CN114608563B

CN114608563B - Navigation map generation method and fusion positioning navigation method

Info

Publication number: CN114608563B
Application number: CN202210506199.XA
Authority: CN
Inventors: 杨可; 马传鹏; 万齐弟
Original assignee: Chengdu Ruixun Iot Technology Co ltd
Current assignee: Chengdu Ruixun Iot Technology Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-07-26
Anticipated expiration: 2042-05-11
Also published as: CN114608563A

Abstract

The invention provides a navigation map generation method and a fusion positioning navigation method, which aim to solve the problem that the conventional electronic map cannot meet the navigation requirement of a closed area, and belong to the technical field of navigation. The method for generating the navigation map comprises the steps of basic data acquisition, 2D plane map generation, index point longitude and latitude acquisition, label and map fusion and the like. The fusion positioning navigation method comprises the steps of obtaining authorized identity information, setting a starting point and an end point, obtaining a planned route, navigating and the like. In the invention, the map of the closed area and the public area map are fused to form a set of complete navigation map, so that the navigation requirement of a user when entering the closed area can be met. When the user uses the navigation map, the user needs to obtain identity authorization in advance, so that personnel management is facilitated. Because the navigation map comprises the map of the closed area and the public area map, seamless switching is realized, and the convenience is greatly improved.

Description

Navigation map generation method and fusion positioning navigation method

Technical Field

The invention relates to the technical field of navigation, in particular to a navigation map generation method and a fusion positioning navigation method.

Background

Electronic maps (digital maps), are maps that are stored and referred to digitally using computer technology, such as Baidu maps, dog-search maps, Google maps, and the like.

The existing electronic map mainly contains public area data, and data inside a closed area (such as a controlled closed industrial park, a factory and the like) is incomplete or missing. If need overhaul the processing to the equipment of a certain position point installation in the closed industrial park according to customer's demand, based on current electronic map, maintenance personal only can guide the entrance that reachs this closed industrial park, and because unable location at the walking of closed industrial park, then need borrow by inquiry, see modes such as sign, other personnel take the lead, just can reach the mounted position of waiting to maintain equipment.

Disclosure of Invention

The invention provides a navigation map generation method and a fusion positioning navigation method, aiming at solving the problem that the conventional electronic map cannot meet the navigation requirement in a closed area. In the invention, the map of the closed area and the public area map are fused to form a set of complete navigation map, so that the navigation requirement of a user when entering the closed area can be met. When the user uses the navigation map, the user can use the navigation map for navigation after obtaining the identity authorization. Because the navigation map comprises the map of the closed area and the public area map, seamless switching is realized, and the convenience is greatly improved.

The technical scheme adopted by the invention is as follows:

a method of generating a navigation map, the method comprising the steps of:

step S1, acquiring basic data of the whole closed area, internal roads and internal structures of buildings and buildings by means of aerial photography, satellite photography, on-site mapping and/or direct reading of design drawings for the closed area, and generating a 2D plane map under an XY coordinate system corresponding to the closed area based on the basic data;

step S2, at least selecting any three position points in the closed area as calibration points, and collecting the longitude and latitude of the calibration points;

step S3, calculating to obtain the longitude and latitude corresponding to any plane position point on the 2D plane map based on the longitude and latitude of the calibration point, and completing the conversion of the XY coordinate of any plane position point on the 2D plane map into the corresponding longitude and latitude;

step S4, obtaining labeling data of internal roads, each building and key identification points in the closed area, and labeling on a 2D plane map; the key identification points comprise an entrance, an exit, a crossroad, a T-shaped intersection, a fork road, a stair gate, an elevator gate and position points at which a person cannot easily recognize a route; the labeling data comprises the longitude and latitude of an internal road, the longitude and latitude of internal routes and routes of each building, position identification, a site picture, route guiding description and special description information;

step S5, obtaining the positioning information of the position signal service equipment in the closed area, and marking the positioning information on the 2D plane map; the position signal service device comprises Bluetooth, UWB, TOF, AOA and AOD; the positioning information comprises the equipment number, the equipment type and the installation floor information of the position signal service equipment;

and step S6, performing data fusion on the 2D plane map and the public area map to form a set of complete navigation map containing the closed area.

Further, in step S1, the specific process of generating the 2D plane map in the XY coordinate system corresponding to the closed region based on the basic data includes:

importing the basic data into computer modeling software, firstly generating a 3D model of the closed area, and then converting the 3D model into a 2D plane map under an XY coordinate system;

or, the basic data is imported into computer modeling software, and a 2D plane map of the closed area under the XY coordinate system is directly generated.

Further, in step S2, after the longitude and latitude of the calibration point are collected, the position of the calibration point needs to be verified.

Further, the specific process of verifying the position of the calibration point includes:

step S21, selecting one calibration point as a verification point, and calculating the longitude and latitude of the verification point through the longitude and latitude of the other calibration points;

step S22, comparing the longitude and latitude of the verification point obtained by calculation with the longitude and latitude of the collected verification point, and checking whether the two are matched;

if the two are matched, executing the next step;

if the two do not match, the basic data acquired in step S1 and the generated 2D planar map are checked, and position verification is performed again.

A method of fused position navigation, the method comprising the steps of:

step SP1, obtaining user identity authorization information;

step SP2, guiding the user to start the positioning function, obtaining the starting position and the end position, and determining the traffic mode; the starting point position can be manually input on the handheld terminal by a user, and a map is selected to obtain a point or positioning information of the handheld terminal of the user is automatically obtained; the terminal position can be manually input by a user on the handheld terminal or a map is selected; the transportation mode comprises walking, bicycles, battery cars, trucks and dangerous chemical vehicles;

step SP3, displaying a starting point position and an ending point position on the navigation map generated by the navigation map generating method, and displaying one or more optimized planned routes on the navigation map according to the starting point position and the ending point position, as well as the user identity authorization information, the traffic mode, the management regulation of the closed area, the user role and the handling purpose;

at step SP4, the user selects one of the planned routes as a guidance route, and follows the guidance route to navigate to the destination.

Further, the method further comprises the steps of:

step SP5, after the navigation is finished, the compliance of the movement route is judged; compliance with the movement path includes whether the movement deviates from the designated path, whether the movement breaks into a no-entry area, and whether the movement is speeding.

Further, in the step SP4, the position correction may be performed manually during the navigation to the terminal.

Further, in the step SP4, the specific process of manually correcting the position during the navigation to the terminal point includes:

SP41, acquiring all positioning signals of the handheld terminal; the positioning signals comprise satellite positioning signals, UWB positioning signals, AOA positioning signals, AOD positioning signals and TOF positioning signals;

SP42, aiming at the single positioning signal, carrying out primary positioning position calculation and error grading; if the method can be directly used, more positioning signals do not need to be solved, and position correction is realized;

SP43, after the primary positioning position is resolved aiming at the single positioning signal and can not be directly used, a mixed positioning processing mode is adopted to further optimize the positioning position and realize position correction;

SP44, if the location service can not be provided by multiple locations, the location is manually located to realize location correction, namely, the location two-dimension code and location number are provided at the obvious location of each route key identification point, and the current location is manually input to guide the key route.

Further, the SP42, for a single positioning signal, performs a primary positioning position solution and an error rating; if the positioning signal can be directly used, the specific process without resolving more positioning signals comprises the following steps:

SP421, resolving the satellite positioning signal by the first bit, and if the satellite searching number is judged to be more than or equal to 4, directly jumping out after resolving the satellite positioning coordinate without resolving other positioning signals so as to save terminal operation resources;

SP422, the second position calculates UWB positioning signals, if the received UWB positioning signal source is judged to be more than or equal to 4, and at least 3 signal sources measure and calculate that the distance between the UWB positioning signal source and the handheld terminal is less than 30 meters, the UWB positioning coordinates are calculated and then directly jumped out, other positioning signal calculation is not carried out, and therefore terminal operation resources are saved;

SP423, resolving the AOA positioning signal at the third position, and if the received AOA positioning signal source is judged to be more than or equal to 2 and the distance between the received AOA positioning signal source and the handheld terminal is measured and calculated by at least one signal source to be less than 30 meters, directly jumping out after resolving the AOA positioning coordinate without resolving other positioning signals so as to save terminal operation resources;

SP424, resolving the AOD positioning signal by the fourth bit, and if the received AOD positioning signal source is judged to be more than or equal to 2, and the distance between the received AOD positioning signal source and the handheld terminal is measured and calculated by at least one signal source to be less than 30 meters, directly jumping out after resolving the AOD positioning coordinate, and not resolving other positioning signals any more so as to save terminal operation resources;

and SP425, resolving the TOF positioning signal at the fifth bit, and if the received TOF positioning signal source is judged to be more than or equal to 4, and the distance between the received TOF positioning signal source and the handheld terminal is less than 30 meters at least after 3 signal sources are calculated, directly jumping out after resolving the TOF positioning coordinate, and not resolving other positioning signals, so that the terminal operation resource is saved.

Further, in the step SP4, in the process of navigating to the destination, it is determined that the handheld terminal positioning coordinate is approaching to the nearest key identification point on the guidance route continuously, and when it is determined that the distance between the handheld terminal and the key identification point is within the preset value, the route guidance instruction information of the corresponding key identification point is prompted to the user; the route guidance instruction information comprises a direction showing the need to advance, a relevant reference object picture and a prompt for whether special requirements exist for the user.

The invention has the beneficial effects that:

the invention provides a navigation map generation method and a fusion positioning navigation method, aiming at solving the problem that the existing electronic map cannot meet the navigation requirement of a closed area. The generation method of the navigation map comprises the following steps: step S1, acquiring basic data of the whole closed area, internal roads and internal structures of buildings and buildings by means of aerial photography, satellite photography, on-site mapping and/or direct reading of design drawings for the closed area, and generating a 2D plane map under an XY coordinate system corresponding to the closed area based on the basic data; step S2, at least selecting any three position points in the closed area as calibration points, and collecting the longitude and latitude of the calibration points; step S3, based on the longitude and latitude of the index point, calculating to obtain the corresponding longitude and latitude of any plane position point on the 2D plane map, and completing the XY coordinate conversion of any plane position point on the 2D plane map into the corresponding longitude and latitude; step S4, obtaining labeling data of roads, buildings and key identification points in the closed area, and labeling on a 2D plane map; the key identification points comprise an entrance, an exit, a crossroad, a T-shaped intersection, a fork road, a stair gate, an elevator gate and position points at which a person cannot easily recognize a route; the marking data comprises longitude and latitude of an internal road, longitude and latitude of internal routes and routes of each building, position identification, a site picture, route guidance instructions and special instruction information; step S5, acquiring the positioning information of the position signal service equipment in the closed area, and marking the positioning information on a 2D plane map; the position signal service equipment comprises Bluetooth, UWB, TOF, AOA and AOD; the positioning information comprises the equipment number, the equipment type and the installation floor information of the position signal service equipment; and step S6, performing data fusion on the 2D plane map and the public area map to form a set of complete navigation map containing the closed area. The fusion positioning navigation method comprises the following steps: step SP1, obtaining user identity authorization information; step SP2, guiding the user to start the positioning function, obtaining the starting position and the end position, and determining the traffic mode; the starting point position can be manually input by a user on the handheld terminal, and a map is selected for points or positioning information of the handheld terminal of the user is automatically acquired; the terminal position can be manually input by a user on the handheld terminal or a map is selected; the transportation modes comprise walking, bicycles, battery cars, trucks and dangerous chemical vehicles; step SP3, displaying a starting point position and an ending point position on the navigation map generated by the navigation map generating method, and displaying one or more optimized planned routes on the navigation map according to the starting point position and the ending point position, as well as the user identity authorization information, the traffic mode, the management regulation of the closed area, the user role and the handling purpose; at step SP4, the user selects one of the planned routes as a guidance route, and follows the guidance route to navigate to the destination.

By adopting the method for generating the navigation map, the map of the closed area and the public area map are fused to form a set of complete navigation map, so that the navigation requirement of a user when the user enters the closed area can be met, the navigation requirement in the public area can also be met, and the method has a wide application range. When a user uses the navigation map for navigation, identity authorization needs to be carried out firstly, and the navigation map can be used for navigation after the identity authorization is obtained, so that personnel management of a closed area is facilitated. Meanwhile, the navigation map comprises the map of the closed area and the map of the public area, so that a user can reach any position point in the closed area without inquiring, seeing the direction board, bringing by other people and the like, seamless switching is realized, and the using satisfaction of the user can be greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a flowchart of a method for generating a navigation map including a closed area according to embodiment 1;

fig. 2 is a flowchart of the fusion positioning navigation method in embodiment 2.

Fig. 3 is an interface view of the handheld terminal in fused positioning navigation according to embodiment 2.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present invention.

Embodiments of the invention are described in detail below with reference to the accompanying drawings.

Example 1

A method for generating a navigation map containing closed areas is shown in fig. 1. The method comprises the following steps:

and step S1, acquiring basic data of the whole closed area, internal roads and internal structures of each building and the buildings by adopting the modes of aerial photography, satellite photography, on-site surveying and/or direct reading of design drawings for the closed area, and generating a 2D plane map under an XY coordinate system corresponding to the closed area based on the basic data.

And step S2, at least selecting any three position points in the closed area as calibration points, and collecting high-precision longitude and latitude of the calibration points.

And step S3, calculating to obtain the longitude and latitude corresponding to any plane position point on the 2D plane map based on the longitude and latitude of the calibration point, and completing the conversion of the XY coordinate of any plane position point on the 2D plane map into the corresponding longitude and latitude.

Step S4, obtaining marking data of internal roads, buildings and key identification points in the closed area, and marking on a 2D plane map; the key identification points comprise an entrance, an exit, a crossroad, a T-shaped road, a fork road, a stair entrance, an elevator entrance and position points at which a person cannot easily recognize a route; the labeling data includes the longitude and latitude of the internal road, the longitude and latitude of the internal route and route of each building, position identification, site picture, route guidance instruction and special instruction information.

Step S5, obtaining the positioning information of the position signal service equipment in the closed area, and marking the positioning information on the 2D plane map; the position signal service device comprises Bluetooth, UWB, TOF, AOA and AOD; the location information includes a device number of the location signal service device, a device type, and installation floor information.

And step S6, performing data fusion on the 2D plane map and the public area map to form a set of complete navigation map containing the closed area. The 2D plane map is processed to be a map under a longitude and latitude coordinate system, and can be rapidly fused with a public area map under the same longitude and latitude coordinate system.

The beneficial effects of the above technical scheme are: by adopting the method in the embodiment, the map of the closed area and the public area map are fused to form a set of complete navigation map, so that the navigation requirement of a user entering the closed area can be met, the navigation requirement in the public area can also be met, the map does not need to be switched, and the application range is wide.

importing the basic data into computer modeling software, firstly generating a 3D model of the closed area, and converting the 3D model into a 2D plane map under an XY coordinate system;

The beneficial effects of the above technical scheme are: aiming at the factors such as the number of internal roads, the number of buildings and the appearance of the closed area, the precision requirement of the 2D plane map and the like, various 2D plane map generation modes are provided, and the map generation efficiency is improved.

Further, in step S2, after acquiring the longitude and latitude of the calibration point, the calibration point location verification is required.

step S21, selecting one calibration point as a verification point, and calculating the longitude and latitude of the verification point according to the longitude and latitude of the other calibration points;

if the two are matched, executing the next step;

The technical effect of the technical scheme is as follows: through position verification of the calibration points, the accuracy of converting the coordinates of any plane position point on the 2D plane map in the subsequent XY coordinate system into the corresponding longitude and latitude can be improved, and therefore the reliability of the fused navigation map is finally guaranteed.

Example 2

The fusion positioning navigation method is shown in fig. 2. The method comprises the following steps:

step SP1, user identity authorization information is obtained. The user identity authorization information is provided by the manager of the closed area. The user needs to complete identity entry, transaction purpose and traffic mode entry. Only if the user identity authorization information passes through, the navigation can be carried out to enter the closed area or the navigation is carried out in the closed area; otherwise, navigation can only be made to the entrance of the enclosed area.

Step SP2, guiding the user to start the positioning function, obtaining the starting position and the end position, and determining the traffic mode; the starting point position can be manually input on the handheld terminal by a user, and a map is selected for points or positioning information of the handheld terminal of the user is automatically acquired; the terminal position can be manually input by a user on the handheld terminal or a map is selected; the transportation mode comprises walking, bicycles, battery cars, trucks and dangerous chemical vehicles.

For example, the endpoints may be set as: a. building names and floor information in the closed area, or room names, etc. are manually input. Public areas outside the enclosed area.

Step SP3, the start point position and the end point position are displayed on the navigation map generated based on the navigation map generation method of embodiment 1, and one or more optimized planned routes are displayed on the navigation map according to the start point position and the end point position, as well as the user identity authorization information, the transportation means, the management regulations of the closed area, the user role, and the office purpose.

The line is arranged, and the speed-limiting monitoring and traffic mode limiting of partial lines are allowed according to the management regulation of the closed area. Different park routes and route deviation alarm monitoring are allowed to be set according to different user roles and business purposes.

In step SP4, the user selects a planned route as a guidance route, and follows the guidance route to navigate to the destination.

The beneficial effect of above scheme is: by adopting the fusion navigation positioning method in the embodiment, when a user uses the navigation map for navigation, identity authorization needs to be firstly carried out, and the navigation map can be used for navigation after the identity authorization is obtained, so that personnel management of a closed area is facilitated. Meanwhile, the navigation map comprises a map of the closed area and a map of the public area, so that a user can reach any position point in the closed area without inquiring, seeing a sign, being taken by other people and the like, and the use satisfaction of the user can be greatly improved.

Further, the method comprises the following steps:

Further, in step SP4, the position correction can be performed manually during the navigation to the terminal point, so as to provide better position navigation service.

Meanwhile, in the process of route navigation, the position of the current positioning coordinate on the map, which is selected by the user, is displayed on a system interface. The user can view a map and route planning within a certain distance range with the current position as the center. And the user can check the position of the whole planned route by switching the buttons.

Further, the specific process of manually correcting the position in the process of navigating to the terminal point comprises the following steps:

SP42, aiming at the single positioning signal, carrying out primary positioning position calculation and error grading; if the device can be directly used, more positioning signals do not need to be solved, and position correction is realized;

SP43, aiming at the single positioning signal, after the primary positioning position is resolved, the time when the positioning signal can not be used directly is reached; a mixed positioning processing mode is adopted to further optimize the positioning position and realize position correction;

SP44, if the location service can not be provided by any of the multiple locations, the location is manually located to realize the location correction. Namely, the obvious position of each route key identification point provides a position two-dimensional code and a position number, and the current position is manually input to guide the key route.

Further, at SP42, for a single positioning signal, a primary positioning position solution is performed, and an error rating is performed; if the positioning signal can be directly used, the specific process without resolving more positioning signals comprises the following steps:

SP422, the second position calculates UWB positioning signals, if the received UWB positioning signal source is judged to be more than or equal to 4, and the distance between the received UWB positioning signal source and the handheld terminal is measured and calculated by at least 3 signal sources to be less than 30 meters, the UWB positioning coordinates are calculated and then directly jumped out, other positioning signal calculation is not carried out, and therefore terminal operation resources are saved;

SP423, resolving the AOA positioning signal by the third bit, wherein if the received AOA positioning signal source is judged to be more than or equal to 2 and the distance between at least one signal source and the handheld terminal is measured and calculated to be less than 30 meters, the AOA positioning coordinate is resolved and then directly jumped out without resolving other positioning signals, so as to save terminal operation resources;

SP424, resolving the AOD positioning signal by the fourth bit, if the received AOD positioning signal source is judged to be more than or equal to 2, and at least one signal source is less than 30 meters away from the handheld terminal when measuring and calculating, directly jumping out after resolving the AOD positioning coordinate, and not resolving other positioning signals so as to save terminal operation resources;

As for the hybrid positioning processing method, positioning and position correction can be performed by using a method described in "a multi-technology fusion positioning method for indoor and outdoor CN 111638537A" that has already been disclosed.

Further, in step SP4, in the process of navigating to the terminal, it is determined that the handheld terminal positioning coordinate is continuously approaching to a nearest key identification point on the guidance route, and when it is determined that the distance between the handheld terminal and the key identification point is within a preset value, for example, 30m, the user is prompted to view route guidance instruction information of the corresponding key identification point; the route guidance instruction information comprises a display of the direction to be advanced and a related reference object picture, and prompts whether special requirements exist for a user.

For example, the following situations are encountered in navigation:

and A, when the real-time positioning coordinates are identified to the key identification points close to the building entrance and exit categories from ground areas such as roads, the real-time positioning coordinates are considered to be about to enter the inside of a certain building, the large map and the in-building map can be automatically and simultaneously displayed on the screen, and the guide route can be simultaneously and respectively displayed on the large map and the in-building map.

Similarly, when the identification coordinates reach the key identification point of the building entrance and exit category from the interior of the building, the building is regarded as a certain building, the large map is automatically switched, and the map in the building is closed.

And B, setting corresponding parameters by the user according to the habit of the user, and displaying in forms of building plane maps, 3D maps and the like in a matching manner. Such as:

b1, displaying a map of the floor where the person is currently located and identifying the position of entering the next floor; and some line guidance information.

And B2, displaying all layer maps at one time through a 3D map scheme, and identifying a route of each layer. The display area interval of the specific floor where the user is located is larger, and the display interval of other floors is smaller.

When the user is prompted that the key identification point has a special requirement, the rule is as follows:

if the access card is swiped, the position of the access card reader needs to be identified.

If special clothes need to be worn, the specific requirements of the clothes material and the wearing requirements are met. For example: reflective vest, antistatic labor protection shoes.

If the entrance certificate is needed, the process is prompted, the electronic entrance certificate file of the relevant certificate handling system in the park is pulled, and the electronic entrance certificate file is displayed correspondingly.

In the invention, the map of the closed area and the public area map are fused to form a set of complete navigation map, which can meet the navigation requirements of users entering the closed area. And the user can use the navigation map for navigation only after obtaining the identity authorization when using the navigation map, and the navigation map comprises a map of a closed area and a public area map, so that the convenience is greatly improved due to seamless switching. If the user does not obtain identity authorization, the navigation map can still be used for navigating to the entrance of the closed area.

The following specific example illustrates the method of the fused positioning navigation in this embodiment, as shown in a in fig. 3, a user login is preferred. The user's destination is the office of the integrated office building 315, the transportation mode is walking, and the optimized planned route is then displayed on the map, as shown in b in fig. 3. This planned route is selected as a guide route, navigated, as shown in fig. 3 c. In the process of navigating to the terminal point, when the current position is identified to be adjacent to the key identification point, the process is prompted, as shown in d in fig. 3. And finally, the navigation is finished according to the guiding route to the terminal.

Claims

1. Method for generating a navigation map, characterized in that it comprises the following steps:

step S1, obtaining the basic data of the whole closed area, the internal road, and the internal structure of each building and architecture by adopting the modes of aerial photography, satellite photography, on-site mapping and/or direct reading of design drawings for the closed area, and generating a 2D plane map under an XY coordinate system corresponding to the closed area based on the basic data;

step S4, obtaining labeling data of internal roads, each building and key identification points in the closed area, and labeling on a 2D plane map; the key identification points comprise an entrance, an exit, a crossroad, a T-shaped road, a fork road, a stair entrance, an elevator entrance and position points at which a person cannot easily recognize a route; the labeling data comprises the longitude and latitude of an internal road, the longitude and latitude of internal routes and routes of each building, position identification, a site picture, route guiding description and special description information;

step S5, acquiring the positioning information of the position signal service equipment in the closed area, and marking the positioning information on a 2D plane map; the position signal service equipment comprises Bluetooth, UWB, TOF, AOA and AOD; the positioning information comprises the equipment number, the equipment type and the installation floor information of the position signal service equipment;

2. The method for generating a navigation map according to claim 1, wherein the step S1, the specific process of generating the 2D plane map in the XY coordinate system corresponding to the closed region based on the basic data includes:

3. The method for generating a navigation map according to claim 1 or 2, wherein in step S2, after the latitude and longitude of the calibration point are collected, calibration point position verification is required.

4. The method for generating a navigation map according to claim 3, wherein in step S2, the specific process of performing the verification of the position of the index point includes:

if the two are matched, executing the next step;

5. The fusion positioning navigation method is characterized by comprising the following steps:

step SP1, obtaining user identity authorization information;

step SP2, guiding the user to start the positioning function, obtaining the starting position and the end position, and determining the traffic mode; the starting point position can be manually input by a user on the handheld terminal, and a map is selected for points or positioning information of the handheld terminal of the user is automatically acquired; the terminal position can be manually input by a user on the handheld terminal or a map is selected; the transportation modes comprise walking, bicycles, battery cars, trucks and dangerous chemical vehicles;

a step SP3 of displaying the start point position and the end point position on the navigation map generated by the navigation map generation method according to any one of claims 1 to 4, and displaying one or more optimized planned routes on the navigation map according to the start point position and the end point position, as well as the user identity authorization information, the transportation means, the management regulations of the closed area, the user role, and the purpose of handling affairs;

6. The fused position navigation method according to claim 5, further comprising the steps of:

7. The fused position finding navigation method as claimed in claim 5, wherein in the step SP4, the position correction can be performed manually during the navigation to the terminal.

8. The fusion positioning navigation method according to claim 7, wherein in the step SP4, the specific process of manually correcting the position during the navigation to the terminal point includes:

SP43, aiming at the single positioning signal, after the primary positioning position calculation, the single positioning signal can not be used directly, a mixed positioning processing mode is adopted to further optimize the positioning position, and the position correction is realized;

SP44, if the location service can not be provided by various positioning, the position two-dimension code and the position number can be provided at the obvious position of each route key identification point, the current position is manually input to guide the key route, and the position correction is realized.

9. The fused positioning navigation method according to claim 8, wherein the SP42 performs initial positioning position solution and error rating for a single positioning signal; if the positioning signal can be directly used, the specific process without resolving more positioning signals comprises the following steps:

SP422, resolving UWB positioning signals for the second position, if judging that the received UWB positioning signal source is more than or equal to 4, and the distance between at least 3 signal sources and the handheld terminal is measured and calculated to be less than 30 meters, directly jumping out after resolving UWB positioning coordinates, and not resolving other positioning signals so as to save terminal operation resources;

10. The fusion positioning navigation method according to claim 5, wherein in the step SP4, during the navigation to the terminal point, it is determined that the handheld terminal positioning coordinate is approaching the nearest key identification point on the guidance route, and when it is determined that the distance between the handheld terminal and the key identification point is within the preset value, the user is prompted to view route guidance instruction information of the corresponding key identification point; the route guidance instruction information comprises a direction showing the need to advance, a relevant reference object picture and a prompt for whether special requirements exist for the user.