Indoor navigation method and system taking obstacles and subspace partitioning into consideration

An indoor navigation and obstacle technology, applied in the field of indoor navigation, can solve the problems of complex route description and interpretation

Active Publication Date: 2016-12-07
BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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Problems solved by technology

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  • Indoor navigation method and system taking obstacles and subspace partitioning into consideration
  • Indoor navigation method and system taking obstacles and subspace partitioning into consideration
  • Indoor navigation method and system taking obstacles and subspace partitioning into consideration

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Embodiment Construction

[0056] 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 only some embodiments of the present invention, but not all embodiments. 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.

[0057] figure 1 It shows a schematic flowchart of an indoor navigation method considering obstacles and subspace subdivision provided by an embodiment of the present invention, as shown in figure 1 As shown, the indoor navigation method of this embodiment considering obstacles and subspace subdivision includes the following steps 101-105:

[005...

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Abstract

The invention provides an indoor navigation method and system taking into consideration obstacles and subspace partitioning. The method comprises the following steps: acquiring an indoor simplified diagram of a target area by processing an original indoor diagram of the target area according to the indoor layout of obstacles and non-obstacles in the target area; constructing an irregular triangular network model by performing Delaunay triangulation on an indoor space with obstacles in the indoor simplified diagram; constructing an indoor path network diagram by selecting feature points of each triangle in the irregular triangular network model; optimizing the indoor path network diagram according to preset restrictive conditions; and calculating the shortest path between a preset starting point and an end point in the optimized indoor path network diagram by utilizing a Dijkstra algorithm. According to the method provided by the invention, the searching of the shortest path taking the obstacles into consideration is realized, the generated path does not pass through the obstacles and does not bend, irregular objects in a concave space can be treated, and the non-visible situation can be effectively treated.

Description

technical field [0001] The present invention relates to the technical field of indoor navigation, in particular to an indoor navigation method and system considering obstacles and subspace subdivision. Background technique [0002] At present, the positioning problem in outdoor environment has been solved, because it is possible to obtain a large amount of road network data sets with technologies such as GPS global positioning and remote sensing and photogrammetry. Mobile phones and cars are equipped with navigation systems, which are mature outdoor navigation fields. Its principle mainly uses GPS positioning, uses navigation electronic map to guide, and combines relevant navigation software to complete navigation services. However, GPS cannot locate indoors, mainly through wireless signals such as WiFi and Bluetooth for indoor positioning. As urbanization accelerates, and public buildings such as shopping malls, airports, and concert halls become larger and more complex, ...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 危双丰徐曼黄明
Owner BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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