaves a question open, execute step S4.
  9. 9. a kind of indoor and outdoor navigation seamless switching control system based on indoor and outdoor described in claim 1 navigation seamless handover method System, which is characterized in that including scene perception module, scene change analysis module, controller and localization method switching module；
    The scene perception module acquires contextual data, and output end is connected to scene change analysis module, the scene analysis Module analyzes contextual data by method described in step S1-S4 in claim 1, and will analysis result be sent to it is described Controller, the controller output end connect the localization method switching module, and the controller is tied according to the received analysis of institute Fruit issues navigation switching command to the localization method switching module, and the localization method switching module executes navigation switching and refers to It enables.
  10. The seamless switching control system 10. indoor and outdoor according to claim 9 is navigated, which is characterized in that the scene perception Module includes GNSS satellite navigation signal sensor, Bluetooth signal sensor, WiFi signal sensor, optical sensor, air pressure transmission Two or any combination greater than two of sensor；
    The GNSS satellite navigation signal sensor, Bluetooth signal sensor, WiFi signal sensor, optical sensor, air pressure transmission Sensor is integrated in mobile intelligent terminal.
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