CN108801265A - Multidimensional information synchronous acquisition, positioning and position service apparatus and system and method - Google Patents
Multidimensional information synchronous acquisition, positioning and position service apparatus and system and method Download PDFInfo
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- CN108801265A CN108801265A CN201810588038.3A CN201810588038A CN108801265A CN 108801265 A CN108801265 A CN 108801265A CN 201810588038 A CN201810588038 A CN 201810588038A CN 108801265 A CN108801265 A CN 108801265A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention belongs to navigator fixs and location-based service field, disclose a kind of multidimensional information synchronous acquisition, positioning and position service apparatus and system and method, synchronous acquisition simultaneously generates the multidimensional information data needed for indoor navigation and location-based service, including navigation and location-based service map, indoor particulate matter information and its geo-location reference, and ubiquitous positioning signal data needed for indoor positioning and its geographical location mark, it reconstructs the geographical distribution of ubiquitous positioning signal feature or calculates the spatial position of signal source, the indoor ubiquitous positioning basic information database of structure, it provides a set of towards mobile phone or the navigation of other mobile device interior spaces and location-based service Applications construct, deployment, it safeguards and newer complete skill solution.The present invention improves navigation and location-based service data collection site operating efficiency with the technology and methods of mobile mapping, has high availability, significantly reduces data acquisition, applicating maintenance and newer cost.
Description
Technical field
The invention belongs to navigator fix and location-based service field more particularly to a kind of multidimensional information synchronous acquisition, positioning with
Position service apparatus and system and method.More particularly to a kind of quick, efficient, integral collecting interior space geometry, ring
The device and data processing method of border information data and indoor ubiquitous positioning signal data and a kind of low cost, expeditiously
Exploitation is disposed, navigator fix and location-based service application system in maintenance room.
Background technology
The mobility of people and object is more and more important in the modern life, and diversification and personalized location information service are needed
Ask also is in the trend that increases substantially.The time life of people 80% or more, work indoors, more have more than 90% people and object
Information is located at interior.Therefore, for based on indoor positioning technologies interior or indoor and outdoor seamless navigation and position service system
Demand is more and more urgent.Therefore, numerous well-known institutions for academic research both at home and abroad conduct in-depth research indoor positioning technologies.
Currently, the prior art commonly used in the trade is such：
Indoor location service needs indoor map, indoor particulate matter data and indoor positioning.This three classes data is logical at present
It is often separately to be acquired in different times with different technologies.Acquisition needs special knowledge, cumbersome field operation high
Manpower and equipment cost, and a large amount of later data processing.The not no direct correlation property of the data of acquisition, needs logarithm before use
According to association process.The poor efficiency of data acquisition and processing (DAP) reduces the timeliness and economic feasibility of location-based service deployment.At present
Particular technique be described as follows.
Indoor map makes generally use terrestrial Laser scanner and is scanned to indoor three dimensions, obtains three-dimensional point
Cloud, and then therefrom extract indoor map.In order to dispose indoor navigation and location-based service application, need specially to acquire indoor map system
Diagram data and application relevant context information data, including indoor laser scanning element cloud, physical environmental data etc., these data are often
Special equipment is needed to be acquired respectively in working site.For map datum in make-up room, the space geometry knot to the interior space is needed
Structure carries out 3-D scanning or measurement, this scanning or measurement process are cumbersome, expend more manpower, time and financial resources cost.Physics
Environmental data is also required to special equipment and is acquired, and gatherer process can only a position progress of position one.Since interior does not have
Satellite navigation signals, the physical environmental data acquired lack effective geo-location reference, and the later stage of the data acquired must
It must be arranged by artificial mode, form the geographical data with geographical space mark.In order to avoid scanning, measuring
It interferes with each other, needs with environmental data collecting process and the normal operation process of the interior space (such as market business, Aerodrome Operations)
Stop the normal operation process of the interior space to carry out data acquisition, this can influence the normal fortune of the interior space long period
Make, to seriously reduce the availability and market acceptance level of this kind of technology.
The method of indoor positioning mainly has cellular network, infrared, sound, ultrasonic wave, bluetooth, WLAN WiFi, surpasses
Broadband (UWB), RF tag RFID and reckoning DR methods etc..Wherein, reckoning DR methods can only relative positioning, determine phase
To position, need to merge offer navigator fix and the required absolute position of location-based service with other positioning means.Cellular network
The precision of positioning cannot meet the requirement of indoor location service up to hundreds of meters.Based on infrared, sound, ultrasonic wave or RF tag
The region that the location technology of RFID is worked is smaller, causes the system cost of integral deployment higher；And easily by the interference shadow of environment
It rings, positioning performance is difficult to ensure that the cost of system maintenance is higher；Special subscriber terminal equipment is needed, it is larger to promote difficulty.Base
All there is preferable laboratory record in positional accuracy and system energy consumption etc. in the indoor locating system of UWB, be a kind of
Very promising indoor positioning technologies.But UWB technology cost is too high, in the actual use environment due to the influence of multipath,
Positioning accuracy is difficult to ensure that also many key problems are urgently to be resolved hurrily.
Due to popularizing for mobile Internet, WLAN WiFi signal is widely present in the interior space.Precision marketing etc.
Intelligent use it is universal, bluetooth iBeacon standard devices it is widely used so that be widely present indigo plant in the interior spaces such as market
Tooth iBeacon signals.Importantly, WiFi and bluetooth module have been the standard configurations of smart mobile phone, in the feelings that need not be linked
The information such as their signal strength can be obtained under condition, can be used in positioning.The ubiquitous signal framing technology such as WiFi and bluetooth at
This is cheap, is not limited by number of users, and terminal device can be mobile phone or special terminal equipment, and low in energy consumption, availability is high, thus
Obtain greatly concern and development.
There are many methods, such as the arrival time difference based on WiFi signal for indoor positioning based on WiFi or Bluetooth signal
TDOA, reception signal angle DOA, phase of received signal POA, reception signal time TOA etc., but these methods need specially hard
Part equipment, and the problems such as there are poor expandability and long positioning times；In addition, these methods need to know wireless access point
(AP) true coordinate information, in system deployment process, due to being disposed by other stakeholders using the interior space
Existing WiFi access points, often do not know their specific location so that these methods are difficult to carry out.Compared to these methods,
The indoor positioning technologies of RSSI value based on WiFi only need commercial smart mobile phone and wireless network resource, it is easy to accomplish and cost
It is cheap, so nowadays the indoor positioning technologies based on WiFi are mostly to utilize RSSI.Indoor positioning method based on RSSI is divided into
For triangulation location and fingerprint matching method.The principle of triangulation location is exactly the coordinate information of first determining at least three AP, is recycled
Signal propagation model by the mobile-terminated RSSI received be converted into mobile terminal to these AP distance, as long as obtaining mobile terminal to AP
Distance can calculate the position of the mobile terminal.However this method is interfered too much by indoor environment, is also very dependent on nothing
The signal propagation model of method accurate definition can not be promoted the use of so precision and stability is all limited.
Different from triangulation location, fingerprint matching method is by identifying that the signal characteristic of position positions so having by indoor ring
Border interference is smaller, without relying on signal transmission model, the advantages that without knowing the positions AP.Fingerprint matching method is divided into two ranks
Section:When the fingerprint training stage, second is that matching positioning stage.The fingerprint stage is mainly used for establishing the RSSI fingerprints of area to be targeted
Library, matching positioning stage by comparing mobile terminal real-time reception to RSSI value and fingerprint base in RSSI fingerprints estimate movement
The position at end, therefore positioning accuracy is largely dependent on the quality of RSSI fingerprint bases, however high-precision, highdensity fingerprint base
A large amount of computing resources and human resources can be expended, and the process needs of acquisition fingerprint base at the scene manually grasp by the operation long period
Make, manpower heavy load may influence the normal operation (such as the normal business in market) of certain scenes, so as to cause reduction
The availability and market acceptance level of this method.
In conclusion problem of the existing technology is：
(1) prior art, high-accuracy position system need special hardware, the cost of whole system very high.
(2) existing technology, indoor navigation and the required each dvielement of location-based service, such as map, indoor particulate matter
Information, indoor positioning basic data etc., are acquired respectively by different equipment, and gatherer process is cumbersome, and collecting efficiency is low；
(3) above-mentioned each dvielement gatherer process does not accomplish that mobile acquisition, gatherer process lack accurate geographical location
With reference to the datamation degree in gatherer process and later stage is relatively low.
(4) gatherer process the degree of automation of ubiquitous received signals fingerprint library data is relatively low, gatherer process is cumbersome, time-consuming, is shadow
Ring the principal element of fingerprint matching indoor positioning technologies application popularization.
Solve the difficulty and meaning of above-mentioned technical problem：
Solve the difficulty of prior art problem：Indoor navigation and the required each dvielement of location-based service, such as map, interior
Space environment information, indoor positioning basic data etc., are acquired respectively by different equipment, can be same currently without integrated device
Step acquires all these data.In the exterior space, satellite positioning tech can be that traverse measurement system continuously provides Precision reference
Position, but satellite positioning tech is unavailable indoors so that traverse measurement system is indoors without accurate geographical labels, therefore
Map, physical environmental data and indoor ubiquitous location base data are difficult to acquire by traverse measurement mode, are adopted with improving data
The efficiency and the degree of automation of collection and processing, so that ubiquitous localization method and corresponding navigation and location-based service application are difficult to
It is acceptable to the market.
In conventional methods where, the essence of the levels of precision in fingerprint characteristic library and the geographical location label of fingerprint characteristic library training points
True degree is closely related；The accuracy in fingerprint characteristic library is improved, then requires the precision coordinate for knowing fingerprint base training reference point,
Space lacks effective means and goes to obtain the precision coordinate of reference point indoors so that deployment, maintenance, the update of entire positioning system
Time-consuming and laborious, cost increases.Therefore in conventional methods where, the levels of precision for improving fingerprint base and the cost of the system of reduction become one
To contradiction；
Solve the meaning that prior art problem is brought：Indoor navigation and the required each dvielement of location-based service, as map,
Indoor particulate matter information, indoor positioning basic data etc., the synchronous acquisition by way of mobile mapping are greatly improved and are adopted
Collect operating efficiency and data processing the degree of automation, reduce indoor navigation and location-based service application deployment, safeguard and it is newer at
This, improves efficiency, increases the availability of navigation and location-based service application.In fingerprint matching position fixing process, the sampling of fingerprint characteristic library
The levels of precision of the geographical location label of data determines the precision of positioning result；The gatherer process of fingerprint base data automates journey
It spends to the efficiency (such as the required acquisition time of unit area) of gatherer process and not influencing the related major function of the interior space
Normal operation is obviously improved the availability of this method, substantially reduces system deployment and actual motion so that open based on this method
Hair commercial systems for applications becomes practical, can be that market receives.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of multidimensional information synchronous acquisition, positioning and position clothes
Business apparatus and system and method.
The invention is realized in this way a kind of interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration
Data processing method, including：
(1) spatial position of the present apparatus during motion scan is independently determined using apparatus of the present invention scan data；
(2) it utilizes apparatus of the present invention scan data to reconstruct interior space geometry, generates navigation and location-based service application
It is required two-dimensionally or three-dimensionally to scheme；
(3) it utilizes apparatus of the present invention scan data to reconstruct interior space physical context information, and utilizes the space of the present apparatus
Position provides reference position for the environmental information of reconstruct；
(4) the ubiquitous positioning signal data of the interior space is acquired, and reconstructs ubiquitous positioning using the spatial position of the present apparatus and believes
The geographical distribution of number feature or the spatial position for calculating signal source build indoor positioning basic information database, for navigating and
Mobile phone or the position of other mobile devices are determined in location-based service application；
Other mobile devices include handheld mobile device, the wearable portable equipment of knapsack, mobile handcart equipment and autonomous shifting
Move the forms such as unmanned vehicle device.
Further, interior space physical context information includes environmental visual data and environmental physics attribute data, for weight
The vision and physical environment of the structure interior space.
Further, the data processing of the interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration
Method specifically includes：
Mobile mapping device is positioned over region to be surveyed and drawn by step 1, carries out sensor initializing operation；
Step 2 operates mobile mapping device of the present invention in region to be surveyed and drawn, and is surveyed and drawn to the interior space, record sensing
Device data；
Step 3, during mobile mapping, utilize built-in data processing software online processing data, determine mobile dress
The position set and operation track monitor the range and quality of mobile mapping data on-line, in display device visualization；
After the completion of step 4, part or all of operating area, data are uploaded to data processing computer；
The acquired data of step 5, processing, determine the location track in mapping operation process；
Step 6 generates interior space motion scan point cloud, generates the two and three dimensions map in surveyed and drawn region；
Step 7, the ubiquitous positioning signal data of processing, the location position data space position obtained with step 5 generates ubiquitous
The position in signal framing feature database or localizer beacon source is calculated for ubiquitous signal framing；
Step 5 is used in combination from extracting data relevant information in step 8, the vision of the synchronous mapping of processing and physical environmental data
Obtained location position data and information space position；
Step 9, output map, ubiquitous positioning signal feature or localizer beacon source position, vision and physical environment space
Information-hyperspace information data, for navigating and location-based service application.
It is same using the interior space multidimensional information of the multiple-sensor integration that another object of the present invention is to provide a kind of
The interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration of the data processing method of moved further plotting board,
The interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration includes：
Survey and draw sensor：For multidimensional space information in mobile mapping room, including：Laser scanner, depth camera, inertial navigation
Sensor, WiFi signal receiving module, Bluetooth signal receiving module, magnetic survey module, camera, is taken the photograph satellite navigation receiver
As head, infrared sensor；These sensors share power module, and suitable power supply is provided for each sensor by power supply circuit
Voltage and power.Laser scanner is connected by USB connecting lines or cable with data processing unit, is adaptively selected according to connector
It selects；Depth camera connects data processing unit by USB connecting lines；Inertial navigation sensor is by USB connecting lines and data processing unit
Connection；Satellite navigation receiver is connected by its proprietary data line with data processing unit；WiFi signal receiving module, bluetooth
Signal receiving module and magnetic survey module are integrated on specialized circuitry plate and are connected to micro-control unit, pass through micro-control unit
It is connect with data processing unit；Camera is connected by USB data line with data processing unit；Camera by USB data line with
Data processing unit is connected；Infrared sensor is connected by USB data line with data processing unit.These sensors are set by synchronizing
It is standby to be connected and time synchronization is carried out to sensing data.Different sensors is by microcontroller by data transmission calculation processing list
Member centralized processing.
Multisensor synchronizer：Time synchronization and the alignment of data are observed for multiple sensors；
Data processing unit：Sensing data is surveyed and drawn in integrated treatment, generates mobile mapping device self poisoning, map life
Data are generated at the location determination in, ubiquitous positioning signal feature extraction or localizer beacon source, vision and physical environment spatial information
Processing；Including built-in the first data processing module being installed on mobile mapping device and be installed on data processing computer the
Two data processing modules；
Mobile device holder：Spatial attitude and stability for maintaining built-in multisensor；
Calculation processing unit：Calculating for operation data processing unit；
Power supply：For mapping sensor, multisensor synchronizer, data processing unit, mobile device holder, calculation processing
Unit is powered；
Show equipment：The result calculated in real time when for visualizing mobile mapping；
Data record storage device：The data medium of record, storage mobile mapping.
It is same using the interior space multidimensional information of the multiple-sensor integration that another object of the present invention is to provide a kind of
The mobile device indoor navigation and position service system of the data processing method of moved further plotting board, in the mobile device room
Navigation and position service system include：
Mobile device：The user terminal of navigation and location-based service, the position of user is determined by positioning the terminal；
Indoor and outdoors map：For interior or cover the navigation and location-based service in indoor and outdoors space；
Indoor positioning and indoor and outdoor seamless positioning engine：Engine of positioning determines the position of mobile device user terminal；According to
Application scenarios, engine of positioning can space orientation indoors or indoors with exterior space seamless positioning；
Positioning terminal data acquisition module：Ubiquitous positioning signal, inertial sensor data etc. are acquired, for determining user's reality
When position；
Navigation and location-based service interest point data base：It is embedded in mobile device or background server navigation and location-based service
Background server, for provide navigation and location-based service data；
The background server of navigation and location-based service：For providing navigation map, operation engine of positioning, location base data
Library, space environment information data, interest point information data and the communication connection with user terminal mobile device；
Data record storage device：For recording, storing navigation, it is additionally operable to relevant map, positioning, point of interest and application
The location-based service of data.
Another object of the present invention is to provide the mobile device indoor navigations and position service system described in a kind of realize
Mobile device indoor navigation and position service method, the mobile device indoor navigation and position service method include：
Step 1: using the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration, by sensing more
The data processing method steps of the integrated interior space multidimensional information synchronizing moving plotting board of device, the synchronous acquisition interior space are more
Dimension data, including space geometry structured data, space physics environmental information data and indoor positioning basis of signals data；
Step 2: the data processing side of the interior space multidimensional information synchronizing moving plotting board according to multiple-sensor integration
Method step calculates the location track in mobile data gatherer process, and more using the interior space that the location position is acquired
Dimension data generates navigation and applies required map, interest point information, physical context information and ubiquitous positioning base with location-based service
Plinth data related data；
Step 3: the background server of deployment navigation and location-based service, configuration navigation and location-based service point of interest, environment are believed
The relevant data resource of database application is ceased, ubiquitous location base data are configured；
Step 4: in the ubiquitous positioning signal data acquisition module of mobile device user terminal disposition, foundation application scenarios,
User terminal or server end deployment indoor positioning engine or indoor and outdoor seamless positioning engine；Establish mobile device user terminal and
The communication connection of server, configuration data resource and computing resource between user terminal and background server；
Step 5: starting navigator fix and location-based service application；User is carried positioning terminal data acquisition module and is being moved
Dynamic space uses navigator fix and relevant location-based service application.
Another object of the present invention is to provide a kind of mobile device indoor navigation and position service methods realized
Indoor navigation based on mobile phone terminal is applied and location-based information service system.
Another object of the present invention is to provide a kind of mobile device indoor navigation and position service methods realized
Personnel positions monitoring system based on server.
Another object of the present invention is to provide a kind of interior space multidimensional information for realizing the multiple-sensor integration is same
The computer program of the data processing method of moved further plotting board.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation so that computer executes the interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration
Data processing method.
In conclusion advantages of the present invention and good effect are：
The present invention provides one kind to dispose for the large-scale interior space (such as market and airport), safeguard and update indoor navigation with
Device, system and the data processing method of location-based service application.The device is integrated with multiple sensors, passes through mobile synchronous mapping
Mode disposably acquire a variety of data of the interior space, including space geometry structured data, space physics environmental information data and
Indoor ubiquitous positioning signal basic data；By data processing, the position of device itself during mobile mapping is obtained, this is utilized
Position provides geo-location reference label for all data acquired；By data processing, generates indoor navigation and taken with position
Business application relevant data, including map, indoor particulate matter information, interest point information, indoor positioning basic data etc.；It utilizes
Indoor ubiquitous positioning signal basic data provides indoor positioning for terminal user's mobile device, forms a set of indoor navigation and position
It is served by system.
Therefore, the positive effect of the present invention has：
(1) integral collecting of multidimensional data improves the efficiency of data acquisition and processing (DAP), reduce on-site data gathering when
Between and human cost.As shown in table 1, the time of on-site data gathering and processing is reduced into the 1/20 of conventional method.
(2) precision and consistency of data processing are improved.As shown in table 1, data different in conventional method use
Equipment is different, and acquisition method is inconsistent, causes the coordinate system of different type or the data of distinct device inconsistent, data precision
Also inconsistent, reduce the quality of location-based service.The method of the present invention has invented multidimensional data collecting device, different types of data
Synchronous acquisition using unified coordinate system, and has high precision position coordinate.
(3) timeliness of position service system deployment is improved.Using the present invention, collected in service system from data
Line can be completed at 4 hours, this to dispose the position service system of timeliness sensitive (such as provisional exhibition arranged exhibits) at
It is possible.
Terminal user's mobile device includes mobile phone, tablet computer, bracelet or other mobile terminals.The present invention provides a set of
The interior space is navigated and location-based service Applications construct, deployment, maintenance and newer complete skill solution, and this programme is with movement
The mode of mapping improves field operation efficiency, has high availability, system data acquisition, applicating maintenance and newer at low cost.
Table 1. is by taking the 10000 square meter interior spaces as an example, the map datum, environmental data needed for location-based service and ubiquitous positioning letter
Number acquires and processing time, data precision comparison (being calculated for 8 hours with darg).
Description of the drawings
Fig. 1 is that the interior space multidimensional information of multiple-sensor integration provided in an embodiment of the present invention the more sensor integration is same
Moved further plotting board schematic diagram.
Fig. 2 is mobile device indoor navigation provided in an embodiment of the present invention and location-based service side
Method method flow chart.
Fig. 3 is that the interior space multidimensional information provided in an embodiment of the present invention based on the interior space the more sensor integration is same
The ubiquitous signal indoor positioning method flow diagram of moved further plotting board.
Fig. 4 is that the SLAM systems provided in an embodiment of the present invention formed to single line laser scanner carry out accuracy assessment, most
Precision evaluation result figure afterwards.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Synchronous acquisition of the present invention simultaneously generates the multidimensional information data needed for indoor navigation and location-based service, including navigation and position
Set the ubiquitous positioning signal number needed for service map, indoor particulate matter information and its geo-location reference and indoor positioning
According to and its geographical location mark, reconstruct ubiquitous positioning signal feature geographical distribution or calculate signal source spatial position, structure
Indoor ubiquitous positioning basic information database provides a set of towards mobile phone or the navigation of other mobile device interior spaces and position
It is served by construction, deployment, maintenance and newer complete skill solution.The present invention is carried with the technology and methods of mobile mapping
Height navigation and location-based service data collection site operating efficiency, have high availability, significantly reduce data acquisition, applicating maintenance and
Newer cost.
One, with reference to multiple-sensor integration interior space multidimensional information synchronizing moving plotting board to the present invention make into
One step describes.
Fig. 1 is that the interior space multidimensional information of multiple-sensor integration provided in an embodiment of the present invention the more sensor integration is same
Moved further plotting board, including：
Survey and draw sensor：For multidimensional space information in mobile mapping room, including following all sensors or part sense
The arbitrary combination of device：Laser scanner, depth camera, inertial navigation sensor, satellite navigation receiver, WiFi signal receiving module,
Bluetooth signal receiving module, magnetic survey module, camera, camera, infrared sensor；
Multisensor synchronizer and software：At synchronizer and corresponding data between above-mentioned a variety of mapping sensors
Software is managed, the time synchronization for multiple sensors observation data and alignment；
Data processing software：The above-mentioned mapping sensing data of integrated treatment generates mobile mapping device self poisoning, map
Generation, the location determination of ubiquitous positioning signal feature extraction or localizer beacon source, vision and the generation of physical environment spatial information etc.
Data processing；Data processing software includes the built-in software being installed on mobile mapping device and is installed on data processing computer
Software two parts；
Mobile device holder：For maintain mobile mapping device of the present invention some or all of built-in sensor space
Posture and stability；
Calculation processing unit：Computing unit for running above-mentioned data processing software and synchronizing software；
Power supply：For the power supply of mobile mapping device power supply；
Show equipment：The display equipment of mobile mapping device, the result calculated in real time when for visualizing mobile mapping；
Data record storage device：The data medium of record, storage mobile mapping.
Further include：
Synchronous scanning interior space multidimensional information, including space geometry structure, space environment information and ubiquitous positioning signal
It combines the part of data or these data.These data are for reconstructing interior space geometry, interior space physical environment letter
Breath, generation are two-dimensionally or three-dimensionally schemed, and indoor positioning basic information database is built, for navigating and location-based service application.
The device is integrated with multiple sensors, includes the combination of following all sensors or operative sensor：Laser scanning
Instrument, depth camera, inertial navigation sensor, satellite navigation receiver, WiFi signal receiving module, Bluetooth signal receiving module, earth magnetism
Measurement module, camera, video camera, infrared sensor.
The device utilizes its own integrated sensing data, and the device itself is determined in a manner of real-time or post-processing
Position in mobile data gatherer process is included in the two-dimensional position of horizontal plane, the height of vertical direction and space three-dimensional position
It sets, no matter the coordinate system of these positions defines.
The device acquires the ubiquitous positioning signal data of the interior space in moving process, is marked using the position of the device itself
These fixed ubiquitous positioning signal datas reconstruct the geographical distribution of ubiquitous positioning signal feature or calculate the spatial position of signal source,
Indoor positioning basic information database is built, for navigating and determining mobile phone or the position of other mobile devices in location-based service application
It sets.
The device acquires a variety of data and describes interior space geometry, utilizes these skies of the device location position of itself
Between geometric data, reconstruct interior space threedimensional model or generate interior space map, for navigate and location-based service answer
With.Map form includes two dimensional surface map and three-dimensional map.
The device acquires space physics environmental information data, utilizes described these spaces of the device location position of itself
Environmental data, including environmental visual data and environmental physics attribute data, reconstruct the vision and physical environment of the interior space.
The form of the device includes handheld device, the wearable portable equipment such as knapsack, mobile handcart equipment and autonomous
Unmanned vehicle device etc..
The device can work in the interior space, can also work in the exterior space, and the external space carries out seamless integration indoors
Multidimensional space information synchronizing moving is surveyed and drawn.
Two, with reference to the data processing side of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration
The invention will be further described for method.
The number of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration provided in an embodiment of the present invention
According to processing method, including：
Mobile mapping device of the present invention is positioned over region to be surveyed and drawn by step 1, carries out sensor initializing operation；
Step 2 operates mobile mapping device of the present invention in region to be surveyed and drawn, and is surveyed and drawn to the interior space, record sensing
Device data；
Step 3, during mobile mapping, the data processing software online processing data built in apparatus of the present invention, determine
The position of mobile device and operation track etc. monitor the range and quality of mobile mapping data on-line, in display device visualization；
After the completion of step 4, part or all of operating area, data are uploaded to data processing computer；
The acquired data of step 5, processing determine the location track in mobile device mapping operation process；
Step 6 generates interior space motion scan point cloud, generates the two and three dimensions map in surveyed and drawn region；
Step 7, the ubiquitous positioning signal data of processing are that these data scalings are empty with the mobile device position that step 5 obtains
Between position, generate the position in ubiquitous signal framing feature database or localizer beacon source, for ubiquitous signal framing calculate；
Step 5 is used in combination from extracting data relevant information in step 8, the vision of the synchronous mapping of processing and physical environmental data
Obtained mobile device position is that these data and information demarcate spatial position；
Step 9, position, vision and the physical environment for exporting positioning, map, ubiquitous positioning signal feature or localizer beacon source
The multidimensional space informations data such as spatial information, for navigating and location-based service application.
Three, with reference to mobile device indoor navigation and position service method, the invention will be further described.
Mobile device indoor navigation provided in an embodiment of the present invention and position service method, using described based on Interior Space
Between multidimensional information synchronizing moving plotting board fast and efficiently gathered data structure indoor map data, space environment data
With mobile device indoor orientation method, indoor navigation, indoor and outdoors seamless navigation and location based service are provided.
According to specific application scenarios, navigator fix and location-based service can be deployed in mobile device end, can also dispose
In server end.
Such as Fig. 2, mobile device indoor navigation provided in an embodiment of the present invention and position service method flow chart.
Mobile device indoor navigation provided in an embodiment of the present invention and position service method, including：
Step 1, the interior space multidimensional information synchronizing moving plotting board using the more sensor integration, by sensing more
Step described in the data processing method of the integrated interior space multidimensional information synchronizing moving plotting board of device, synchronous acquisition Interior Space
Between multidimensional data, including space geometry structured data, space physics environmental information data and indoor positioning basis of signals data.Such as
Fruit related application does not need certain data or certain data and can be obtained by other approach, this step can not acquire these
Data.
Step 2, according to multiple-sensor integration interior space multidimensional information synchronizing moving plotting board data processing side
Step described in method, location track of the computing device in mobile data gatherer process, and the room acquired using the location position
Interior Spatial Multi-Dimensional data generate navigation and apply required map, interest point information, physical context information and general with location-based service
In related datas such as location base data.If related application does not need certain data or certain data can be by other ways
Diameter obtains, this step can not acquire these data.
The background server that step 3, deployment are navigated with location-based service, configuration navigation and location-based service point of interest, environment letter
It ceases database and applies relevant data resource, configure ubiquitous location base data.
Step 4, in the ubiquitous positioning signal data acquisition module of mobile device user terminal disposition, set according to application scenarios
Meter, in user terminal or server end deployment indoor positioning engine or indoor and outdoor seamless positioning engine.Establish mobile device user
The communication connection of terminal and server, reasonable disposition data resource and computing resource between user terminal and background server.
Step 5 starts navigator fix and location-based service application.User is carried positioning terminal data acquisition module and is being moved
Space uses navigator fix and relevant location-based service application.
Four, survey and draw dress with reference to the interior space multidimensional information synchronizing moving based on the interior space the more sensor integration
The invention will be further described for the ubiquitous signal indoor orientation method set.
As shown in figure 3, the interior space multidimensional provided in an embodiment of the present invention based on the interior space the more sensor integration
The ubiquitous signal indoor orientation method of synchronizing information mobile mapping device,
Using it is described based on interior space multidimensional information synchronizing moving plotting board fast and efficiently gathered data build
Indoor positioning basic information database and mobile device acquisition ubiquitous location information, determine the position of mobile device.
Suitable for mobile device, including but not limited to：Mobile phone, tablet computer, laptop, personal digital assistant terminal
Or other kinds of mobile device.
Interior space multidimensional information provided in an embodiment of the present invention based on the interior space the more sensor integration, which synchronizes, moves
The mobile device indoor orientation method of dynamic plotting board, indoor positioning are merged with outdoor positionings Integration ofTechnologies such as satellite navigations, energy
Enough carry out indoor and outdoors region seamless positioning.
Five, with reference to mobile device indoor navigation and position service system, the invention will be further described.
Mobile device indoor navigation provided in an embodiment of the present invention and position service system, including consisting of part：
Mobile device：Navigation and the user terminal of location-based service, system by position the terminal so that it is determined that user position
It sets.
Indoor and outdoors map：The map of navigation and location-based service application can be only indoor according to concrete application scene
Map can also be the aggregate map for covering indoor and outdoors space.
Indoor positioning and indoor and outdoor seamless positioning engine：Engine of positioning determines the position of mobile device user terminal.According to
Concrete application scene, engine of positioning can only space orientation indoors, can also indoors with exterior space seamless positioning.
Indoor particulate matter information data：Relevant space environment information data and space are applied with navigation and location-based service
Attribute data.
Positioning terminal data acquisition module：Ubiquitous positioning signal, inertial sensor data etc. are acquired in positioning stage, is used for
Determine user's real time position.
Navigation and location-based service interest point data base：Relevant interest point data base is applied with navigation and location-based service.It should
Database can reside in mobile device, can also exist on background server.
The background server of navigation and location-based service：The server of background support is provided for navigation and location-based service application,
Its function includes but not limited to provide navigation map, operation engine of positioning, provides location base database, provides space environment letter
Data are ceased, interest point information data are provided, using other relevant server capabilities, and it is logical with user terminal mobile device
Letter connection.
Mobile device is communicated to connect with background server：The communication connection of mobile device and background server.
Data record storage device：Record, storage navigation with location-based service using relevant map, positioning, point of interest and
Using data medium.
Six, with reference to mobile device indoor navigation and location-based service application system, application system makees into one the present invention
Step description.
Mobile device indoor navigation and location-based service application system provided in an embodiment of the present invention, the form packet of application system
It includes：
1) the application form centered on Client mobile devices, such as the indoor navigation based on mobile phone terminal are applied and are based on
The information service of position；
2) the application form centered on network server end, such as the monitoring application of the personnel positions based on server
Seven, with reference to specific embodiment, the invention will be further described.
Below by taking the intelligent shopping guide for developing market is applied as an example, description is provided by the invention to be disposed for the large-scale interior space,
It safeguards and use and data processing method and market intelligent shopping guide of the update indoor navigation with the device of location-based service application is answered
With the development process of system.
The interior space scale of construction is big in the environment of market, and flow of the people is more, has very big demand to indoor navigation shopping guide's location-based service.Quotient
The often variation such as shopping environment, layout of field, needs the space environment periodically or non-periodically to market to be scanned, it is ensured that navigation
Map, point of interest and markck space environmental information of shopping guide's location-based service etc. are newest and effective.
It is acquired data in market and maintenance, update navigation shopping guide's location-based service application need to meet two requirements：
1) data acquire, safeguard that renewal process cannot influence the normal business in market；2) apparatus used in present operation process
Human body the staff and customer of market (this example include) cannot be damaged or be interfered.Otherwise, correlation will be substantially reduced
The availability of device and technology and the possibility received by user's (being market network operator in this example).
Device provided by the invention integrates multiple sensors, including depth camera, optics RGB camera, inertial navigation and
WiFi signal acquisition module separately has micro-control unit to execute the time synchronizing between embedding assembly and different sensors.
After determination will establish the market interior space of navigation and location-based service application, reconnaissance trip is carried out, according to Interior Space
Between topological structure planning indoors data acquisition path.Then, an operating personnel hold apparatus of the present invention, along planning
Good path walking, synchronous acquisition multiple sensors data.Micro-control unit built in apparatus of the present invention handles depth phase in real time
Machine and inertial navigation sensors data, synchronous positioning and mapping (SLAM) algorithm software of the operation based on depth camera point cloud are raw
At and visualize walked track.The other sensors data of the acquisition of present apparatus pretreatment simultaneously, by time synchronization, for not
Data with sensor add geographical location label.In this way, operating personnel can real time inspection difference during acquiring at the scene
Sensing data is in the status information of different spatial positions, such as the shape of WiFi signal that is acquired in different spatial
State, and judge whether the ubiquitous positioning signal basic data quality of WiFi that each position is acquired meets the requirements, reduce post-processing
It was found that the requirement of the repetition measurement of doing over again again when the quality of data is bad.
After the completion of on-site data gathering, by data everywhere to data processing computer from apparatus of the present invention, to data into
Row pretreatment runs synchronous positioning and mapping (SLAM) algorithm software, synchronizes positioning and is calculated with mapping post-processing, it is fixed to improve
The precision, integrality and reliability of position and mapping, and added as the data of different sensors using position when new mobile data acquisition
Add geographical location label.According to the sensing data of device acquisition and corresponding geographical location label, generate corresponding navigation with
Location-based service application data such as generate indoor map from depth camera point cloud, generate interior space panorama from optical camera picture
Figure or the point of interest location (retail shop of such as a certain brand) and indoor particulate matter information that are extracted from picture, from WiFi module
Data generate ubiquitous positioning signal basic data feature databases of WiFi etc..
Corresponding navigation is generated with after location-based service application data, corresponding application-dependent data library server is established and is
System.Using mobile phone as platform, mall shopping location-based service application is developed, it is established that the data of cell-phone customer terminal and server end connect
It connects, real-time Communication for Power obtains or update related service related data.Cell-phone customer terminal acquires quotient using the WiFi module built in mobile phone
The WiFi signal data in field space acquire with apparatus of the present invention and pass through the ubiquitous positioning signal basic datas of WiFi that processing generates
Feature database is fingerprint base, using the principle of fingerprint matching, determines mobile phone and the current location of user.It is with the current location of user
Basis provides user's mall navigation, shopping guide and location-based service.For example, using the service, shopper can be found that he or she oneself
The position at place, it is ensured that do not get lost in market shopping, and the position is shared with his or her companion；Shopper can be found that
The commodity of certain brand, and shopper is directed to the position where the commodity by passage path guiding function；Businessman can according to
The shopping preferences at family targetedly push the information of dependent merchandise when shopper is located at some regions to shopper, realize
Precision marketing.
With reference to specific effect, the invention will be further described.
As the real example of the present invention, the present invention is integrated with laser scanner, IMU sensors and cell phone platform.These
Sensor or equipment are fixed on the same hardware platform, and the data of different sensors are integrated by time synchronization, are being moved through
The data for acquiring different sensors in journey simultaneously are handled.Therefore, mobile laser is carried out when operator holds present aspect device
When scanning is completed, other types data are also completed to acquire, only need to be with the result of SLAM to data without carrying out secondary acquisition operation
Demarcate position.
Wherein, laser scanner and IMU are combined to complete to synchronize to position and be handled with mapping (SLAM), obtain the point of the interior space
Cloud data, for generating indoor map；Location track during motion scan is obtained simultaneously, passes through time synchronization, the position
It sets track and is used for demarcating the fixed ubiquitous signal data of mobile phone on a mobile platform.
The present invention carries out accuracy assessment to the SLAM systems that single line laser scanner forms, and last precision evaluation result is such as
Shown in Fig. 4.The results show that the SLAM absolute fix precision of the present invention is better than 10 centimetres.It is that mobile phone is adopted with the positioning result of SLAM
The ubiquitous positioning signal of collection carries out location position, and precision is also superior to 10 centimetres.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or its arbitrary combination real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Flow described in the embodiment of the present invention or function.The computer can be all-purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction can store in a computer-readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer read/write memory medium can be that any usable medium that computer can access either includes one
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of data processing method of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration, feature
It is, the data processing method of the interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration includes：
(1) scan data is utilized independently to determine the spatial position during motion scan；
(2) utilize scan data reconstruct interior space geometry, generate navigation and location-based service using it is required two dimension or
Three-dimensional map；
(3) it utilizes scan data to reconstruct interior space physical context information, and is carried using the environmental information that spatial position is reconstruct
Position for reference；
(4) the ubiquitous positioning signal data of the interior space is acquired, and reconstructs the geography of ubiquitous positioning signal feature using spatial position
Distribution or the spatial position for calculating signal source build indoor positioning basic information database, for navigation and location-based service application
The position of middle determining mobile phone or other mobile devices；Wherein, other mobile devices include that handheld mobile device, knapsack are wearable just
Take equipment, mobile handcart equipment and the unmanned vehicle device of autonomous.
2. the data processing of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration as described in claim 1
Method, which is characterized in that interior space physical context information includes environmental visual data and environmental physics attribute data, for weight
The vision and physical environment of the structure interior space.
3. at the data of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration as described in claim 1
Reason method, which is characterized in that the data of the interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration
Processing method specifically includes：
Mobile mapping device is positioned over region to be surveyed and drawn by step 1, carries out sensor initializing operation；
Step 2 operates mobile mapping device of the present invention in region to be surveyed and drawn, and is surveyed and drawn to the interior space, records sensor number
According to；
Step 3, during mobile mapping, using built-in data processing software online processing data, determine mobile device
Position and operation track monitor the range and quality of mobile mapping data on-line, in display device visualization；
After the completion of step 4, part or all of operating area, data are uploaded to data processing computer；
The acquired data of step 5, processing, determine the location track in mapping operation process；
Step 6 generates interior space motion scan point cloud, generates the two and three dimensions map in surveyed and drawn region；
Step 7, the ubiquitous positioning signal data of processing, the location position data space position obtained with step 5 generates ubiquitous signal
The position in location feature library or localizer beacon source is calculated for ubiquitous signal framing；
Step 8, the vision of the synchronous mapping of processing and physical environmental data are used in combination step 5 to obtain from extracting data relevant information
Location position data and information space position；
Step 9, output map, ubiquitous positioning signal feature or localizer beacon source position, vision and physical environment spatial information
Multidimensional space information data, for navigating and location-based service application.
4. a kind of number of interior space multidimensional information synchronizing moving plotting board using multiple-sensor integration described in claim 1
According to the interior space multidimensional information synchronizing moving plotting board of the multiple-sensor integration of processing method, which is characterized in that described more
The interior space multidimensional information synchronizing moving plotting board of sensor integration includes：
Survey and draw sensor：For multidimensional space information in mobile mapping room, including：Laser scanner, depth camera, inertial navigation sensing
Device, satellite navigation receiver, WiFi signal receiving module, Bluetooth signal receiving module, magnetic survey module, camera, camera,
Infrared sensor；
Multisensor synchronizer：Time synchronization and the alignment of data are observed for multiple sensors；
Data processing unit：Sensing data is surveyed and drawn in integrated treatment, generates mobile mapping device self poisoning, map generates, is general
Data processing is generated in the location determination in positioning signal feature extraction or localizer beacon source, vision and physical environment spatial information；
Including built-in the first data processing module being installed on mobile mapping device and the second number being installed on data processing computer
According to processing module；
Mobile device holder：Spatial attitude and stability for maintaining built-in multisensor；
Calculation processing unit：Calculating for operation data processing unit；
Power supply：For mapping sensor, multisensor synchronizer, data processing unit, mobile device holder, calculation processing unit
Power supply；
Show equipment：The result calculated in real time when for visualizing mobile mapping；
Data record storage device：The data medium of record, storage mobile mapping.
5. a kind of number of interior space multidimensional information synchronizing moving plotting board using multiple-sensor integration described in claim 1
According to the mobile device indoor navigation and position service system of processing method, which is characterized in that the mobile device indoor navigation and
Position service system includes：
Mobile device：The user terminal of navigation and location-based service, the position of user is determined by positioning the terminal；
Indoor and outdoors map：For interior or cover the navigation and location-based service in indoor and outdoors space；
Indoor positioning and indoor and outdoor seamless positioning engine：Engine of positioning determines the position of mobile device user terminal；According to application
Scene, engine of positioning can space orientation indoors or indoors with exterior space seamless positioning；
Positioning terminal data acquisition module：Ubiquitous positioning signal, inertial sensor data etc. are acquired, for determining the real-time position of user
It sets；
Navigation and location-based service interest point data base：It is embedded in after mobile device or background server navigation and location-based service
Platform server, for providing navigation and location-based service data；
The background server of navigation and location-based service：For provide navigation map, operation engine of positioning, location base database,
Space environment information data, interest point information data and the communication connection with user terminal mobile device；
Data record storage device：For recording, storing navigation, being additionally operable to relevant map, positioning, point of interest and applying data
Location-based service.
6. a kind of mobile device indoor navigation for the mobile device indoor navigation and position service system realized described in claim 5
And position service method, which is characterized in that the mobile device indoor navigation and position service method include：
Step 1: using the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration, pass through multisensor collection
At interior space multidimensional information synchronizing moving plotting board data processing method steps, synchronous acquisition interior space multidimensional number
According to, including space geometry structured data, space physics environmental information data and indoor positioning basis of signals data；
Step 2: being walked according to the data processing method of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration
Suddenly, the location track in mobile data gatherer process, and the interior space multidimensional number acquired using the location position are calculated
According to generation navigation applies required map, interest point information, physical context information and ubiquitous location base number with location-based service
According to related data；
Step 3: the background server of deployment navigation and location-based service, configuration navigation and location-based service point of interest, environmental information number
Relevant data resource is applied according to library, configures ubiquitous location base data；
Step 4: in the ubiquitous positioning signal data acquisition module of mobile device user terminal disposition, according to application scenarios, in user
Terminal or server end deployment indoor positioning engine or indoor and outdoor seamless positioning engine；Establish mobile device user terminal and service
The communication connection of device, configuration data resource and computing resource between user terminal and background server；
Step 5: starting navigator fix and location-based service application；User carries positioning terminal data acquisition module and is moving sky
Between use navigator fix and relevant location-based service application.
7. a kind of realizing that the interior based on mobile phone terminal of mobile device indoor navigation and position service method described in claim 6 is led
Boat application and location-based information service system.
8. a kind of personnel position based on server for realizing mobile device indoor navigation and position service method described in claim 6
Set monitoring system.
9. a kind of number of interior space multidimensional information synchronizing moving plotting board that realizing multiple-sensor integration described in claim 1
According to the computer program of processing method.
10. a kind of computer readable storage medium, including instruction, when run on a computer so that computer executes such as
The data processing method of the interior space multidimensional information synchronizing moving plotting board of multiple-sensor integration described in claim 1.
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| PCT/CN2018/095247 WO2019232887A1 (en) | 2018-06-08 | 2018-07-11 | Multi-dimensional information synchronous acquiring, positioning, and position service apparatus as well as system and method |
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