A method and system for displaying indoor positioning results in a 3D scene

Abstract

A method for displaying indoor positioning results in a 3D scene includes: an indoor positioning system acquiring target location information; a 3D scene display system loading and displaying a 3D model of the scene; establishing a transformation relationship between the positioning coordinate system of the indoor positioning system and the 3D model coordinate system of the 3D scene display system; the 3D scene display system acquiring target location information from the indoor positioning system and obtaining the target's coordinates in the 3D model coordinate system according to the transformation relationship; and displaying the target's indoor positioning result in the 3D scene display system based on the target's coordinates in the 3D model coordinate system. This invention also provides a system for displaying indoor positioning results in a 3D scene, which determines the coordinate transformation between the positioning coordinates of the indoor positioning system and the 3D scene based on a reference point, enabling the display of positioning results from one or more indoor positioning systems within a 3D scene.

Description

Technical Field

[0001] This invention relates to the field of computer graphics technology, and in particular to a method and system for displaying indoor positioning results in a three-dimensional scene. Background Technology

[0002] Indoor positioning technology refers to the technology of acquiring the location of a target within a certain range. This technology can be implemented using various types of devices or systems, and can determine the location of targets such as people, vehicles, and assets in real time. Currently, indoor positioning results are primarily displayed on two-dimensional maps, which has limitations in terms of the information that can be shown compared to three-dimensional scenes.

[0003] 3D scene visualization technology for buildings or building areas has been applied to the visualization of construction processes, building operation and maintenance, factory production, and other scenarios. Displaying indoor positioning results for multiple areas within a large 3D scene is more effective than displaying them on multiple 2D maps and has the potential to collaboratively display other information.

[0004] However, positioning results from different areas may come from different indoor positioning systems, or from different area maps of the same indoor positioning system, resulting in inconsistent coordinate systems. Therefore, these results are difficult to display in the same 3D scene. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a method and system for displaying indoor positioning results in a three-dimensional scene, thereby displaying the positioning results of one or more indoor positioning systems in a three-dimensional scene.

[0006] To achieve the above objectives, the method for displaying indoor positioning results in a three-dimensional scene provided in this application includes the following steps:

[0007] Indoor positioning systems acquire target location information for indoor positioning;

[0008] The 3D scene display system loads and displays the 3D model of the scene;

[0009] Establish the transformation relationship between the positioning coordinate system of the indoor positioning system and the 3D model coordinate system of the 3D scene display system;

[0010] The 3D scene display system obtains the target location information from the indoor positioning system and obtains the target's coordinates in the 3D model coordinate system according to the transformation relationship;

[0011] Based on the target's coordinates in the 3D model coordinate system, the indoor positioning result of the target is displayed in the 3D scene display system;

[0012] The transformation matrix between the positioning coordinate system of the indoor positioning system and the three-dimensional model coordinate system of the three-dimensional scene display system is: M = SRT, where M is the transformation matrix, and S, R and T are the scaling matrix, rotation matrix and translation matrix of the target in the three-dimensional scene display system, respectively.

[0013] Furthermore, the target location information includes at least: the target's identifier string, three-dimensional Cartesian coordinates, and the positioning coordinate system to which it belongs.

[0014] Furthermore, the step of establishing the transformation relationship between the positioning coordinate system and the three-dimensional model coordinate system includes:

[0015] Select at least three reference points in the 3D model coordinate system and determine the first 3D coordinates of these reference points in the 3D model coordinate system;

[0016] The second three-dimensional coordinates of these reference points in the positioning coordinate system are determined using an indoor positioning system.

[0017] Using the first three-dimensional coordinates and the second three-dimensional coordinates, calculate the transformation matrix between the positioning coordinate system and the three-dimensional model coordinate system.

[0018] Furthermore, the step of selecting at least three reference points in the three-dimensional model coordinate system and determining the first three-dimensional coordinates of these reference points in the three-dimensional model coordinate system further includes: selecting a map in an indoor positioning system, determining the position of the area represented by the map in the three-dimensional scene, selecting at least three reference points, determining the first three-dimensional coordinates of the reference points in the three-dimensional coordinate system, and recording the set of all the first three-dimensional coordinates.

[0019] Furthermore, the step of using an indoor positioning system to determine the three-dimensional coordinates of these reference points in the positioning coordinate system further includes: placing the labels of the target locations in the indoor positioning system on the reference points respectively, obtaining the position information of the labels in the three-dimensional scene display system, and recording the set of all second three-dimensional coordinates in the position information.

[0020] Furthermore, the step of calculating the transformation matrix from the positioning coordinate system to the three-dimensional model coordinate system using the first three-dimensional coordinates and the second three-dimensional coordinates further includes:

[0021] Calculate the coordinates of the first midpoint of all first three-dimensional coordinates;

[0022] Calculate the coordinates of the second midpoint of all second-dimensional coordinates;

[0023] Based on the coordinates of the first midpoint and the second midpoint, the translation vector and translation matrix are obtained;

[0024] Calculate the distances between all the first three-dimensional coordinates and the first midpoint coordinates, and obtain the sum of the first distances;

[0025] Calculate the distances between all the second three-dimensional coordinates and the second midpoint coordinates, and obtain the sum of the second distances;

[0026] Define the scaling ratio as the ratio of the sum of the first distances to the sum of the second distances, and calculate the scaling matrix;

[0027] The rotation matrix is ​​calculated based on the coordinates of any two reference points in the first three-dimensional coordinate system and the second three-dimensional coordinate system.

[0028] The transformation matrix is ​​obtained based on the translation matrix, the scaling matrix, and the rotation matrix. Further, the expression for the translation vector is:

[0029] τ=C p -C q

[0030] Among them, C p Let C be the coordinates of the first midpoint. q The coordinates of the second midpoint;

[0031] The expression for the translation matrix is:

[0032]

[0033] Where T is the translation matrix, I is the identity matrix, and τ is the translation vector.

[0034] Furthermore, the expression for the scaling matrix is:

[0035]

[0036] Where S is the scaling matrix, L p L is the sum of the first distances. q This is the sum of the second distances.

[0037] Furthermore, the step of calculating the rotation matrix based on the coordinates of any two reference points in the first three-dimensional coordinate system and the second three-dimensional coordinate system further includes:

[0038] The coordinates of any two reference points in the first three-dimensional coordinate set are defined as P. i and P j The coordinates in the second three-dimensional coordinate set are Q. i and Q j , let u i =P i -C p uj =P j -C p v i =Q i -C q v j =Q j -C q , and then

[0039] For the angle θ between u and v ij sinθ ij =|u ij ×v ij |,cosθ ij =u ij ·v ij Calculate θ ij ;

[0040] Define rotation vector

[0041] Define all r ij The average vector is make And define r = (r x ,r y ,r z ) T Calculate the rotation matrix

[0042] Furthermore, the expression for the transformation matrix is:

[0043] M = SRT

[0044] Where M is the transformation matrix and S is the scaling matrix. R0 is the rotation matrix, and T is the translation matrix.

[0045] Furthermore, the step of the three-dimensional scene display system obtaining target location information from the indoor positioning system and obtaining coordinates in the three-dimensional model coordinate system according to the transformation relationship further includes: after obtaining the target location information, the three-dimensional scene display system determines the positioning coordinate system to which the target location information belongs, obtains the pre-calculated transformation matrix from the positioning coordinate system to the three-dimensional model coordinate system, and applies the transformation matrix to the coordinate information in the obtained target location information to obtain the coordinates in the three-dimensional model coordinate system.

[0046] To achieve the above objectives, the present invention also provides a system for displaying indoor positioning results in a three-dimensional scene, employing the method described above for displaying indoor positioning results in a three-dimensional scene, comprising:

[0047] An indoor positioning system, wherein the indoor positioning system includes at least one positioning coordinate system, which is used to provide indoor positioning target location information to a three-dimensional scene display system at predetermined intervals;

[0048] The 3D scene display system obtains the coordinates of the target location information in the 3D model coordinate system based on the transformation relationship between the positioning coordinate system of the indoor positioning system and the 3D model coordinate system, and displays the indoor positioning result corresponding to the coordinates.

[0049] Furthermore, the 3D scene display system includes multiple clients, each client corresponding to an indoor positioning system, displaying the positioning results of the corresponding indoor positioning system.

[0050] Furthermore, the indoor positioning system is an indoor positioning system based on carrier-free communication technology.

[0051] Furthermore, the 3D scene display system is a 3D scene display platform based on the Cesium graphics engine.

[0052] The method and system for displaying indoor positioning results in a three-dimensional scene provided by this invention have the following advantages compared with the prior art:

[0053] Based on the reference point, the coordinate transformation between the positioning coordinates and the 3D scene is determined, and the results of multiple positioning coordinate systems can be displayed in the 3D scene.

[0054] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0055] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0056] Figure 1 A flowchart illustrating a method for displaying indoor positioning results in a three-dimensional scene according to Embodiment 1 of the present invention;

[0057] Figure 2 This is a schematic diagram of the system structure for displaying indoor positioning results in a three-dimensional scene according to Embodiment 2 of the present invention. Detailed Implementation

[0058] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0059] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0060] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0061] It should be noted that the terms "first" and "second" may be used in this application only to distinguish different devices, components or parts, and are not used to define the order of functions performed by these devices, components or parts or their interdependence.

[0062] It should be noted that the terms "one" and "more" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless explicitly stated otherwise in the context, they should be understood as "one or more". "More" should be understood as two or more.

[0063] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0064] Example 1

[0065] This invention provides a method for displaying indoor positioning results in a three-dimensional scene, enabling the display of positioning results from one or more indoor positioning systems within a three-dimensional scene.

[0066] refer to Figure 1 The method for displaying indoor positioning results in a three-dimensional scene according to the present invention includes:

[0067] Step S1: The indoor positioning system acquires the target location information for indoor positioning.

[0068] The indoor positioning system includes at least one positioning coordinate system, and the indoor positioning system can acquire the target location information of indoor positioning at predetermined intervals.

[0069] The target location information includes at least the target's identifier string, three-dimensional Cartesian coordinates, and the positioning coordinate system to which it belongs. If only two-dimensional coordinates are available, the height direction will be set to 0.

[0070] In this embodiment of the invention, an indoor positioning system based on UWB (Ultra Wideband, carrier-free communication technology) can be selected. This system supports sending the target location information of all UWB tags outward via the WebSocket protocol. Each target location information includes the tag's identifier string, location coordinates, and the map to which it belongs. The system can create several maps, each with an image-formatted base map and corresponding to a positioning coordinate system.

[0071] In this embodiment of the invention, the positioning results of different indoor areas can come from different indoor positioning systems or from different area maps of the same indoor positioning system. Therefore, one or more indoor positioning systems can be selected.

[0072] Step S2: The 3D scene display system loads and displays the 3D model of the scene.

[0073] In this embodiment of the invention, the 3D scene display system is a software system, such as a 3D scene display website (platform) based on the Cesium graphics engine, to support the loading and display of 3D models of indoor positioning scenes. In Cesium, the coordinate system of the 3D model is the Earth-Centered Earth Fixed (ECEF) coordinate system.

[0074] refer to Figure 2 The indoor positioning system and the 3D scene display system communicate via the WebSocket protocol. The 3D scene display system connects to all indoor positioning systems via WebSocket clients to receive location information from UWB tags.

[0075] Step S3: Establish the transformation relationship between the positioning coordinate system of the indoor positioning system and the three-dimensional model coordinate system of the three-dimensional scene display system.

[0076] Step S31: Select at least three reference points in the three-dimensional model coordinate system and determine the first three-dimensional coordinates of these reference points in the three-dimensional model coordinate system.

[0077] Specifically, select a map in an indoor positioning system, determine the location of the area represented by the map in a three-dimensional scene, select three or more reference points in a three-dimensional model coordinate system, determine the first three-dimensional coordinates of the reference points in the three-dimensional coordinate system, and record the set of all first three-dimensional coordinates.

[0078] In this embodiment of the invention, the set of all these first three-dimensional coordinates is denoted as P.

[0079] Step S32: Use the indoor positioning system to determine the second three-dimensional coordinates of these reference points in the positioning coordinate system.

[0080] Specifically, the labels of the target locations in the indoor positioning system are placed at the reference points, the position information of the labels is obtained in the three-dimensional scene display system, and the second three-dimensional coordinate set of all coordinates in the position information is recorded.

[0081] In this embodiment of the invention, the set of all second three-dimensional coordinates is denoted as Q.

[0082] Step S33: Using the first three-dimensional coordinates and the second three-dimensional coordinates, calculate the transformation matrix between the positioning coordinate system and the three-dimensional model coordinate system.

[0083] Specifically, the following steps are performed: calculate the coordinates of the first midpoint of all first three-dimensional coordinates; calculate the coordinates of the second midpoint of all second three-dimensional coordinates; obtain the translation vector and translation matrix based on the first and second midpoint coordinates; calculate the distances between all first three-dimensional coordinates and the first midpoint coordinates, and calculate the first sum of distances; calculate the distances between all second three-dimensional coordinates and the second midpoint coordinates, and calculate the second sum of distances; define the scaling ratio as the ratio of the first sum of distances to the second sum of distances, and calculate the scaling matrix; calculate the rotation matrix based on the coordinates of any two reference points in the first and second three-dimensional coordinates; and obtain the transformation matrix based on the translation matrix, the scaling matrix, and the rotation matrix.

[0084] In this embodiment of the invention, the midpoint coordinate of all coordinates in set P is calculated as C. p ;

[0085] The coordinates of the midpoint of all coordinates in set Q are calculated as C. q ;

[0086] Calculate the translation vector τ = C p -C q Calculate the translation matrix

[0087] Calculate the relationship between all coordinates in set P and C. p The distance between them is denoted as L, and the sum of all the results is denoted as L. p Calculate the coordinates of all coordinates in set Q and C. q The distance between them is denoted as L, and the sum of all the results is denoted as L. q ;

[0088] Define scaling ratio Calculate the scaling matrix

[0089] For any two reference points, define their coordinates in set P as Pi, Pj ... i and P j The coordinates in set Q are Q. i and Qj , let u i =P i -C p u j =P j -C p v i =Q i -C q v j =Q j -C q , and then For the angle θ between u and v ij sinθ ij =|u ij ×v ij |,cosθ ij =u ij ·v ij θ can be calculated from this. ij Rotation vector

[0090] Remember all r ij The average vector is make Let r = (r x ,r y ,r z ) T Calculate the rotation matrix

[0091] Calculate the transformation matrix M = SRT, where,

[0092] Step S4: The three-dimensional scene display system obtains the target location information from the indoor positioning system and obtains the target's coordinates in the three-dimensional model coordinate system according to the transformation relationship.

[0093] In this embodiment of the invention, after the three-dimensional scene display system obtains the target location information each time, it determines the indoor positioning system that obtained the target location information, and combines the map information in the target location information to obtain the transformation matrix M corresponding to the map;

[0094] Let the UWB tag number in the target location information be t, and the positioning coordinates be p;

[0095] Calculate the coordinates q = Mp in the ECEF coordinate system;

[0096] If the target model corresponding to t does not exist in the Cesium scene, create the model.

[0097] Step S5: Based on the target's coordinates in the three-dimensional model coordinate system, display the target's indoor positioning result in the three-dimensional scene display system.

[0098] In this embodiment of the invention, the target model corresponding to t is placed at coordinate q in the Cesium scene, so as to display the above indoor positioning result at the corresponding coordinate position in the three-dimensional scene display system.

[0099] The method for displaying indoor positioning results in a three-dimensional scene provided by the present invention determines the coordinate transformation relationship between the positioning coordinates of the indoor positioning system and the coordinates of the three-dimensional scene based on a reference point, thereby enabling the display of the positioning results of one or more indoor positioning systems in a three-dimensional scene.

[0100] Example 2

[0101] This invention provides a system for displaying indoor positioning results in a three-dimensional scene, which utilizes the method for displaying indoor positioning results in a three-dimensional scene described in Embodiment 1.

[0102] refer to Figure 2 The system for displaying indoor positioning results in a three-dimensional scene according to the present invention includes:

[0103] The indoor positioning system 10 includes at least one positioning coordinate system and can provide indoor positioning target location information to the three-dimensional scene display system 20 at predetermined intervals.

[0104] The 3D scene display system 20 obtains the coordinates of the target location information in the 3D model coordinate system based on the transformation relationship between the positioning coordinate system of the indoor positioning system 10 and the 3D model coordinate system, and displays the indoor positioning result corresponding to the coordinates in the 3D scene.

[0105] In this embodiment of the invention, the three-dimensional scene display system 20 includes multiple WebSocket clients, each WebSocket client corresponding to an indoor positioning system 10, and displays the positioning results of the corresponding indoor positioning system 10.

[0106] It will be understood by those skilled in the art that the above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of presenting indoor positioning results in a three-dimensional scene, characterized by, The method comprises the following steps: An indoor positioning system acquires target position information of indoor positioning; A three-dimensional scene display system loads and displays a three-dimensional model of a scene; A transformation relationship between a positioning coordinate system of the indoor positioning system and a three-dimensional model coordinate system of the three-dimensional scene display system is established; The three-dimensional scene display system acquires target position information from the indoor positioning system, and obtains coordinates of the target in the three-dimensional model coordinate system according to the transformation relationship; According to the coordinates of the target in the three-dimensional model coordinate system, an indoor positioning result of the target is displayed in the three-dimensional scene display system; A transformation matrix of the transformation relationship between the positioning coordinate system of the indoor positioning system and the three-dimensional model coordinate system of the three-dimensional scene display system is M=SRT, wherein M is the transformation matrix, S, R and T are respectively a scaling matrix, a rotation matrix and a translation matrix of the target in the three-dimensional scene display system; The step of establishing the transformation relationship between the positioning coordinate system of the indoor positioning system and the three-dimensional model coordinate system of the three-dimensional scene display system comprises the following steps: At least three reference points are selected in the three-dimensional model coordinate system, and first three-dimensional coordinates of the reference points in the three-dimensional model coordinate system are determined; Second three-dimensional coordinates of the reference points in the positioning coordinate system are determined by using the indoor positioning system; The transformation matrix from the positioning coordinate system to the three-dimensional model coordinate system is calculated by using the first three-dimensional coordinates and the second three-dimensional coordinates, and the calculation specifically comprises the following steps: A first midpoint coordinate of all the first three-dimensional coordinates is calculated; A second midpoint coordinate of all the second three-dimensional coordinates is calculated; A translation vector and a translation matrix are obtained according to the first midpoint coordinate and the second midpoint coordinate; Distances between all the first three-dimensional coordinates and the first midpoint coordinate are calculated to obtain a first distance sum; Distances between all the second three-dimensional coordinates and the second midpoint coordinate are calculated to obtain a second distance sum; A scaling ratio is defined as a ratio of the first distance sum to the second distance sum, and a scaling matrix is calculated; A rotation matrix is calculated according to coordinates of any two reference points in the first three-dimensional coordinates and the second three-dimensional coordinates; The transformation matrix is obtained according to the translation matrix, the scaling matrix and the rotation matrix.

2. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, The target position information at least comprises an identification string of the target, a three-dimensional rectangular coordinate system coordinate and a positioning coordinate system to which the target belongs.

3. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, The step of selecting at least three reference points in the three-dimensional model coordinate system and determining first three-dimensional coordinates of the reference points in the three-dimensional model coordinate system further comprises the following steps: selecting a map in the indoor positioning system, determining a position of a region represented by the map in the three-dimensional scene, selecting at least three reference points, determining first three-dimensional coordinates of the reference points in the three-dimensional coordinate system, and recording a set of all the first three-dimensional coordinates.

4. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, The step of determining three-dimensional coordinates of the reference points in the positioning coordinate system by using the indoor positioning system further comprises the following steps: placing labels of target positions in the indoor positioning system at the reference points respectively, acquiring position information of the labels in the three-dimensional scene display system, and recording a set of all the second three-dimensional coordinates in the position information.

5. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, An expression of the translation vector is τ = C p - C q where C p is the first midpoint coordinate, C q is the second midpoint coordinate; An expression of the translation matrix is Wherein, T is a translation matrix, I is a unit matrix, and τ is the translation vector.

6. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, The expression of the scaling matrix is: where S is a scaling matrix, L p is the sum of the first distances, L q is the sum of the second distances.

7. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, The expression of the transformation matrix is: M = SRT where M is a transformation matrix, S is a scaling matrix, R0is a rotation matrix, T is a translation matrix.

8. The method of presenting indoor positioning results in a three-dimensional scene of claim 1, wherein, The three-dimensional scene display system obtains target position information from the indoor positioning system, and obtains the coordinates in the three-dimensional model coordinate system according to the transformation relationship. The step further includes: after the three-dimensional scene display system obtains the target position information, the three-dimensional scene display system judges the positioning coordinate system to which the target position information belongs, obtains the transformation matrix from the positioning coordinate system to the three-dimensional model coordinate system which is calculated in advance, and applies the transformation matrix to the coordinate information in the obtained target position information to obtain the coordinates in the three-dimensional model coordinate system.

9. A system for displaying indoor positioning results in a three-dimensional scene, which adopts the method for displaying indoor positioning results in a three-dimensional scene according to any one of claims 1-8, and comprises: an indoor positioning system, which comprises at least one positioning coordinate system and is configured to provide target position information of indoor positioning to a three-dimensional scene display system at intervals of a predetermined time; a three-dimensional scene display system, which is configured to obtain coordinates of the target position information in a three-dimensional model coordinate system according to a transformation relationship between a positioning coordinate system of the indoor positioning system and the three-dimensional model coordinate system, and display indoor positioning results corresponding to the coordinates.

10. The system of claim 9, wherein, The three-dimensional scene display system comprises a plurality of clients, each of which corresponds to an indoor positioning system and displays positioning results of the corresponding indoor positioning system.

11. The system of claim 9, wherein, The indoor positioning system is an indoor positioning system based on a carrierless communication technology.

12. The system of claim 9, wherein, The three-dimensional scene display system is a three-dimensional scene display platform based on a Cesium graphics engine.

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