CN111089583A - Three-dimensional navigation method, equipment, storage medium and device in building - Google Patents
Three-dimensional navigation method, equipment, storage medium and device in building Download PDFInfo
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- CN111089583A CN111089583A CN201911196910.0A CN201911196910A CN111089583A CN 111089583 A CN111089583 A CN 111089583A CN 201911196910 A CN201911196910 A CN 201911196910A CN 111089583 A CN111089583 A CN 111089583A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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Abstract
The invention relates to the technical field of vehicle networking and discloses a three-dimensional navigation method, equipment, a storage medium and a device in a building. The method comprises the steps of obtaining target position information to be navigated and current position information; mapping the current position information and the target position information on a preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model; and generating a target navigation path according to the path node information, and displaying the target navigation path, so that effective path node information is obtained through the established three-dimensional map model of the building, and more accurate navigation in the building is realized according to the path node information.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a three-dimensional navigation method, equipment, a storage medium and a device in a building.
Background
At present, with the rapid development of social economy, various high-rise buildings are pulled out, the buildings often have complex overground and underground space structures, the internal layouts of the buildings often have great similarity, the buildings are easy to confuse, and a destination is difficult to find quickly, particularly in a strange building. In the case of an underground parking lot, it usually takes more time to find vehicles parked in the underground parking lot, and a three-dimensional model of a building is made based on an integrated 3-dimensional Unity 3D-based indoor building three-dimensional modeling and interaction system, so that roaming and interaction can be performed in a virtual environment, but accurate positioning still cannot be achieved.
Disclosure of Invention
The invention mainly aims to provide a three-dimensional navigation method, equipment, a storage medium and a device in a building, and aims to solve the problem of more accurate navigation.
In order to achieve the above object, the present invention provides an in-building three-dimensional navigation method, including the steps of:
acquiring target position information to be navigated and current position information;
mapping the current position information and the target position information on a preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model;
and generating a target navigation path according to the path node information, and displaying the target navigation path.
Preferably, before the current location information and the target location information are mapped to a preset building three-dimensional map model and route node information is obtained through the preset building three-dimensional map model, the method further includes:
calling a preset scanning device, obtaining scanning data through the preset scanning device, and processing the scanning data by adopting a pseudo-proximity algorithm to obtain a three-dimensional structure model;
and acquiring preset identification information, and importing the preset identification information into the three-dimensional structure model to obtain a three-dimensional map model of the preset building.
Preferably, the obtaining of the preset identification information and the importing of the preset identification information into the three-dimensional structure model to obtain a three-dimensional map model of the preset building includes:
acquiring channel data, marker data and floor data, and importing the channel data, the marker data and the floor data into the three-dimensional structure model;
and acquiring coordinate data corresponding to the channel data, the marker data and the floor data, and corresponding the coordinate data to the three-dimensional structure model to generate the preset building three-dimensional map model.
Preferably, a plurality of base stations are distributed in the building, and the base stations cover a preset area through radiation base station signals;
the acquiring of the current position information includes:
searching signal intensity information corresponding to each base station in a preset area;
selecting at least three target base stations from the searched base stations;
determining distance information with each target base station according to the signal intensity of each target base station;
and determining current position information according to the distance information between the current position information and each target base station and the position of each target base station.
Preferably, the acquiring current location information includes:
when signal intensity information corresponding to each base station in a preset area is not searched, acquiring traveling direction information and current speed information by calling an acceleration sensor;
and determining current position information according to the previous position information, the traveling direction information and the current speed information.
Preferably, the mapping the current position information and the target position information to the preset building three-dimensional map model to obtain the path node information through the preset building three-dimensional map model includes:
mapping the current position information and the target position information on the preset building three-dimensional map model to obtain coordinate point information of direction change;
and taking the coordinate point information as the path node information.
Preferably, the generating a target navigation path according to the path node information and displaying the target navigation path includes:
generating a reference navigation path by adopting a search algorithm according to the path node information;
performing invalid path evaluation on the reference navigation path through a decision algorithm;
and obtaining a target navigation path according to the evaluation result, and displaying the target navigation path.
In addition, to achieve the above object, the present invention also provides an in-building three-dimensional navigation apparatus, including: a memory, a processor and a three-dimensional navigation program stored on the memory and running on the processor within the building, the three-dimensional navigation program within the building when executed by the processor implementing the steps of the three-dimensional navigation method within the building as described above.
In addition, to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores therein an in-building three-dimensional navigation program, and the in-building three-dimensional navigation program, when executed by a processor, implements the steps of the in-building three-dimensional navigation method as described above.
In order to achieve the above object, the present invention also provides an in-building three-dimensional navigation device, including:
the acquisition module is used for acquiring target position information to be navigated and current position information;
the mapping module is used for mapping the current position information and the target position information on a preset building three-dimensional map model and obtaining path node information through the preset building three-dimensional map model;
and the display module is used for generating a target navigation path according to the path node information and displaying the target navigation path.
According to the technical scheme provided by the invention, the target position information to be navigated and the current position information are acquired; mapping the current position information and the target position information on a preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model; and generating a target navigation path according to the path node information, and displaying the target navigation path, so that effective path node information is obtained through the established three-dimensional map model of the building, and more accurate navigation in the building is realized according to the path node information.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional navigation device in a building in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for three-dimensional navigation within a building according to the present invention;
FIG. 3 is a schematic diagram of the layout positions of small base stations according to an embodiment of the method for three-dimensional navigation in a building;
FIG. 4 is a flow chart illustrating a method for three-dimensional navigation within a building according to a second embodiment of the present invention;
FIG. 5 is a flow chart illustrating a method for three-dimensional navigation within a building according to a third embodiment of the present invention;
FIG. 6 is a schematic diagram of a base station location of an embodiment of a method for three-dimensional navigation within a building according to the present invention;
FIG. 7 is a schematic diagram of a path selection method according to an embodiment of the present invention;
fig. 8 is a block diagram of a three-dimensional navigation device in a building according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a three-dimensional navigation device in a building in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the three-dimensional navigation device in the building may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), the optional user interface 1003 may also include a standard wired interface and a wireless interface, and the wired interface of the user interface 1003 may be a Universal Serial Bus (USB) interface in the present invention. The network interface 1004 may optionally include a standard wired interface as well as a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a high speed Random Access Memory (RAM); or a stable Memory, such as a Non-volatile Memory (Non-volatile Memory), and may be a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of three-dimensional navigation devices within a building, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a three-dimensional navigation program within a building.
In the three-dimensional navigation device in the building shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting peripheral equipment; the three-dimensional navigation device in the building calls the three-dimensional navigation program in the building stored in the memory 1005 through the processor 1001 and executes the three-dimensional navigation method in the building provided by the embodiment of the invention.
Based on the above hardware structure, an embodiment of the three-dimensional navigation method in the building of the present invention is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a three-dimensional navigation method in a building according to the present invention.
In a first embodiment, the method for three-dimensional navigation within a building comprises the steps of:
step S10: and acquiring target position information to be navigated and current position information.
It should be noted that, the execution subject of the embodiment is a three-dimensional navigation device in a building, and may also be other devices that can implement the same or similar functions, such as a mobile device.
In this embodiment, when navigating through a map application program, a user inputs a target location through a navigation setting interface, obtains target position information to be navigated according to the input target location, and when obtaining the target position information, establishes a preset building three-dimensional map model through the target position information.
In the concrete implementation, a more accurate map model is obtained by firstly obtaining data information of a building, obtaining a three-dimensional model of the building according to the data information and then obtaining a preset three-dimensional map model of the building according to the three-dimensional model of the building.
It is understood that a plurality of small base stations are arranged in a building, the small base stations cover a preset area by radiating base station signals, the small base stations are provided by mobile operators, and the coverage area is small, so that the small base stations are used for communication support in various complex environments. In the 4G era, small base stations have been used, while in the 5G era, the 5G base stations are distributed in units of 10 meters, and in some places, even one base station is present, thereby providing more accurate positioning information.
As shown in fig. 3, the small cell covers a preset area with a base station signal, so as to realize full coverage of the signal.
It should be noted that the preset area is an area covered by a base station, and when the current user travels into the preset area, the current location information can be determined through the small base stations arranged in the preset area, so that the user can be accurately located under the condition of weak signals.
Step S20: and mapping the current position information and the target position information on the preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model.
In this embodiment, in order to obtain more accurate navigation information, effective navigation information may be generated according to the node information by acquiring effective node information.
In a specific implementation, the current position information and the target position information are mapped on the preset building three-dimensional map model, and route node information is obtained through the preset building three-dimensional map model, so that the key point information of the generated route is obtained.
Step S30: and generating a target navigation path according to the path node information, and displaying the target navigation path.
According to the scheme, the target position information to be navigated and the current position information are acquired; mapping the current position information and the target position information on a preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model; and generating a target navigation path according to the path node information, and displaying the target navigation path, so that effective path node information is obtained through the established three-dimensional map model of the building, and more accurate navigation in the building is realized according to the path node information.
Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of the method for three-dimensional navigation in a building according to the present invention, and the second embodiment of the method for three-dimensional navigation in a building according to the present invention is proposed based on the first embodiment illustrated in fig. 2.
In the second embodiment, before the step S20, the method further includes:
step S201, calling a preset scanning device, obtaining scanning data through the preset scanning device, and processing the scanning data by adopting a proximity algorithm to obtain a three-dimensional structure model.
In this embodiment, in order to generate a three-dimensional map, a three-dimensional structure model is first generated, the preset scanning device may be a laser scanning device, and may also be other devices that can achieve the same or similar functions.
In a specific implementation, the scanning of the three-dimensional structure of the building is completed inside the building by using a laser cloud point scanning technology, approximate data of the building structure is obtained through computer data processing, and a three-dimensional structure model is constructed through the approximate data.
It should be noted that, the building three-dimensional model generation needs to further process the measured data, generate a rough model of the building by using a proximity algorithm, and finally map the model to obtain model data of the building.
Step S202, acquiring preset identification information, and importing the preset identification information into the three-dimensional structure model to obtain a three-dimensional map model of the preset building.
It should be noted that the preset identification information includes channel data, marker data, and floor data, and the channel data, the marker data, and the floor data are imported into the three-dimensional structure model to obtain a preset building three-dimensional map model.
Further, the step S202 includes:
acquiring channel data, marker data and floor data, and importing the channel data, the marker data and the floor data into the three-dimensional structure model; and acquiring coordinate data corresponding to the channel data, the marker data and the floor data, and corresponding the coordinate data to the three-dimensional structure model to generate the preset building three-dimensional map model.
In the embodiment, the three-dimensional map is generated by inspecting the real field of the building, importing available channel data, marker data, floor data and the like in the building into a building model, generating three-dimensional coordinate data of the building corresponding to a three-dimensional space, and finally generating the three-dimensional map for guiding the passage of a user.
According to the scheme, the building three-dimensional map model is generated through the channel data, the marker data and the floor data information on the basis of the building three-dimensional model, and therefore the more accurate three-dimensional navigation model is generated.
Referring to fig. 5, fig. 5 is a schematic flow chart of a third embodiment of the three-dimensional navigation method in a building according to the present invention, and the third embodiment of the three-dimensional navigation method in a building according to the present invention is proposed based on the first embodiment or the second embodiment.
In a third embodiment, a plurality of base stations are distributed in the building, and the base stations cover a preset area by radiating base station signals, and the acquiring current location information includes:
searching signal intensity information corresponding to each base station in a preset area; selecting at least three target base stations from the searched base stations; determining distance information with each target base station according to the signal intensity of each target base station; and determining current position information according to the distance information between the current position information and each target base station and the position of each target base station.
In order to realize more accurate positioning and navigation, small base stations are arranged in a building, are provided by mobile operators, have small coverage and are used for communication support in various complex environments.
The embodiment is based on small base stations densely distributed in a building, and the small base stations are used for assisting positioning. As shown in the schematic base station positioning diagram of fig. 6, when a user moves with a mobile device in the coverage area of a dense base station, the device may search for a plurality of base station signals, and may estimate the relative distance from the device to each base station according to the signal strength of 3 or more than 3 base stations that are searched, and since the relative distance from the base station is known, the location information of the mobile device may be confirmed.
Further, the acquiring current location information includes: when signal intensity information corresponding to each base station in a preset area is not searched, acquiring traveling direction information and current speed information by calling an acceleration sensor; and determining current position information according to the previous position information, the traveling direction information and the current speed information.
The acceleration sensor may be a gyroscope sensor and an electronic compass mounted on the mobile device, so that the traveling direction information of the user can be confirmed, and inertial navigation can be realized through the gyroscope for positioning in a weak signal area.
Further, the step S20 includes:
step S203, mapping the current position information and the target position information on the preset building three-dimensional map model to obtain coordinate point information of direction change.
It should be noted that, mapping the base station position coordinate data and the user positioning coordinate data to corresponding points of the three-dimensional map, when the user requests navigation to the target position at the current position, searching an available path from the starting point to the target position in the three-dimensional map by a traversal method, and listing the shortest paths for the user to select. As shown in the path selection diagram of fig. 7, two routes from the starting point a to the ending point B are set to be reachable, and the navigation system lists the two routes at the same time, so that the user can select the route according to the requirement.
And step S204, taking the coordinate point information as the path node information.
Continuing with FIG. 7, the active paths are A-1-4-B and A-1-2-3-4-B, where 1, 2, 3, 4 are the key nodes in the path. At the node, the traversal algorithm needs to decide a proper path, and if the decision is not appropriate, a-1-4-3-2-1-4-B and other similar invalid paths may occur. Therefore, there is a need to introduce path planning, and the key points of the planning include: an environment model: a three-dimensional map containing all channel information; and (3) node: all points in the environment model, which need to change two or more directions, are regarded as key nodes, so that key node information is obtained.
Further, the step S30 includes:
generating a reference navigation path by adopting a search algorithm according to the path node information; performing invalid path evaluation on the reference navigation path through a decision algorithm; and obtaining a target navigation path according to the evaluation result, and displaying the target navigation path.
It should be noted that, in order to improve the effectiveness of the path, a search algorithm is adopted to finally generate the path by connecting the nodes between a and B. To prevent invalid paths, the decision algorithm must prevent "loops", i.e., a-1 is reasonable and 1-a is considered "loop", in the route from a to B, which should be rejected first. In addition, the decision algorithm should avoid duplication, such as the A-1-4-3-2-1-4-B route, which is considered invalid when a 1-4 duplication occurs for the first time.
Meanwhile, the navigation system supports a user to record own path data by using the mobile equipment, and after the user shares the path to the cloud platform, when other users initiate navigation requests with the same starting point and the same end point, the navigation system can recommend other available paths for the user except algorithm planning.
In this embodiment, the recorded path may also be used to help improve the path planning algorithm, and as the amount of data increases and improves, more reliable navigation may be achieved.
According to the scheme, the reference navigation path is generated by adopting a search algorithm according to the path node information; performing invalid path evaluation on the reference navigation path through a decision algorithm; and obtaining a target navigation path according to the evaluation result, and displaying the target navigation path, thereby improving the effectiveness of the path.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a three-dimensional navigation program in a building, and the three-dimensional navigation program in the building implements the steps of the terminal network accessing method described above when being executed by a processor.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, referring to fig. 8, an embodiment of the present invention further provides an in-building three-dimensional navigation device, where the in-building three-dimensional navigation device includes:
the acquiring module 10 is configured to acquire target location information to be navigated and current location information.
In this embodiment, when navigating through a map application program, a user inputs a target location through a navigation setting interface, obtains target position information to be navigated according to the input target location, and when obtaining the target position information, establishes a preset building three-dimensional map model through the target position information.
In the concrete implementation, a more accurate map model is obtained by firstly obtaining data information of a building, obtaining a three-dimensional model of the building according to the data information and then obtaining a preset three-dimensional map model of the building according to the three-dimensional model of the building.
It is understood that a plurality of small base stations are arranged in a building, the small base stations cover a preset area by radiating base station signals, the small base stations are provided by mobile operators, and the coverage area is small, so that the small base stations are used for communication support in various complex environments. In the 4G era, small base stations have been used, while in the 5G era, the 5G base stations are distributed in units of 10 meters, and in some places, even one base station is present, thereby providing more accurate positioning information.
As shown in fig. 3, the small cell covers a preset area with a base station signal, so as to realize full coverage of the signal.
It should be noted that the preset area is an area covered by a base station, and when the current user travels into the preset area, the current location information can be determined through the small base stations arranged in the preset area, so that the user can be accurately located under the condition of weak signals.
And the mapping module 20 is configured to map the current position information and the target position information on the preset building three-dimensional map model, and obtain path node information through the preset building three-dimensional map model.
In this embodiment, in order to obtain more accurate navigation information, effective navigation information may be generated according to the node information by acquiring effective node information.
In a specific implementation, the current position information and the target position information are mapped on the preset building three-dimensional map model, and route node information is obtained through the preset building three-dimensional map model, so that the key point information of the generated route is obtained.
And the display module 30 is configured to generate a target navigation path according to the path node information, and display the target navigation path.
According to the scheme, the target position information to be navigated and the current position information are acquired; mapping the current position information and the target position information on a preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model; and generating a target navigation path according to the path node information, and displaying the target navigation path, so that effective path node information is obtained through the established three-dimensional map model of the building, and more accurate navigation in the building is realized according to the path node information.
The three-dimensional navigation device in the building adopts all technical solutions of all the embodiments, so that the three-dimensional navigation device at least has all the beneficial effects brought by the technical solutions of the embodiments, and details are not repeated herein.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A three-dimensional navigation method in a building, which is characterized by comprising the following steps:
acquiring target position information to be navigated and current position information;
mapping the current position information and the target position information on a preset building three-dimensional map model, and obtaining path node information through the preset building three-dimensional map model;
and generating a target navigation path according to the path node information, and displaying the target navigation path.
2. The method for three-dimensional navigation in a building according to claim 1, wherein the mapping of the current position information and the target position information to a preset building three-dimensional map model further comprises, before obtaining the path node information through the preset building three-dimensional map model:
calling a preset scanning device, obtaining scanning data through the preset scanning device, and processing the scanning data by adopting a pseudo-proximity algorithm to obtain a three-dimensional structure model;
and acquiring preset identification information, and importing the preset identification information into the three-dimensional structure model to obtain a three-dimensional map model of the preset building.
3. The method for three-dimensional navigation in a building according to claim 2, wherein the obtaining of the preset identification information and importing the preset identification information into the three-dimensional structure model to obtain a preset building three-dimensional map model comprises:
acquiring channel data, marker data and floor data, and importing the channel data, the marker data and the floor data into the three-dimensional structure model;
and acquiring coordinate data corresponding to the channel data, the marker data and the floor data, and corresponding the coordinate data to the three-dimensional structure model to generate the preset building three-dimensional map model.
4. The three-dimensional navigation method in the building according to any one of claims 1 to 3, wherein a plurality of base stations are arranged in the building, and the base stations cover a preset area by radiating base station signals;
the acquiring of the current position information includes:
searching signal intensity information corresponding to each base station in a preset area;
selecting at least three target base stations from the searched base stations;
determining distance information with each target base station according to the signal intensity of each target base station;
and determining the current position confidence according to the distance information of each target base station and the position of each target base station.
5. The method for three-dimensional navigation within a building of claim 4, wherein said obtaining current location information comprises:
when signal intensity information corresponding to each base station in a preset area is not searched, acquiring traveling direction information and current speed information by calling an acceleration sensor;
and determining current position information according to the previous position information, the traveling direction information and the current speed information.
6. The method for three-dimensional navigation in a building according to any one of claims 1 to 3, wherein the mapping the current position information and the target position information to the preset three-dimensional building map model, and obtaining path node information through the preset three-dimensional building map model comprises:
mapping the current position information and the target position information on the preset building three-dimensional map model to obtain coordinate point information of direction change;
and taking the coordinate point information as the path node information.
7. The three-dimensional navigation method in the building according to any one of claims 1 to 3, wherein the generating a target navigation path according to the path node information and displaying the target navigation path comprises:
generating a reference navigation path by adopting a search algorithm according to the path node information;
performing invalid path evaluation on the reference navigation path through a decision algorithm;
and obtaining a target navigation path according to the evaluation result, and displaying the target navigation path.
8. An in-building three-dimensional navigation apparatus, characterized in that the in-building three-dimensional navigation apparatus comprises: memory, a processor and a three-dimensional navigation program stored on the memory and running on the processor within a building, the three-dimensional navigation program within a building when executed by the processor implementing the steps of the three-dimensional navigation method within a building of any one of claims 1 to 7.
9. A storage medium, characterized in that the storage medium stores thereon an in-building three-dimensional navigation program, which when executed by a processor implements the steps of the in-building three-dimensional navigation method according to any one of claims 1 to 7.
10. A three-dimensional navigation device in a building, the three-dimensional navigation device in the building comprising:
the acquisition module is used for acquiring target position information to be navigated and current position information;
the mapping module is used for mapping the current position information and the target position information on a preset building three-dimensional map model and obtaining path node information through the preset building three-dimensional map model;
and the display module is used for generating a target navigation path according to the path node information and displaying the target navigation path.
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