CN113188545A - AR indoor navigation method and system for offline mobile terminal - Google Patents
AR indoor navigation method and system for offline mobile terminal Download PDFInfo
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- CN113188545A CN113188545A CN202110476422.6A CN202110476422A CN113188545A CN 113188545 A CN113188545 A CN 113188545A CN 202110476422 A CN202110476422 A CN 202110476422A CN 113188545 A CN113188545 A CN 113188545A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- 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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- 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
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The invention provides an AR indoor navigation method and system for an offline mobile terminal, which comprises the following steps: acquiring indoor GIS offline comprehensive data; obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data; increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and carrying out indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result. According to the invention, by storing GIS indoor map data in an off-line manner, realizing off-line of various GIS algorithms and mining and guiding lightweight user preference data, the positioning and navigation speed is obviously improved, and the user experience of mobile phone indoor map navigation is improved.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to an AR indoor navigation method and system for an offline mobile terminal.
Background
At present, in an indoor navigation application scene, especially, the positioning navigation technology of a smart hospital and a smart campus is not developed enough, and the main problems are that a real-time navigation network is blocked and network data cannot be acquired. In a scenario of a third hospital in a large city, when a doctor and a patient use indoor navigation software at the same time (the scale of at least ten thousand people is usually reached) in a peak period, a mobile communication network is often blocked, so that a sensor signal cannot be acquired in real time, and AR positioning at a mobile terminal cannot be performed.
In the period of serious epidemic diseases, in order to avoid cross infection among patients, it is a great trend to deploy positioning beacons in hospitals, at present, not only patients in hospitals have the requirement of indoor navigation by using mobile phones, but also doctors and hospital managers urgently need to accurately monitor the movement tracks of the patients with infectious diseases in hospital habitats and the whole garden by means of new means. In recent years, most domestic three hospitals have already built intelligent hospitals for the first time, wherein more than two three-dimensional indoor map software system platforms are built, and a data base is laid for AR navigation.
Aiming at the current situation of the hospitals, the indoor navigation of the intelligent park generally comprises the steps of deploying positioning beacons indoors in advance (wherein, hospitals such as Santa Claus are selected in scenes, and beacon sensors select Bluetooth beacons for example), collecting and manufacturing indoor GIS two-dimensional and three-dimensional maps, building a background database, and developing APP or WeChat public numbers or WeChat small programs by a developer at the front end of a mobile terminal. After the current mainstream development system architecture in the industry is adopted, the data volume uploaded to the server by the mobile terminal is large (the comprehensive total amount of bluetooth beacon data uploaded to the server by a single mobile terminal mobile phone per second usually reaches several M), the server calculation amount is huge (thousands of beacons reach more than second level through various indoor positioning algorithms), the waiting time of a client is long, further data mining is not easy to be performed on the client (such as the tired feedback speed and the server cannot spend more time for large data analysis), the feedback result is single, less valuable information exists, and the load of the server is increased due to the concurrent use of multiple users, for example, the CPU is as high as 50%. Meanwhile, after cooperation with a certain key laboratory indoor positioning team, many manufacturers face the problems of low response speed, insufficient smoothness and unsatisfactory user experience of indoor map navigation of a mobile terminal.
Disclosure of Invention
The invention provides an AR indoor navigation method and system for an offline mobile terminal, which are used for solving the defects that the user experience is poor and the development is immature in the indoor navigation technology in the prior art.
In a first aspect, the present invention provides an AR indoor navigation method for an offline mobile terminal, including:
acquiring indoor GIS offline comprehensive data;
obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data;
increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and carrying out indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
In one embodiment, further comprising:
and pushing interest preference navigation associated data to the user according to a preset personalized user preference client algorithm.
In one embodiment, after acquiring the indoor GIS offline data, the method further includes:
and storing the indoor GIS offline comprehensive data in different storage modes according to the types of the clients.
In one embodiment, the acquiring of the indoor GIS offline comprehensive data specifically includes:
obtaining GIS indoor off-line map base map data, wherein the GIS indoor off-line map base map data is obtained by converting preset mapping software or supplementing after manually collecting data;
acquiring positioning beacon data according to the GIS indoor off-line map base map data;
and obtaining GIS vector data, POI data and sensor data based on the positioning beacon data.
In one embodiment, the obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline data specifically includes:
and calculating the indoor GIS offline data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm.
In one embodiment, the increasing of the navigation action prompt information and the preset trip recording function based on the GIS positioning algorithm to obtain the GIS navigation algorithm specifically includes:
adding action prompt information, walking distance and running time of left and right turning on the GIS positioning algorithm;
and when the user walks, recording the indoor travel by using the road book function to obtain the GIS navigation algorithm.
In an embodiment, the calculating an indoor navigation path according to the GIS navigation algorithm according to a preset path algorithm to obtain an indoor path calculation result specifically includes:
and calculating the optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain the indoor path calculation result.
In a second aspect, the present invention further provides an AR indoor navigation system for an offline mobile terminal, including:
the acquisition module is used for acquiring indoor GIS offline comprehensive data;
the positioning module is used for obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data;
the navigation module is used for increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and the calculation module is used for performing indoor navigation path by using an offline GIS path algorithm and an inertial navigation algorithm based on the GIS navigation algorithm to obtain an indoor path calculation result.
In a third aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above-mentioned method for indoor navigation at the offline mobile terminal AR when executing the program.
In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the off-line mobile terminal AR indoor navigation method as described in any one of the above.
According to the method and the system for the off-line mobile terminal AR indoor navigation, provided by the invention, the GIS indoor map comprehensive data is stored in an off-line manner, various GIS algorithms are realized in an off-line manner, and lightweight user preference data is mined and guided, so that the positioning and navigation speed is obviously improved, and the user experience of mobile phone indoor map navigation is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an AR indoor navigation method for an offline mobile terminal according to the present invention;
FIG. 2 is a schematic structural diagram of an AR indoor navigation system of an offline mobile terminal according to the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the defects of the prior art, the invention provides a mobile terminal AR navigation method, which adopts an off-line mode to solve the problems of network on-line blockage of AR indoor navigation, too low response speed of an on-line server or no feedback data.
Fig. 1 is a schematic flow chart of an AR indoor navigation method at an offline mobile end according to the present invention, as shown in fig. 1, including:
s1, acquiring indoor GIS offline comprehensive data;
s2, obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data;
s3, adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and S4, performing indoor navigation path based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
Specifically, the method is different from the conventional AR navigation scheme, adopts the downloaded indoor GIS offline data in advance, performs positioning calculation on the downloaded indoor GIS offline data, generally keeps the same with the algorithm of a server, then adds required navigation action prompt information and uses a common travel recording function to obtain a navigation algorithm meeting the indoor offline navigation requirement, and further performs indoor navigation by adopting an offline GIS path algorithm and an inertial navigation algorithm to obtain the final indoor path calculation result.
According to the invention, by storing GIS indoor map comprehensive data in an off-line manner, realizing off-line of various GIS algorithms and mining and guiding lightweight user preference data, the positioning and navigation speed is obviously improved, and the user experience of mobile phone indoor map navigation is improved.
Based on the above embodiment, the method further comprises:
and pushing interest preference navigation associated data to the user according to a preset personalized user preference client algorithm.
Specifically, the method adopts a big data mining idea different from cloud computing, provides a micro-mining solution, and adopts a user preference client algorithm for high-value behavior analysis, behavior path and other functions. According to preset personalized user position preference, POI high-frequency navigation associated comprehensive data can be pushed to a user online, and high-frequency local historical positions can be guided offline in real time. The significance of the method lies in the value of trying to maximally mine user behavior data. The current functional point mainly has indoor space behavior playback; detecting the behaviors; visualization of the data; analyzing the four-time space behavior; and (5) carrying out mining analysis.
According to the method and the device, data analysis is carried out according to the preference of the user, and corresponding data push is carried out, so that the actual navigation requirement of the user can be better met, and a more accurate navigation result is obtained.
Based on any embodiment, the method further includes, after step S1:
and storing the indoor GIS offline comprehensive data in different storage modes according to the types of the clients.
In particular, since the present invention uses offline data, the storage is very different from that of an online server. If the mobile terminal is an APP version, all spatial data can be stored by using a spatialsplit database with a space index and rewritten and compiled, and the capacity is not limited; if the mobile terminal is a small program, the mobile terminal uses a cache for storage, but the size is limited, generally controlled within 10M, and if the size exceeds the limit, downloading of high-frequency use data, such as downloading of high-frequency area floors, can be considered.
The latest version of the Database compiled by the invention is full, the relational DBMS (Database Management System) is seamlessly integrated, various path algorithms are fused and realized, more complex spatial analysis can be realized, the method can be used off-line, and the performance is excellent.
The offline storage scheme adopted by the invention sets different storage schemes aiming at different types of clients, and better adapts to the actual requirements of offline storage.
Based on any of the above embodiments, step S1 in the method specifically includes:
obtaining GIS indoor off-line map base map data, wherein the GIS indoor off-line map base map data is obtained by converting preset mapping software or supplementing after manually collecting data;
acquiring positioning beacon data according to the GIS indoor off-line map base map data;
and obtaining GIS vector data, POI data and sensor data based on the positioning beacon data.
Specifically, firstly, obtaining offline GIS indoor map base map data, including CAD conversion map data and supplement and update data collected by surveying personnel; then processing offline indoor map deployment Bluetooth beacon data, wherein the Bluetooth beacon data is used for defining point data of the indoor position of the user; after the beacon data is obtained, an off-line navigation service is performed, for example, a point of interest (POI) is deployed in a hospital department, and further, AR navigation POI data is obtained from the positioning beacon data.
Here, in order to enable the user to experience the service at the highest speed in the offline state, the GIS indoor map base map data in the custom file format is used, and the offline base map data may allow a low lod (levels of detail), only ensure the integrity and validity of the high-frequency area, and be determined by the client according to the requirement when downloading. Currently, three-dimensional maps are on-line, and currently, off-line base map data downloading is divided into two types, namely lightweight two-dimensional base map downloading and three-dimensional base map downloading. In addition to this, the integrity of the offline positioning beacon data and navigation service data is in principle the same as online.
According to the invention, the off-line map base map data and the beacon data are combined to set the POI of the AR navigation data, so that the navigation problem is solved under an off-line low-cost scene.
Based on any of the above embodiments, step S2 in the method specifically includes:
and calculating the indoor GIS offline comprehensive data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm.
Specifically, the GIS positioning is realized by adopting a weighted trilateral positioning algorithm, the overall principle is consistent with the server side, and cross-language migration is carried out.
The weighted trilateration algorithm used here is specifically: according to the wireless Signal intensity gradual change model, the Received RSSI (Received Signal Strength Indication) value changes smaller and smaller as the distance between the positioning terminal and the base station is farther, so that the farther the distance is, the larger the distance error between the base station and the positioning terminal is, and the larger the corresponding positioning error is, therefore, the smaller the distance (high accuracy) is given to the larger weight and the larger the distance (low accuracy) is given to the smaller weight through the weighting idea.
Firstly, grouping base stations, dividing all the collected base stations into n groups by id, solving a combination number C (n, 3), and carrying out trilateral positioning on each group; then, according to the principle that the larger the distance is, the larger the positioning error is, a weight (the distance measured from each base station to the positioning terminal) is given; and finally, weighting the result obtained by each combination to obtain a final positioning result.
It is worth mentioning that special processing needs to be performed on site terrain according to the situation of base station signal confusion of a stair crossing/elevator, three-dimensional space stereo signal attenuation and stereo crossing are different from single-floor plane signal judgment, and accurate judgment needs to be performed by combining multi-dimensional positions.
According to the invention, a weighted trilateral positioning algorithm is adopted, so that an indoor GIS positioning result is accurately obtained.
Based on any of the above embodiments, step S3 in the method specifically includes:
adding action prompt information, walking distance and running time of left and right turning on the GIS positioning algorithm;
and when the user walks, recording the indoor travel by using the road book function to obtain the GIS navigation algorithm.
Specifically, action prompt information, walking distance and running time of left and right turning are added to a GIS positioning algorithm, and a user is guided to walk to reach a target place; when a user walks, the user can prompt the time consumption and the distance of a relative destination by using the road book function, and even can broadcast by voice.
The road book function is a detailed plan generally made for a trip, including schedule, traffic information, accommodation information, scenic spot and restaurant recommendations, entertainment item reservation, cost information, and the like, and is an important preparation before a trip. Different from the travel strategy, the road book is generally made by a senior traveling owner, a travel organization or a company specially used for customized travel, and can be said to be a product of a customized travel market with gradually rising temperature in China. In the invention, the powerful recording function of the road book in the journey is used, and the navigation reference guide can be effectively provided for the user.
The invention adopts the road book function to realize the indoor navigation function, can play the role of guiding and recording in advance, and improves the accuracy and the initiative of navigation.
Based on any of the above embodiments, step S4 in the method specifically includes:
and calculating the optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain the indoor path calculation result.
Specifically, the core algorithm in the optimal path algorithm set adopted by the client, whether the client is an APP or an applet, is based on an improved indoor three-dimensional coordinate-based Dijsktra algorithm. On one hand, the improved Dijsktra algorithm based on the indoor three-dimensional coordinate can comprehensively support cross-floor three-dimensional optimal path processing after being improved on the basis of a conventional shortest path algorithm, on the other hand, the improved Dijsktra algorithm based on the indoor three-dimensional coordinate can treat an epidemic area as a weighted roadblock, downloaded offline GIS comprehensive data particularly indicates a key epidemic area of a hospital, and the algorithm provided by the invention is defaulted to be particularly matched with downloaded latest data to bypass the epidemic area, namely roadblock data. In addition, the optimal path algorithm of the invention also integrates a Floyd algorithm, which is also an algorithm for finding the shortest path between multi-source points in a given weighted graph by using the idea of dynamic programming, and is similar to the Dijkstra algorithm.
It should be noted that, the Dijkstra algorithm in the present invention adopts a greedy strategy, and declares an array dis to store the shortest distance from the source point to each vertex and a set of vertices for which the shortest path has been found: initially, the path weight of the origin s is given 0(dis [ s ] ═ 0). If there is a directly reachable edge (s, m) for vertex s, dis [ m ] is set to w (s, m), and the path lengths of all other vertices (where s cannot be directly reached) are set to infinity. Initially, the set T has only vertices s. Then, the minimum value is selected from the dis array, then this value is the shortest path from the source point s to the vertex to which this value corresponds, and this point is added to T, OK, at which point a vertex is completed, then it is necessary to see if the newly added vertex can reach other vertices and to see if the path length through this vertex to other points is shorter than the direct arrival of the source point, and if so, the values of these vertices in dis are replaced. Finally, find the minimum value from dis again, and repeat the above actions until T contains all the vertices of the graph.
In addition, in order to improve the response speed to a greater extent, the method can remove the positioning navigation of a gyroscope, add an inertial navigation algorithm, and also can superpose an off-line two-dimensional map of the method on the video, thereby greatly enhancing the visibility of the AR video. To increase the speed of AR navigation, the POI data of AR navigation is different from the positioning POI data.
The optimal path calculation method adopted by the invention calculates the optimal path to the destination, helps the user to perform positioning navigation in the shortest time and saves the time cost.
In the following, the AR navigation system at the mobile terminal according to the present invention is described, and the AR indoor navigation system at the off-line mobile terminal described below and the AR indoor navigation method at the off-line mobile terminal described above may be referred to with each other.
Fig. 2 is a schematic structural diagram of an offline mobile terminal AR indoor navigation system provided in the present invention, as shown in fig. 2, including: the system comprises an acquisition module 21, a positioning module 22, a navigation module 23 and a calculation module 24; wherein:
the acquisition module 21 is used for acquiring indoor GIS offline comprehensive data; the positioning module 22 is used for obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data; the navigation module 23 is used for adding navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; the calculation module 24 is configured to perform indoor navigation based on the GIS navigation algorithm according to the offline GIS path algorithm and the inertial navigation algorithm, and obtain an indoor path calculation result.
According to the invention, by storing GIS indoor map comprehensive data in an off-line manner, realizing off-line of various GIS algorithms and mining and guiding lightweight user preference data, the positioning and navigation speed is obviously improved, and the user experience of mobile phone indoor map navigation is improved.
Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor)310, a communication interface (communication interface)320, a memory (memory)330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may call logic instructions in the memory 330 to perform an offline mobile-end AR indoor navigation method, the method comprising: acquiring indoor GIS offline comprehensive data; obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data; increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and carrying out indoor navigation according to the GIS-based navigation algorithm to obtain an indoor path calculation result.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing the method for AR indoor navigation at an offline mobile terminal provided by the above methods, the method including: acquiring indoor GIS offline comprehensive data; obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data; increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and carrying out indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
In still another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the off-line mobile terminal AR indoor navigation method provided in the above aspects, the method including: acquiring indoor GIS offline comprehensive data; obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data; increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm; and carrying out indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An AR indoor navigation method for an offline mobile terminal is characterized by comprising the following steps:
acquiring indoor GIS offline comprehensive data;
obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data;
increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and carrying out indoor navigation based on the GIS navigation algorithm according to the off-line GIS path algorithm and the inertial navigation algorithm to obtain an indoor path calculation result.
2. The method of claim 1, further comprising:
and pushing interest preference navigation associated data to the user according to a preset personalized user preference client algorithm.
3. The method for AR indoor navigation at an offline mobile terminal of claim 1 or 2, wherein the step of obtaining the indoor GIS offline comprehensive data further comprises:
and storing the indoor GIS offline comprehensive data in different storage modes according to the types of the clients.
4. The method for AR indoor navigation at an offline mobile terminal according to claim 1, wherein the acquiring of the indoor GIS offline comprehensive data specifically includes:
obtaining GIS indoor off-line map base map data, wherein the GIS indoor off-line map base map data is obtained by converting preset mapping software or supplementing after manually collecting data;
acquiring positioning beacon data according to the GIS indoor off-line map base map data;
and obtaining GIS vector data, POI data and sensor data based on the positioning beacon data.
5. The off-line mobile terminal AR indoor navigation method according to claim 1, wherein the obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS off-line data specifically comprises:
and calculating the indoor GIS offline data by adopting a weighted trilateral positioning algorithm, and performing cross-language migration to obtain the GIS positioning algorithm.
6. The off-line mobile terminal AR indoor navigation method of claim 1, wherein the step of adding navigation action prompt information and a preset trip recording function based on the GIS positioning algorithm to obtain a GIS navigation algorithm specifically comprises:
adding action prompt information, walking distance and running time of left and right turning on the GIS positioning algorithm;
and when the user walks, recording the indoor travel by using the road book function to obtain the GIS navigation algorithm.
7. The off-line mobile terminal AR indoor navigation method according to claim 1, wherein the calculating an indoor navigation path according to the GIS navigation algorithm according to a preset path algorithm to obtain an indoor path calculation result specifically includes:
and calculating the optimal path of the indoor navigation path by adopting an optimal path algorithm to obtain the indoor path calculation result.
8. An off-line mobile terminal AR indoor navigation system is characterized by comprising:
the acquisition module is used for acquiring indoor GIS offline comprehensive data;
the positioning module is used for obtaining a GIS positioning algorithm according to a preset positioning algorithm based on the indoor GIS offline comprehensive data;
the navigation module is used for increasing navigation action prompt information and a preset travel record function based on the GIS positioning algorithm to obtain a GIS navigation algorithm;
and the calculation module is used for carrying out indoor navigation according to an offline GIS path algorithm and an inertial navigation algorithm based on the GIS navigation algorithm to obtain an indoor path calculation result.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the off-line mobile terminal AR indoor navigation method according to any one of claims 1 to 7.
10. A non-transitory computer readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, implements the steps of the method for indoor navigation of AR at an offline mobile terminal according to any one of claims 1 to 7.
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