CN106154223B - Indoor navigation method and indoor navigation system - Google Patents

Abstract

Embodiments of the present invention provide an indoor navigation method and an indoor navigation system. The indoor navigation method includes: obtaining wireless signals transmitted by a plurality of wireless signal transmitters, obtaining a reference signal according to the strength values of the obtained multiple wireless signals, and using the wireless signal transmitter corresponding to the reference signal as a reference point; The reference point is set as a reference area, and the identification of a preset number of wireless signal transmitters in the reference area is searched; the position corresponding to the identification of each of the wireless signal transmitters searched is obtained according to the pre-acquired position correspondence table coordinates; according to the position coordinates of each of the wireless signal transmitters searched and the corresponding strength of each of the wireless signals, the starting position information is obtained; the position coordinates of the commodities to be selected are obtained, and the obtained commodities to be selected are The location coordinates of are used as destination location information; a navigation route is generated according to the starting location information and the destination location information.

Description

Indoor navigation method and indoor navigation system

technical field

The invention relates to the field of wireless communication applications, in particular to an indoor navigation method and an indoor navigation system.

Background technique

In the existing research on navigation technology, it mainly focuses on outdoor navigation, while the research on indoor navigation, such as shopping malls and office buildings, is still relatively weak. Existing outdoor navigation systems generally implement navigation through the principle of GPS. However, when the user enters the room, the user's terminal cannot receive GPS satellite signals, so the method of realizing navigation through GPS positioning cannot play a role. However, there are still many problems in the existing indoor navigation technology. For example, when the user wants to determine his own location, due to the unstable signal strength during communication and the influence of measurement errors caused by multipath and passing through walls, the positioning is not accurate. Accurate, resulting in inaccurate navigation, inconvenient navigation function in use, so that the user cannot accurately know the location of the item he needs or the location the user needs to reach. Therefore, it cannot meet the needs of practical applications.

Contents of the invention

The object of the present invention is to provide an indoor navigation method and an indoor navigation system, which can improve the above problems.

In the first aspect, an embodiment of the present invention provides an indoor navigation method, the method comprising: obtaining wireless signals transmitted by a plurality of wireless signal transmitters, obtaining a reference signal according to the obtained strength values of the plurality of wireless signals, and converting the The wireless signal transmitter corresponding to the reference signal is used as a reference point; a reference area is set according to the reference point, and the identification of a preset number of wireless signal transmitters in the reference area is searched; The location coordinates corresponding to the identification of each of the wireless signal transmitters, wherein the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters; according to the searched for each of the wireless signal transmitters The position coordinates and the intensity corresponding to each of the wireless signals acquire initial position information; acquire the position coordinates of the commodity to be selected, and use the acquired position coordinates of the commodity to be selected as the destination position information; according to the initial position information and the destination location information to generate a navigation route.

In the second aspect, an embodiment of the present invention provides an indoor navigation system, the system includes: an acquisition unit, configured to acquire wireless signals transmitted by a plurality of wireless signal transmitters, and obtain a reference according to the strength values of the obtained plurality of wireless signals signal, using the wireless signal transmitter corresponding to the reference signal as a reference point; a search unit, configured to set a reference area according to the reference point, and search for the identifiers of a preset number of wireless signal transmitters in the reference area; A matching unit, configured to obtain the location coordinates corresponding to the identification of each of the wireless signal transmitters found according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location corresponding to each of the wireless signal transmitters Coordinates; a starting position acquisition unit, used to acquire starting position information according to the position coordinates of each of the wireless signal transmitters searched and the strength corresponding to each of the wireless signals; a marking unit, used to obtain the to-be-selected Commodity position coordinates, using the acquired position coordinates of the commodity to be selected as destination location information; a first generating unit, configured to generate a navigation path according to the starting location information and the destination location information.

In the indoor navigation method and indoor navigation system provided by the embodiments of the present invention, by acquiring wireless signals transmitted by multiple wireless signal transmitters, and then obtaining a reference signal according to the intensity values of the obtained multiple wireless signals, the reference signal is The corresponding wireless signal transmitter is used as a reference point; and a reference area is set according to the reference point, and after searching for the identification of a preset number of wireless signal transmitters in the reference area; The location coordinates corresponding to the identification of each of the wireless signal transmitters searched, the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters; according to the location of each of the wireless signal transmitters searched The coordinates and the strength corresponding to each of the wireless signals obtain the starting position information; obtain the position coordinates of the commodity to be selected, and use the obtained position coordinates of the commodity to be selected as the destination location information; finally according to the starting position information and the destination location information to generate a navigation route. Through accurate positioning, the obtained navigation route is the optimal route, so that the user can quickly reach the destination according to the route.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of an application scenario of an indoor navigation system provided by an embodiment of the present invention;

Fig. 2 is a method flowchart of an indoor navigation method provided by an embodiment of the present invention;

Fig. 3 is a method flowchart of another indoor navigation method provided by an embodiment of the present invention;

Fig. 4 is a module block diagram of an indoor navigation system provided by an embodiment of the present invention;

Fig. 5 is a module block diagram of another indoor navigation system provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

FIG. 1 is an application scene diagram of an indoor navigation system provided by an embodiment of the present invention. The indoor navigation system 100 includes a radio frequency tag 110 , a radio frequency antenna 120 , a hub 130 , a reader 140 , a terminal 170 , a server 150 , a router 160 and a wireless signal transmitter 180 .

In this embodiment, the radio frequency tag 110 is coupled to the radio frequency antenna 120 , the radio frequency antenna 120 is connected to the reader 140 , and the reader 140 is connected to the server 150 .

In this embodiment, the radio frequency tag 110 is placed on a fixed object indoors, so that the information of the measured object will not be confused during the measurement. Wherein, each radio frequency tag 110 has a fixed identification information. For example, if the radio frequency tag 110 is pasted on a shelf of a supermarket, the types of items placed on the shelf are the same, and the radio frequency tags 110 pasted on different shelves are all different, that is, the radio frequency tag 110 pasted on the A shelf The identification information of is A, and may also be the type information of the items placed on the A shelf. The identification information of the radio frequency tag 110 attached on the B shelf is B, and it can also be the category information of the items placed on the B shelf. Therefore, different radio frequency tags 110 can be used to determine specific locations of different items. When the position of the item with the radio frequency tag 110 or the carrier on which the radio frequency tag 110 is fixed changes, the radio frequency tag 110 will move along with the carrier on which the radio frequency tag 110 is fixed.

In this embodiment, the radio frequency tag 110 may be an RFID (Radio Frequency Identification) tag. Among them, RFID tags refer to tags using radio frequency identification technology.

In this embodiment, the radio frequency antenna 120 is used to collect the information of the radio frequency tag 110 , and the information includes the identification information of the radio frequency tag 110 and the intensity value of the radio frequency tag 110 . Wherein, the identification information of different radio frequency tags 110 and the strength values of the radio frequency tags 110 are collected through the radio frequency antenna, wherein the strength value of the radio frequency tags 110 is judged by the strength of the signal of the radio frequency tags 110 collected by the radio frequency antenna 120 . Wherein, in this embodiment, the signal strength of the radio frequency tag 110 may use RISS (Received Signal Strength Indication) to represent the strength of the radio frequency tag 110 . That is, by setting the radio frequency tags 110 on different carriers in advance, so that the distances between the radio frequency tags 110 and the radio frequency antenna 120 are different, so that the signal strengths of the radio frequency tags 110 received by the radio frequency antenna 120 are different, thereby obtaining radio frequency The location of the tag 110, and then obtain the location of the carrier corresponding to the radio frequency tag 110.

In this embodiment, the hub 130 is used to provide a connection medium between the radio frequency antenna 120 and the reader 140, so that the identification information and strength value of the radio frequency tag 110 collected by the radio frequency antenna 120 can pass through The hub 130 sends to the reader 140 . Wherein, the hub 130 can transmit the identification information and intensity value of each radio frequency tag 110 collected by the radio frequency antenna 120 to the reader 140 through a 2.4G wireless channel. That is, the reader 140 obtains the identification information and strength value of each radio frequency tag 110 collected by the radio frequency antenna 120 through the 2.4G wireless channel provided by the hub 130 . For example, the ID and RSSI value of each RFID tag collected by the radio frequency antenna 120 is transmitted to the reader 140 through the 2.4G wireless channel of the hub 130 .

It should be noted that 2.4G is a wireless technology because its frequency band is between 2.400GHz and 2.4835GHz.

In this embodiment, the reader 140 is configured to send the identification information and the strength value of each radio frequency tag 110 collected by the radio frequency antenna 120 to the server 150 through the hub 130, so that the server 150 sends each radio frequency The identification information and the intensity value of the tag 110 are stored. For example, the reader 140 is connected to a computer using UDP (User Datagram Protocol) communication mode, and then transmits data to the database. The terminal 170 can use HTTP (HyperTextTransfer Protocol) network communication to connect with the database, so as to download the data package to the terminal 170 .

In this embodiment, the server 150 is configured to store the identification information and strength value of the radio frequency tag 110 sent by the reader 140 .

In this embodiment, the server 150 may be a database. For example, the identification information and strength value of the radio frequency tag 110 sent by the reader 140 are stored in the database, so that the user can obtain the identification information and strength value of the radio frequency tag 110 stored in the database through the database.

In this embodiment, since the location information of the product does not change frequently, that is, the location information of the radio frequency tag 110 will not change accordingly, the database or the server 150 is set to update the information once a day.

In this embodiment, the router 160 is used to provide wireless signals for the terminal 170 to connect with the server 150 .

The terminal 170 is used for positioning and realizing navigation through positioning, and finding the item or location that the user needs to find through navigation. Wherein, the terminal 170 is connected to the server 150 through the router 160 , that is, the terminal 170 is connected to the server 150 through a wireless signal sent by the router 160 . The terminal 170 is wirelessly connected with the wireless signal transmitter 180 .

In this embodiment, the terminal 170 includes a wireless sensor, a controller, a display device, a wireless connector and a data storage. The wireless sensor is wirelessly connected to the wireless signal transmitter 180, the display device, the wireless sensor, the data storage and the wireless connector are all coupled to the controller, and the wireless connector is connected to the The server 150 is connected through the router 160, and the wireless connector is connected to the router 160 wirelessly. That is, the wireless connector is connected to the server 150 through the wireless signal sent by the router 160 .

In this embodiment, the wireless sensor may be a WiFi (Wireless Fidelity) sensor.

In this embodiment, the wireless signal transmitter 180 is used to provide a wireless signal, so that the terminal 170 can determine the specific location of the terminal 170 indoors according to the intensity value of the collected wireless signal.

In this embodiment, the wireless signal transmitter 180 may be an AP (AccessPoint) transmitter.

Please refer to Fig. 2, an indoor navigation method provided by an embodiment of the present invention, the method includes:

Step S201: Obtain wireless signals transmitted by multiple wireless signal transmitters, obtain a reference signal according to the obtained strength values of the multiple wireless signals, and use the wireless signal transmitter corresponding to the reference signal as a reference point.

Wherein, the reference signal refers to the wireless signal with the largest strength value acquired for the first time, and the wireless signal transmitter corresponding to the wireless signal is used as a reference point.

As an implementation, when a user holds a terminal and enters a room where a wireless signal transmitter is preset, and the user's terminal enters the receiving range of the signal transmitted by the wireless signal transmitter, the terminal can establish a communication connection with the wireless signal transmitter, The terminal can receive the wireless signal transmitted by the wireless signal transmitter with which the communication connection has been established. When the terminal held by the user enters the signal coverage of multiple wireless signal transmitters, a communication connection with multiple wireless signal transmitters is established, so that the terminal can receive wireless signals from multiple wireless signal transmitters. Signal. The wireless signal transmitted by the wireless signal transmitter includes the device ID of the wireless signal transmitter, therefore, the terminal can associate each received wireless signal with the device ID of the wireless signal transmitter that sent the wireless signal.

The terminal is equipped with signal analysis software, which can analyze the strength of each received wireless signal and display it to the user. As an implementation, an application program is installed in the terminal, and the terminal is used to connect with the wireless signal transmitter through the application program, and analyze the strength of each received wireless signal, and display the received wireless signal in the form of a table. The strength of the signal and the device ID of the wireless signal transmitter corresponding to the wireless signal. For example, different wireless signal strength values are displayed on the first layer interface, and a second layer interface pops up when a certain strength value is clicked, and the device ID corresponding to the wireless signal with the strength value is displayed on the second layer interface. Of course, it is also possible to simultaneously display the device ID and signal strength on one interface, and it is also possible to sort and display the device IDs according to the signal strength from high to low.

The terminal establishes a communication connection with the wireless signal transmitter, indicating that the user is located near the wireless signal transmitter, and the received wireless signal strength of the wireless signal transmitter can indicate the distance between the user and the wireless signal transmitter, usually , it can be considered that the higher the signal strength is, the closer the distance to the wireless signal transmitter is, thus, the approximate location of the user can be determined.

Taking a wireless signal transmitter corresponding to a wireless signal with a relatively high wireless signal strength as a reference point, where the reference point can represent an approximate distance between the terminal and the reference point, where the approximate distance means that the reference point can be determined A range coordinate of the terminal from the datum point.

Step S202: Set a reference area according to the reference point, and search for identities of a preset number of wireless signal transmitters in the reference area.

Wherein, the server stores the position coordinates and identification information of each transmitter, and the position coordinates are collected in advance. The identification information refers to the device ID corresponding to the wireless signal transmitter.

As an implementation, according to the reference point and the area of the reference area, the coordinates of the wireless signal transmitters on each boundary point of the reference area are obtained, and all wireless signal transmitters located in the reference area are obtained according to the obtained coordinates. device. For example, the coordinates of the reference point are (0, 0), the coordinates of the boundary point are (2, 0), and the coordinates of the wireless signal transmitter are (1, 0). According to each coordinate value, the wireless signal transmitter within this reference area.

As another implementation method, it is also possible to set a reference area according to the reference point. According to the preset rules, the reference area takes the reference point as the center and the preset length as the radius to set a circular area, then the circular area For the reference area, the obtained distance from the wireless signal transmitter to the reference point is compared with the radius of the reference area. When the distance from the wireless signal transmitter to the reference point is less than the radius, the wireless The signal transmitter is located in the reference area, otherwise it is no longer in the reference area. Wherein, a general area may also be set with the reference point as the center and the preset length as the axis, and the area may be a rectangle or other shapes.

Then search for identification information of all wireless signal transmitters in the reference area, and obtain coordinate information of wireless signal transmitters corresponding to all wireless signal identification information through the identification information.

Step S203: Obtain the location coordinates corresponding to the identifiers of each of the wireless signal transmitters found according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters.

Wherein, the position correspondence table is obtained from the server in advance, and the identification of each wireless signal transmitter and the position coordinates in the room are stored in the position correspondence table. The location coordinates of the wireless signal transmitter can be found through the location correspondence table through the identification information of each wireless signal transmitter.

Step S204: Obtain initial location information according to the searched location coordinates of each of the wireless signal transmitters and the corresponding strength of each of the wireless signals.

Wherein, by finding the position coordinates of each of the wireless signal transmitters and the strength of the signal transmitted by each wireless signal transmitter, the distance from the signal transmitter to the user can be obtained through the signal strength, so that the distance between the signal transmitter and each wireless signal transmitter can be obtained according to the obtained distance. coordinates of a wireless signal transmitter to obtain the user's coordinates, that is, the initial location information.

As an implementation method, the distance from the wireless signal transmitter to the user can be obtained through the strength of the wireless signal, and then the location coordinates of the user, that is, the initial location information, can be obtained by using the triangulation method. Wherein, the location coordinates of the user refer to the current location of the terminal, which is the initial location information.

It should be noted that the triangulation method refers to the use of two or more detectors to detect the azimuth of the target at different positions, and then use the principle of triangular geometry to determine the position and distance of the target. For example, in this embodiment, by calculating the distance from the terminal to each wireless signal transmitter in the reference area, and then using the triangulation method to obtain the coordinates of the terminal. For example, there are three points in the reference area, namely A(2,2), B(0,1), C(-2,-2), the reference point is D(0,0), and the coordinates of the terminal are ( x, y). Through the signal strength of the reference point, the approximate distance from the terminal to the reference point can be obtained, thereby obtaining the x value and y value of the terminal coordinates, and then the specific coordinates of the terminal can be obtained through the triangulation positioning algorithm technology, so as to achieve the effect of precise positioning.

Step S205: Obtain the position coordinates of the commodity to be selected, and use the acquired position coordinates of the commodity to be selected as the destination location information.

Wherein, one of the products is selected as the product to be selected through the location coordinate information of all the products in the room obtained from the server in advance, and the position of the product is the destination location information.

As an example, when the user enters the mall, the data packet storing the coordinate information of the commodity is automatically obtained through the local area network of the mall, and when the user needs to select a commodity from all the commodities for purchase, he can input the The identification information of the product, so as to obtain the location coordinates of the product, then the location coordinates are the destination location information.

Step S206: Generate a navigation route according to the starting location information and the destination location information.

Wherein, the navigation path refers to a path formed by connecting the coordinates of the starting location and the destination location. Among them, multiple paths may appear according to the coordinates of the starting location and the destination location, and then the multiple paths are sorted according to the length of the trip, so that the user can select a suitable path according to the demand. And when forming a path, it will detect whether there is an obstacle between the paths. If an obstacle is detected, the path will bypass the obstacle from the starting position and then reach the destination position. Among them, the detection of obstacles is by detecting whether there are other objects between the coordinates of the starting position and the destination position, and by judging whether the coordinates of other objects between the coordinates of the starting position and the destination position are on the path, thereby judging Are there any obstacles. For example, A is the starting point, B is the destination location, there is a large shelf on the path formed between A and B, then when going from A to B, you need to bypass the shelf to reach B place. Therefore, although the navigation path at this time is also from A to B, the shelves between A and B will be bypassed between the navigation paths to reach B.

As an implementation manner, the navigation path is formed by the path between the coordinates of the starting location and the destination location. Wherein, the navigation path is a real-time path. For example, when the user selects a commodity as the destination location, the location information of the commodity is obtained by extracting the information of the radio frequency tag at the commodity, and the location information of the commodity is Map on the electronic map, and then obtain the user's current location information, that is, the user's starting location information, and map the starting location information on the electronic map in the same way, so that the starting location and destination location on the electronic map , to determine the navigation path. And when the user holds the terminal from the starting position to the destination position, the starting position will change with the user's movement, that is, between the user's first starting position and the destination position, there are multiple An intermediate position is formed, that is, through a plurality of intermediate position points, and then connecting the multiple intermediate position points with a line to form a navigation path from the starting position to the destination position.

Please refer to Figure 3, another indoor navigation method provided by an embodiment of the present invention, the method includes:

Step S301: Obtain wireless signals transmitted by multiple wireless signal transmitters, obtain a reference signal according to the obtained strength values of the multiple wireless signals, and use the wireless signal transmitter corresponding to the reference signal as a reference point.

For the specific implementation manner of step S301, reference may be made to the corresponding step S201 in FIG. 2 , which will not be repeated here.

Step S302: Set a reference area according to the reference point, and search for identities of a preset number of wireless signal transmitters in the reference area.

For the specific implementation manner of step S302, reference may be made to the corresponding step S202 in FIG. 2 , which will not be repeated here.

Step S303: Obtain the location coordinates corresponding to the identifiers of each of the wireless signal transmitters found according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters.

For the specific implementation manner of step S303, reference may be made to the corresponding step S203 in FIG. 2 , which will not be repeated here.

Step S304: Obtain initial location information according to the searched location coordinates of each of the wireless signal transmitters and the corresponding strength of each of the wireless signals.

For the specific implementation manner of step S304, reference may be made to the corresponding step S204 in FIG. 2 , which will not be repeated here.

Step S305: Obtain the position coordinates of the commodity to be selected, and use the acquired position coordinates of the commodity to be selected as the destination location information.

For the specific implementation manner of step S305, reference may be made to the corresponding step S205 in FIG. 2 , which will not be repeated here.

Step S306: Generate a navigation route according to the starting location information and the destination location information.

For a specific implementation manner of step S306, reference may be made to step S206 corresponding to FIG. 2 , which will not be repeated here.

Step S307: Obtain an update instruction sent by the server, where the update instruction includes the updated position coordinates of the commodity to be selected.

Among them, only when the position coordinates of the items to be selected change, the server will automatically send the changed coordinate information to the terminal, so that the user can obtain the latest position coordinates of the selected items, so that the user can Quickly find the product at the target location. For example, it can be set to update the information once a day.

Step S308: Generate the navigation route according to the updated location coordinates of the commodity to be selected and the destination location information.

Among them, when the position coordinates of the commodity to be selected change, the terminal will regenerate the navigation path after collecting the new location coordinates of the commodity to be selected, so that the user can quickly find the destination location according to the navigation path products at.

Please refer to FIG. 4 , an indoor navigation system 400 provided by an embodiment of the present invention, the system uses a terminal as the execution body, and the system includes: an acquisition unit 410 , a search unit 420 , a matching unit 430 , and a starting position acquisition unit 440 , a marking unit 450 and a first generating unit 460 .

The obtaining unit 410 is configured to obtain wireless signals transmitted by multiple wireless signal transmitters, obtain a reference signal according to the obtained strength values of the multiple wireless signals, and use the wireless signal transmitter corresponding to the reference signal as a reference point;

A search unit 420, configured to set a reference area according to the reference point, and search for the identifiers of a preset number of wireless signal transmitters in the reference area;

The matching unit 430 is configured to acquire the location coordinates corresponding to the identifiers of each of the wireless signal transmitters found according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters. Position coordinates;

A starting position acquiring unit 440, configured to acquire starting position information according to the searched position coordinates of each of the wireless signal transmitters and the corresponding strength of each of the wireless signals;

The marking unit 450 is configured to acquire the position coordinates of the commodity to be selected, and use the acquired position coordinates of the commodity to be selected as the destination location information;

The first generating unit 460 is configured to generate a navigation route according to the starting location information and the destination location information.

Please refer to FIG. 5 , another indoor navigation system provided by an embodiment of the present invention, the system takes the terminal as the execution body, and the system includes: an acquisition unit 510 , a search unit 520 , a matching unit 530 , and a starting position acquisition unit 540 , a marking unit 550 , a first generating unit 560 , an updating unit 570 and a second generating unit 580 .

The obtaining unit 510 is configured to obtain wireless signals transmitted by multiple wireless signal transmitters, obtain a reference signal according to the obtained strength values of the multiple wireless signals, and use the wireless signal transmitter corresponding to the reference signal as a reference point.

The search unit 520 is configured to set a reference area according to the reference point, and search for identities of a preset number of wireless signal transmitters in the reference area.

The matching unit 530 is configured to acquire the location coordinates corresponding to the identifiers of each of the wireless signal transmitters found according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters. Position coordinates.

A starting position acquiring unit 540, configured to acquire starting position information according to the searched position coordinates of each of the wireless signal transmitters and the corresponding strength of each of the wireless signals;

The marking unit 550 is configured to acquire the position coordinates of the commodity to be selected, and use the acquired position coordinates of the commodity to be selected as the destination location information.

The first generating unit 560 is configured to generate a navigation route according to the starting location information and the destination location information.

The update unit 570 is configured to obtain an update instruction sent by the server, the update instruction includes the updated position coordinates of the commodity to be selected.

The second generation unit 580 is configured to generate the navigation route according to the updated location coordinates of the commodity to be selected and the destination location information.

In summary, the indoor navigation method and the indoor navigation system provided by the embodiments of the present invention acquire the wireless signals transmitted by multiple wireless signal transmitters, and then obtain the reference signal according to the intensity values of the multiple wireless signals obtained. Taking the wireless signal transmitter corresponding to the reference signal as a reference point; and setting a reference area according to the reference point, after searching for the identification of a preset number of wireless signal transmitters in the reference area; and then according to the pre-acquired The position correspondence table obtains the position coordinates corresponding to the identification of each of the wireless signal transmitters searched, and the position correspondence table includes the position coordinates corresponding to each of the wireless signal transmitters; The position coordinates of the signal transmitter and the strength corresponding to each of the wireless signals obtain the initial position information; obtain the position coordinates of the commodity to be selected, and use the acquired position coordinates of the commodity to be selected as the destination location information; finally according to The starting location information and the destination location information generate a navigation route. Through accurate positioning, the obtained navigation route is the optimal route, so that the user can quickly reach the destination according to the route.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and possible implementations of devices, methods and computer program products according to multiple embodiments of the present invention. operate. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. any such actual relationship or order exists between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. A kind of indoor navigation method, is characterized in that, comprises: Obtain wireless signals transmitted by multiple wireless signal transmitters, and determine the strength values of the multiple wireless signals obtained; use the wireless signal with the largest strength value as a reference signal, and use the wireless signal transmitter corresponding to the reference signal as a reference point; Setting a circular reference area with the reference point as the center and the preset length as the radius; calculating coordinates of wireless signal transmitters on each boundary point of the reference area according to the reference point and the area of the reference area; Searching for identities of all wireless signal transmitters located in the reference area according to the coordinates; Obtain the location coordinates corresponding to the identifiers of each of the wireless signal transmitters searched according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location coordinates corresponding to each of the wireless signal transmitters; Acquiring starting position information according to the searched position coordinates of each of the wireless signal transmitters and the corresponding strength of each of the wireless signals, wherein, according to the searched position coordinates of each of the wireless signal transmitters And the step of obtaining the initial position information corresponding to the strength of each said wireless signal includes: Acquiring the distance from the wireless signal transmitter corresponding to each of the wireless signals to the starting position according to the strength corresponding to each of the wireless signals; Using a triangulation algorithm to obtain the user's location coordinates according to the obtained distance and the location coordinates of each of the wireless signal transmitters searched, the location coordinates are used as initial location information; Obtaining the position coordinates of the commodities to be selected, and using the acquired position coordinates of the commodities to be selected as the destination location information; A navigation route is generated according to the starting location information and the destination location information. 2. The method according to claim 1, wherein after the step of generating a navigation route according to the starting position information and the destination position information, the method further comprises: Obtain an update instruction sent by the server, where the update instruction includes the updated position coordinates of the commodity to be selected; The navigation path is generated according to the updated position coordinates of the commodity to be selected and the destination position information. 3. A kind of indoor navigation system, is characterized in that, comprises: An acquisition unit, configured to acquire wireless signals transmitted by multiple wireless signal transmitters, and determine the intensity values of the obtained multiple wireless signals; use the wireless signal with the largest intensity value as a reference signal, and transmit the wireless signal corresponding to the reference signal device as a reference point; The search unit is used to set a circular reference area with the reference point as the center and the preset length as the radius; A first calculation unit, configured to calculate the coordinates of the wireless signal transmitter on each boundary point of the reference area according to the reference point and the area of the reference area; A second calculation unit, configured to search for the identifications of all wireless signal transmitters located in the reference area according to the coordinates; A matching unit, configured to obtain the location coordinates corresponding to the identification of each of the wireless signal transmitters found according to the pre-acquired location correspondence table, wherein the location correspondence table includes the location corresponding to each of the wireless signal transmitters coordinate; The initial position acquisition unit is configured to acquire initial position information according to the searched position coordinates of each of the wireless signal transmitters and the strength corresponding to each of the wireless signals, wherein the initial position acquisition unit specifically uses At: Acquiring the distance from the wireless signal transmitter corresponding to each of the wireless signals to the starting position according to the strength corresponding to each of the wireless signals; Using a triangulation algorithm to obtain the user's location coordinates according to the obtained distance and the location coordinates of each of the wireless signal transmitters searched, the location coordinates are used as initial location information; The marking unit is used to obtain the position coordinates of the commodities to be selected, and use the acquired position coordinates of the commodities to be selected as the destination location information; A first generating unit, configured to generate a navigation route according to the starting location information and the destination location information. 4. The indoor navigation system according to claim 3, characterized in that, after the first generating unit, the indoor navigation system further comprises: An update unit, configured to obtain an update instruction sent by the server, where the update instruction includes the updated position coordinates of the commodity to be selected; The second generating unit is configured to generate the navigation path according to the updated position coordinates of the commodity to be selected and the destination position information.