Indoor and outdoor integrated positioning system and method

Abstract

The indoor and outdoor integrated positioning system and method of the present invention relate to the field of positioning technology. By creating a map on a cloud server and setting the buildings in the map as 3D maps, GPS positioning is used outdoors. When entering the indoor area, inertial navigation devices are combined with the map for positioning to achieve indoor positioning, solving the problem of how to achieve indoor and outdoor integrated positioning. At the same time, during indoor navigation, a 3D map of the building to be entered can be created on-site through a mobile device, thus realizing indoor navigation and solving the problem that existing indoor positioning cannot start quickly. Since inertial navigation devices are combined with the map for positioning, only the position of the inertial navigation coordinate system in the map needs to be ensured. Therefore, only an inertial navigation starting coordinate positioning pad is needed for assistance, avoiding the problem that positioning cannot be achieved when indoor positioning devices are damaged. The present invention is applicable to indoor and outdoor integrated positioning.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and particularly to an indoor and outdoor integrated positioning system and method. Background Art

[0002] With the development of the times, in the past three decades, global satellite navigation systems represented by GPS have reshaped human life and become an important technological milestone in modern society. From map navigation to social networks, location services play a key role. More and more skyscrapers, shopping malls, transportation hubs, stadiums, and medical centers are becoming new city landmarks. Without exception, these modern large buildings have a huge amount of indoor space.

[0003] The widespread use of smartphones and other wireless devices has directly detonated the market demand for indoor location data. However, due to non-line-of-sight communication problems, GPS cannot provide reliable location data under indoor conditions. Therefore, how to combine indoor and outdoor positioning is becoming a hot field in academic research and industrial applications.

[0004] Existing indoor positioning basically requires additional devices to be deployed indoors, and the project cost is generally high. Secondly, indoor positioning cannot quickly create indoor buildings and start indoor positioning, and it cannot function in the case of relatively urgent emergency rescue and disaster relief for buildings without prior deployment of positioning solutions, or problems with indoor positioning may also occur if some indoor positioning devices are damaged in case of emergencies. Summary of the Invention

[0005] The technical problems solved by the present invention: Provide an indoor and outdoor integrated positioning system and method to solve the problem of how to achieve indoor and outdoor integrated positioning, and at the same time solve the problems that existing indoor positioning cannot start quickly and positioning cannot be achieved when indoor positioning devices are damaged.

[0006] The technical solution adopted by the present invention to solve the above technical problems: The indoor and outdoor integrated positioning system includes a cloud server, a mobile device, an inertial navigation device, and an inertial navigation starting positioning pad;

[0007] The cloud server is used to create a map, and the buildings in the map are 3D maps, and the 3D maps are used for indoor positioning;

[0008] The inertial navigation device is used to record the movement information of the inertial navigation device; and send the movement information to the mobile device wirelessly;

[0009] The inertial navigation starting positioning pad is installed in the building, and the position of the inertial navigation starting positioning pad in the building corresponds to the position in the map, and is used to determine the position of the inertial navigation coordinate system in the map;

[0010] The mobile device has a GPS positioning function and can be connected to a cloud server through a network to obtain map information and display its own position on the map.

[0011] Furthermore, there are two inertial navigation starting coordinate pads. One of them serves as the origin of the inertial navigation coordinate system, and the line connecting it to the other one serves as a coordinate direction of the inertial navigation, thereby establishing an inertial navigation coordinate system. The position of the established inertial navigation coordinate system on the map is determined by the positional relationship between the two inertial navigation starting coordinate pads.

[0012] Furthermore, the movement information includes direction, distance, and altitude.

[0013] Furthermore, the wireless method is Bluetooth.

[0014] Furthermore, the inertial navigation device is installed in the user's insole.

[0015] Furthermore, the mobile device also has the function of creating a 3D building map, and sends the created 3D building map and its position to the cloud server, and the cloud server receives and replaces the corresponding position in the original map.

[0016] Furthermore, the method for establishing the 3D map includes the following steps:

[0017] S01. Create the base contour of the building on the map;

[0018] S02. Set the floor height and the number of floors of the building;

[0019] S03. Based on the base contour, generate a 3D map with the said floor height and number of floors.

[0020] Furthermore, the floor height of the 3D map in step S03 is enlarged or reduced proportionally.

[0021] Furthermore, the floors in the 3D map in step S03 are distinguished by colors.

[0022] The indoor-outdoor integrated positioning method includes the following steps:

[0023] S11. When the user is outdoors, i.e., for outdoor positioning, perform GPS positioning through the mobile device;

[0024] S12. When the user enters the building, i.e., switch to indoor positioning, use the inertial navigation device for positioning.

[0025] Advantages of the present invention: The indoor and outdoor integrated positioning system and method of the present invention create a map on a cloud server, set the buildings in the map as 3D maps, use GPS for positioning outdoors, and when entering the indoor area, use an inertial navigation device in combination with the map for positioning to achieve indoor positioning, solving the problem of how to achieve indoor and outdoor integrated positioning. At the same time, during indoor navigation, a 3D map of the building to be entered can be created on-site through a mobile device, enabling indoor navigation and solving the problem that existing indoor positioning cannot start quickly. Since the inertial navigation device is combined with the map for positioning, only the position of the inertial navigation coordinate system in the map needs to be ensured, so only an inertial navigation starting coordinate positioning pad is used for assistance, avoiding the problem that positioning cannot be achieved when the indoor positioning device is damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Attached Figure 1 is a schematic diagram of the building 3D map establishment process in the indoor and outdoor integrated positioning system and method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The indoor and outdoor integrated positioning system of the present invention includes a cloud server, a mobile device, an inertial navigation device, and an inertial navigation starting positioning pad;

[0028] The cloud server is used to create a map, the buildings in the map are 3D maps, and the 3D maps are used for indoor positioning;

[0029] Specifically, the method for establishing the 3D map, as shown in the attached Figure 1 figure, includes the following steps:

[0030] S01. Create the base outline of the building on the map;

[0031] S02. Set the floor height and number of floors of the building;

[0032] S03. Based on the base outline, generate a 3D map with the floor height and number of floors.

[0033] In addition, when establishing the 3D map, to improve the overall display effect of the map, the floor height of the building is enlarged or reduced proportionally, and different floors are distinguished by different colors.

[0034] The inertial navigation device is used to record the movement information of the inertial navigation device; and send the movement information to the mobile device wirelessly;

[0035] Specifically, the movement information includes direction, distance, and height; the wireless method is Bluetooth; the inertial navigation device is installed in the user's insole.

[0036] The inertial navigation starting positioning pad is installed inside a building. The position of the inertial navigation starting positioning pad in the building corresponds to its position in the map, and is used to determine the position of the inertial navigation coordinate system in the map.

[0037] Specifically, there are two inertial navigation starting coordinate pads. One of them serves as the origin of the inertial navigation coordinate system, and the line connecting it to the other one serves as a coordinate direction of the inertial navigation, thereby establishing an inertial navigation coordinate system. The position of the established inertial navigation coordinate system in the map is determined by the positional relationship between the two inertial navigation starting coordinate pads. Additionally, the inertial navigation starting coordinate pads also have magnetic fields, and the magnetic fields of the two inertial navigation starting coordinate pads are different. Since the inertial navigation device is installed in the user's insole, when the user steps on the first inertial navigation starting coordinate pad, the inertial navigation device identifies the first inertial navigation starting coordinate pad through the magnetic field. When the user steps on the second inertial navigation starting coordinate pad, the inertial navigation device identifies the second inertial navigation starting coordinate pad through the magnetic field, and takes the second inertial navigation starting coordinate pad as the coordinate origin, with the line connecting the two inertial navigation device starting coordinate pads as the X-axis to establish an inertial navigation coordinate system. The positions of the two inertial navigation device starting coordinate pads in the building are consistent with their positions in the map, which can ensure that the movement information recorded by the inertial navigation device can be corresponding to the map, thereby realizing the display of accurate position information in the 3D map of the building on the map.

[0038] The mobile device has a GPS positioning function and can be connected to the cloud server through the network to obtain map information and display its own position in the map.

[0039] Specifically, when the user is indoors, it can accurately display the specific position of the user in the 3D building, such as which floor of the building and the planar coordinate position.

[0040] Specifically, the mobile device also has the function of creating a 3D building map, and sends the created 3D building map and position to the cloud server, and the cloud server receives and replaces the corresponding position in the original map.

[0041] The indoor-outdoor integrated positioning method includes the following steps:

[0042] S11. When the user is outdoors, i.e., outdoor positioning, perform GPS positioning through the mobile device.

[0043] S12. When the user enters the building, i.e., switch to indoor positioning, use the inertial navigation device for positioning.

[0044] Specifically, when the inertial navigation device identifies the second inertial navigation device starting coordinate pad, the positioning method is automatically switched.

Claims

1. An indoor and outdoor integrated positioning system, characterized in that It includes a cloud server, a mobile device, an inertial navigation device, and an inertial navigation starting positioning pad; The cloud server is used to create a map, where the buildings in the map are 3D maps for indoor positioning; The inertial navigation device is used to record the movement information of the inertial navigation device and send the movement information to the mobile device wirelessly; The inertial navigation starting positioning pad is installed in the building. The position of the inertial navigation starting positioning pad in the building corresponds to its position in the map, and is used to determine the position of the inertial navigation coordinate system in the map. There are two inertial navigation starting positioning pads. The inertial navigation device identifies the two inertial navigation starting positioning pads through magnetic fields. One of them is used as the origin of the inertial navigation coordinate system, and the line connecting it with the other is used as a coordinate direction of the inertial navigation, thereby establishing an inertial navigation coordinate system. The position of the established inertial navigation coordinate system in the map is determined by the positional relationship between the two inertial navigation starting positioning pads; The mobile device has a GPS positioning function and can be connected to the cloud server through the network to obtain map information and display its own position in the map.

2. The indoor-outdoor integrated positioning system according to claim 1, characterized in that, The movement information includes direction, distance, and height.

3. The indoor and outdoor integrated positioning system according to claim 1, wherein The wireless method is Bluetooth.

4. The indoor and outdoor integrated positioning system according to claim 1, characterized in that, The inertial navigation device is installed in the user's insole.

5. The indoor and outdoor integrated positioning system according to claim 1, characterized in that, The mobile device also has the function of creating a 3D building map, and sends the created 3D building map and its position to the cloud server, and the cloud server receives and replaces the corresponding position in the original map.

6. The indoor and outdoor integrated positioning system according to claim 1, characterized in that The method for establishing the 3D map includes the following steps: S01. Create the base contour of the building on the map; S02. Set the floor height and the number of floors of the building; S03. Based on the base contour, generate a 3D map with the floor height and the number of floors; 7. The indoor and outdoor integrated positioning system according to claim 6, wherein, In step S03, the floor height of the 3D map is enlarged or reduced proportionally.

8. The indoor and outdoor integrated positioning system according to claim 6, characterized in that, In step S03, the floors in the 3D map are distinguished by colors.

9. An indoor and outdoor integrated positioning method, applied to the indoor and outdoor integrated positioning system according to any one of claims 1-8, characterized in that, It includes the following steps: S11. When the user is outdoors, i.e., for outdoor positioning, perform GPS positioning through the mobile device; S12. When the user enters the building, i.e., switch to indoor positioning, use the inertial navigation device for positioning.

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