A hybrid indoor and outdoor positioning method and system based on the Internet of Things

Abstract

The present invention belongs to the field of indoor positioning technology, and discloses an indoor and outdoor hybrid positioning method and system based on the Internet of Things, the method comprising: based on the user's navigation request, obtaining the user's positioning position and the parking position of personnel and vehicles in a confined space area; generating a navigation route based on the user's positioning position, the parking position of personnel and vehicles in the confined space area, and a pre-constructed three-dimensional model of the confined space area; judging whether the user has reached the entrance of the confined space area according to the user's positioning position, and if so, obtaining the user's inertial position; correcting the positioning position based on the inertial position to obtain a hybrid positioning position, and updating the navigation route in real time with the hybrid positioning position. The present invention corrects the positioning position by the inertial position to improve the positioning accuracy of the user's current position, and by updating the navigation route in real time with the hybrid positioning position, it is ensured that the user will not deviate from the navigation route, and can provide accurate navigation services for the user.

Description

Technical Field

[0001] The present invention belongs to the technical field of indoor positioning, and in particular relates to an indoor and outdoor hybrid positioning method and system based on the Internet of Things. Background Art

[0002] With the advent of the information age, location-based services are playing an increasingly important role in various application scenarios. In outdoor scenarios, the global navigation satellite system (GNSS) can already provide real-time, reliable and stable global positioning and navigation services. However, in indoor scenarios such as underground garages and confined spaces, satellite signals are easily lost and cannot provide accurate positioning and navigation services in confined spaces.

[0003] In order to provide indoor positioning services, many indoor positioning wireless technologies have been developed. The main indoor and outdoor positioning methods include: WiFi positioning, Bluetooth low energy (BLE) positioning, ultra-wideband (UWB) positioning, infrared positioning, etc.

[0004] However, the above positioning method has the following problems in practical application:

[0005] 1. The frequency band of WiFi positioning is crowded and easily interfered by other wireless devices. In indoor environments, it is affected by multipath effects and signal shielding, resulting in low positioning accuracy.

[0006] 2. The effective transmission distance of Bluetooth Low Energy (BLE) positioning is usually around 10 meters, which is a small range;

[0007] 3. Ultra-wideband (UWB) positioning has low popularity, low device support, and high deployment cost;

[0008] 4. Infrared positioning is greatly affected by lighting conditions and is not suitable for environments with large light changes, so the positioning accuracy is low.

[0009] To sum up, the existing indoor positioning methods have low positioning accuracy, which can easily lead to navigation deviations, resulting in users being unable to quickly find the parking locations of people and vehicles; secondly, each positioning method can only be applied in its own applicable scenarios, and has poor versatility in confined space areas, which is not conducive to large-scale promotion and application. Summary of the invention

[0010] The purpose of the present invention is to provide an indoor and outdoor hybrid positioning method and system based on the Internet of Things, so as to solve the problem that the existing indoor positioning methods have low positioning accuracy, which easily leads to navigation deviation, so that users cannot quickly find the parking location of people and vehicles; secondly, each positioning method can only be applied in its own applicable scenario, and has poor versatility in confined space areas, which is not conducive to large-scale promotion and application.

[0011] In order to achieve the above object, the present invention adopts the following technical solutions:

[0012] In a first aspect, the present invention provides an indoor and outdoor hybrid positioning method based on the Internet of Things, the method comprising:

[0013] Based on the user's navigation request, obtain the user's location and the parking positions of people and vehicles in the confined space area;

[0014] Generate a navigation route based on the user's location, the parking positions of people and vehicles in the confined space area, and a pre-built three-dimensional model of the confined space area;

[0015] Determine whether the user has reached the entrance of the confined space area according to the user's positioning position, and if so, obtain the user's inertial position;

[0016] The positioning position is corrected based on the inertial position to obtain a hybrid positioning position, and the navigation route is updated in real time with the hybrid positioning position.

[0017] Preferably, obtaining the user's inertial position includes:

[0018] Acquire walking data of a user in a confined space, wherein the walking data includes: acceleration and angular velocity;

[0019] Calculate the user's walking direction and walking distance based on acceleration and angular velocity;

[0020] Based on the user's walking direction and walking distance, the user's inertial position is determined.

[0021] Preferably, cameras are deployed at each entrance and each intersection of the confined space area, and the method further includes:

[0022] When a user enters the entrance of a confined space area, the initial image information of the user collected by the camera deployed at the entrance of the underground parking lot is obtained;

[0023] Based on the acceleration and angular velocity, predict the arrival time of the user at each intersection on the navigation route;

[0024] When the difference between the arrival time at the i-th intersection and the current time satisfies the preset time difference, the first image information collected by the camera at the i-th intersection is obtained;

[0025] Based on the re-identification algorithm, re-identify the first image information to obtain a re-identification result, wherein the re-identification result includes: the first image information is consistent with the initial image information or the user image is not detected;

[0026] When the first image information is consistent with the initial image information, the actual arrival time of the user is determined, and the arrival time at the (i+1)th intersection is corrected using the actual arrival time.

[0027] Preferably, when the user image is not detected, the deviation of the user from the navigation route is indicated; the method further comprises:

[0028] Obtaining second image information collected by a camera at an intersection adjacent to the i-th intersection;

[0029] Re-identify the second image information based on the re-identification algorithm, and identify the second image information that is consistent with the initial image information;

[0030] Acquire the position of a camera corresponding to second image information that is consistent with the initial image information, and correct the inertial position of the user based on the position of the camera;

[0031] The navigation route is corrected based on the corrected inertial position, and a warning message and correct route indication information are generated at the same time, so as to inform the user that the walking route is wrong and to prompt the direction of the correct route by the warning message.

[0032] Preferably, the warning information includes: a warning voice; the correct route indication information includes: a route indication arrow and a parking space number, and an electronic display screen is deployed at each intersection, and the electronic display screen is used to broadcast the warning voice and display the route indication arrow and the parking space number at the same time.

[0033] Preferably, a location tag is deployed on each parking space in the confined space area, and each location tag pre-stores location information, parking space number and navigation link of the corresponding parking space; the method further includes:

[0034] The user terminal identifies the location tag on the parking space where the vehicle is parked, extracts the location information, parking space number and navigation link in the location tag, and saves the location information, parking space number and navigation link locally;

[0035] The user terminal generates a navigation request of the user based on the navigation link and the position information, wherein the navigation request includes the position information, and the position information is used as the parking position of the person or vehicle in the confined space area.

[0036] Preferably, the method further comprises: constructing a three-dimensional model of the confined space area, comprising:

[0037] Obtain design drawings of the confined space area;

[0038] Model and render the design drawings of the confined space area based on the preset modeling tools to obtain the initial model;

[0039] Based on the virtual reality algorithm, the initial model is integrated into the virtual reality scene to obtain a three-dimensional model of the confined space area.

[0040] Preferably, the positioning position is corrected based on the inertial position to obtain a hybrid positioning position, including:

[0041] Based on the Kalman filter algorithm, the inertial position is used as the observation quantity of the Kalman filter algorithm to correct the positioning position, obtain the optimal estimate of the positioning position, and use the optimal estimate of the positioning position as the hybrid positioning position.

[0042] In a second aspect, the present invention provides an indoor and outdoor hybrid positioning system based on the Internet of Things, the system comprising:

[0043] A server, wherein the server is used to implement the above-mentioned indoor and outdoor hybrid positioning method based on the Internet of Things;

[0044] The user terminal is connected to the server for communication, and is used to generate a user's navigation request and collect the user's inertial position, and upload the generated user's navigation request and the collected user's inertial position to the server; the server is also used to send the generated navigation route to the user terminal, and the user terminal is used to display the navigation route in real time.

[0045] Preferably, the system further comprises:

[0046] A plurality of cameras, each of which is connected to the server for communication, and each of which is deployed at each entrance of the confined space area and each intersection in the confined space area;

[0047] A plurality of electronic display screens, each of which is connected to a camera at a corresponding intersection, and each of which is deployed at each intersection in the confined space;

[0048] A plurality of location tags, each of which is deployed on each parking space in the confined space area, and each location tag pre-stores the location information, parking space number and navigation link of the corresponding parking space; the user terminal is also used to identify the location tag to extract the location information, parking space number and navigation link in the location tag, and the user terminal establishes a communication connection with the server according to the navigation link.

[0049] Beneficial effects:

[0050] 1. The present invention constructs a three-dimensional model of a confined space area and generates a navigation route based on the three-dimensional model. In this case, the navigation route has a 3D look and feel, which improves the user's recognition of the navigation route and reduces the probability of the user going wrong in the confined space area;

[0051] 2. The present invention utilizes the user terminal to collect the user's inertial position, and corrects the positioning position through the inertial position to improve the positioning accuracy of the user's current position. The navigation route is updated in real time with a mixed positioning position to ensure that the user does not deviate from the navigation route, thereby providing the user with accurate navigation services. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0053] Figure 1 It is a flow chart of an indoor and outdoor hybrid positioning method based on the Internet of Things provided by an embodiment of the present invention;

[0054] Figure 2 It is a block diagram of an indoor and outdoor hybrid positioning system based on the Internet of Things provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0056] Embodiment 1

[0057] The application scenarios of the indoor and outdoor hybrid positioning method based on the Internet of Things in this embodiment mainly include: a server, several cameras and several electronic display screens. The cameras and electronic display screens are deployed in a confined space area. The cameras and electronic display screens are both communicated with the server. The user terminal can access the server. The server generates a navigation route of the destination that the user wants to reach (i.e., the parking position of personnel and vehicles in the confined space area) according to the navigation request of the user terminal, and then sends it to the user terminal. The navigation route is displayed on the user terminal to provide navigation services for the user.

[0058] Based on the above application scenarios, this embodiment provides an indoor and outdoor hybrid positioning method based on the Internet of Things. Figure 1 is a flow chart of an indoor and outdoor hybrid positioning method based on the Internet of Things provided by an embodiment of the present invention, such as Figure 1 As shown, the method is applied on the server side, and the method includes:

[0059] Step S10: Based on the user's navigation request, the server obtains the user's positioning position and the parking positions of people and vehicles in the confined space area.

[0060] In this embodiment, a location tag is deployed on each parking space in the enclosed space area, and each location tag pre-stores location information, a parking space number, and a navigation link of the corresponding parking space.

[0061] Specifically, the method further includes:

[0062] Step S101: The user terminal identifies the location tag on the parking space where the vehicle is parked, extracts the location information, parking space number and navigation link in the location tag, and saves the location information, parking space number and navigation link locally;

[0063] Step S102: the user terminal generates a user navigation request based on the navigation link and the location information, wherein the navigation request includes the location information, and the location information is used as the parking position of the person or vehicle in the confined space area.

[0064] In this embodiment, the location tag can be a QR code tag attached to the parking space number plate on each parking space, or a radio frequency electronic tag. In this embodiment, the QR code is preferably used, and the deployment cost of the QR code is relatively low.

[0065] The QR code contains the location information and parking space number of the parking space, as well as a navigation link. When the user's vehicle is parked in a vacant parking space in the enclosed space area; if the user needs to find a parking space quickly later, the user can use the user terminal (such as a mobile phone, tablet, etc.) to scan the QR code on the parking space number plate on the parking space to obtain the location information, parking space number and navigation link. Among them, it is clear that the enclosed space area can be the area corresponding to the satellite signal blockage, but is not limited to the satellite signal blockage area; for example, other areas with weak signals.

[0066] The navigation link includes a website address for accessing the server. The user's mobile phone can establish a communication connection with the server through the navigation link, and then upload the user's navigation request to the server.

[0067] In this embodiment, the user's mobile phone usually has a positioning module, such as a GPS module or a Beidou module, which is used to collect the user's positioning position, and then upload the collected user's positioning position to the server; since the navigation request contains location information, the location information in the navigation request is extracted to serve as the parking position of people and vehicles in the confined space area.

[0068] Step S20: Generate a navigation route based on the user's positioning position, the parking positions of people and vehicles in the confined space area, and a pre-built three-dimensional model of the confined space area.

[0069] Specifically, the method further includes: constructing a three-dimensional model of the confined space area, including:

[0070] Step S201: Obtain design drawings of a confined space area;

[0071] Step S202: Modeling and rendering the design drawings of the confined space area based on a preset modeling tool to obtain an initial model;

[0072] Step S203: Based on the virtual reality algorithm, the initial model is integrated into the virtual reality scene to obtain a three-dimensional model of the confined space area.

[0073] In this embodiment, the design drawings of the confined space area include: plane design drawings, elevation drawings and section drawings, etc., and secondly, accurate space dimensions and structural information can be obtained by on-site measurement. The preset modeling tool can be AutoCAD, Revit, 3dsMax, SketchUp and other tools.

[0074] After completing the construction of the initial model, set appropriate lighting conditions in the preset modeling tool software to simulate the lighting effects of the real world, and then use a rendering engine (such as V-Ray, Arnold, Unreal Engine's Lumen system, etc.) to render the model to generate high-quality images.

[0075] Secondly, necessary optimization is performed on the initial model to reduce the file size and increase the loading speed for easy use in a virtual environment.

[0076] Finally, the initial model is integrated into the virtual reality scene using the virtual reality algorithm to obtain a three-dimensional model of the confined space area.

[0077] In the three-dimensional model of the confined space area, there are entrance locations of each confined space area, each passage route of the confined space area, and the distribution location of each parking space in the confined space area.

[0078] After the server obtains the user's location and the parking positions of people and vehicles in the confined space area, the best route is planned using optimization algorithms such as genetic algorithms and particle swarm algorithms, and the best route is used as the navigation route. The present invention constructs a three-dimensional model of the confined space area and generates a navigation route based on the three-dimensional model. At this time, the navigation route has a 3D look and feel, which improves the user's recognition of the navigation route and can reduce the probability of the user going wrong in the confined space area.

[0079] Step S30: determining whether the user has reached the entrance of the enclosed space area according to the user's positioning position, and if so, obtaining the user's inertial position.

[0080] If there is an entrance to a confined space on the navigation route, the user's mobile phone is used to collect the user's location in real time, and the location and the location of the entrance are used to determine whether the user is close to the entrance of the confined space. When the user reaches the entrance of the confined space, the user's mobile phone needs to be used to collect the user's inertial position.

[0081] Specifically, obtaining the user's inertial position includes:

[0082] Step S301: obtaining walking data of a user in a confined space, wherein the walking data includes acceleration and angular velocity;

[0083] Step S302: Calculate the user's walking direction and walking distance according to the acceleration and angular velocity;

[0084] Step S303: Determine the user's inertial position based on the user's walking direction and walking distance.

[0085] In this embodiment, current mobile phones are usually integrated with acceleration sensors and gyroscopes, and the user's mobile phone is used to automatically collect the user's walking data in the confined space, that is, acceleration and angular velocity. The user's walking direction can be determined based on the angular velocity, and the walking distance can be calculated based on the acceleration; after the walking direction and walking distance are calculated, the user's spatial position in the confined space, that is, the user's inertial position, can be obtained.

[0086] Step S40: Correct the positioning position based on the inertial position to obtain a hybrid positioning position, and use the hybrid positioning position to update the navigation route in real time.

[0087] In this embodiment, after the user enters the room, the number of visible GPS satellites may decrease due to the obstruction of buildings, making it difficult for the mobile phone to complete sufficient satellite signal reception, affecting the reliability of positioning. Therefore, by correcting the positioning position with the inertial position, a more accurate indoor position, i.e., a hybrid positioning position, can be obtained, and the navigation route is updated in real time, including the update of the navigation route and the update of the user's position on the navigation route.

[0088] In this embodiment, the positioning position is corrected based on the inertial position to obtain a hybrid positioning position, including: based on the Kalman filter algorithm, using the inertial position as the observation quantity of the Kalman filter algorithm, correcting the positioning position to obtain the optimal estimate of the positioning position, and using the optimal estimate of the positioning position as the hybrid positioning position.

[0089] The Kalman filter algorithm is an effective recursive filter that can optimally estimate the system state in the presence of noise. It has the advantages of simple mathematical model, high computational efficiency, strong adaptability and high robustness, and can improve the accuracy of hybrid positioning calculation.

[0090] As a further optimization of this embodiment, since it is possible to accurately determine whether a user has entered the entrance of a confined space area, cameras are deployed at each entrance and each intersection of the confined space area, and the method further includes:

[0091] Step a01: When a user enters the entrance of a confined space area, initial image information of the user collected by a camera deployed at the entrance of an underground parking lot is obtained;

[0092] Step a02: based on the acceleration and angular velocity, predict the arrival time of the user at each intersection on the navigation route;

[0093] Step a03: when the difference between the arrival time at the i-th intersection and the current time satisfies the preset time difference, the first image information collected by the camera at the i-th intersection is obtained;

[0094] Step a04: re-identify the first image information based on the re-identification algorithm to obtain a re-identification result, wherein the re-identification result includes: the first image information is consistent with the initial image information or the user image is not detected;

[0095] Step a05: When the first image information is consistent with the initial image information, the actual arrival time of the user is determined, and the arrival time at the (i+1)th intersection is corrected using the actual arrival time.

[0096] In this embodiment, the camera at the entrance is used to collect the user's initial image information. By identifying the initial image information, the entry time of the user into the confined space area can be determined. After the user enters the entrance, the server generates a request to obtain acceleration and angular velocity, and sends the request to the user's mobile phone. The mobile phone starts to collect the user's acceleration and angular velocity to obtain the user's inertial position.

[0097] In this embodiment, since the mobile phone signal may be lost in the confined space, in order to accurately determine the user's position in the confined space, cameras are deployed at each intersection in the confined space.

[0098] Cameras at intersections are used to re-identify users and determine whether they arrive on time at the predicted arrival time, in order to determine the user's exact location and whether the user has deviated from the navigation route.

[0099] In step a01, when there is only one person (user) in the initial image information, this user is taken as the target object; if there are multiple people (users), since the navigation route of each user is different, it is necessary to identify each user and determine the navigation route of each user.

[0100] Since each user's mobile phone is connected to the server, and the user's mobile phone obtains the positioning position in real time, a monitoring unit for detecting the mobile signal of the user's mobile phone can be deployed on the camera. The monitoring unit collects the mobile signal (or positioning signal) emitted by the mobile phone, and can calculate the emission position coordinates of each user's mobile signal. At the same time, the camera collects the initial image information at the emission position. The mobile signal contains the identification signal of each user's mobile phone. The monitoring unit then uploads the identification signal in the mobile signal and the emission position coordinates of each mobile signal to the server. The server associates each emission position with the user image at that position. When the mobile phone uploads the positioning position to the server, it also uploads the identification signal of the mobile phone to the server. The server compares the identification signal uploaded by the mobile phone with the identification signal uploaded by the monitoring unit. If the two signals are consistent, the user's initial image is associated with the corresponding navigation route, so as to facilitate accurate re-identification of the user corresponding to the navigation route at the next intersection.

[0101] In this embodiment, when the user's mobile phone maintains good communication with the server, if the deviation between the inertial position and the navigation route is too large, the server directly generates a route deviation warning message and sends the route deviation warning message to the user's mobile phone, so as to inform the user of the deviation from the navigation route through the user's mobile phone; if the deviation is too large, the server will re-plan the navigation route according to the user's current location.

[0102] In this embodiment, if the communication between the user's mobile phone and the server is poor, the server cannot send the route deviation warning information to the user's mobile phone. In this case, when the user image is not detected, it is indicated that the user has deviated from the navigation route; the method also includes:

[0103] Step b01: obtaining second image information collected by a camera at an intersection adjacent to the i-th intersection;

[0104] Step b02: re-identifying the second image information based on the re-identification algorithm, and identifying the second image information that is consistent with the initial image information;

[0105] Step b03: obtaining the position of a camera corresponding to the second image information consistent with the initial image information, and correcting the inertial position of the user with the position of the camera;

[0106] Step b04: The navigation route is corrected based on the corrected inertial position, and a warning message and correct route indication information are generated at the same time, so as to inform the user of the wrong walking route and indicate the direction of the correct route through the warning message.

[0107] The server collects the second image information collected by the cameras at all adjacent intersections to the i-th intersection, re-identifies the second image information of all cameras, and determines which camera has collected the image of the user. The server obtains the position of the camera, and corrects the server's current inertial position based on the position of the camera. At the same time, the navigation route is also corrected, or the navigation route is re-planned.

[0108] At the same time, the server also generates warning information and correct route indication information. In this embodiment, due to the poor communication quality between the server and the user's mobile phone, the warning information and correct route indication information cannot be sent to the user; at this time, an electronic display screen is deployed at each intersection, and the electronic display screen is connected to the camera for communication. The server can send the warning information and correct route indication information to the camera at the intersection, and the camera will then send the warning information and correct route indication information to the electronic display screen for display.

[0109] The re-identification algorithm of this embodiment may adopt a person re-identification (Re-identification, ReID) algorithm, and the re-identification algorithm generally involves the following key steps:

[0110] Feature extraction: Use deep learning models (such as convolutional neural networks (CNNs)) to extract discriminative feature representations from the input image.

[0111] Feature encoding: Map the extracted features into a low-dimensional space so that features of the same category are closer and features of different categories are farther away.

[0112] Distance calculation: Calculate the distance between the features of the new input image and the features of each image in the image library, often using metrics such as Euclidean distance and cosine similarity.

[0113] Ranking and Identification: Sort the images in the image gallery according to the calculated distances and identify the most similar images.

[0114] In this embodiment, the warning information includes: a warning voice; the correct route indication information includes: a route indication arrow and a parking space number, and the electronic display screen is used to broadcast the warning voice and display the route indication arrow and the parking space number at the same time.

[0115] When there are multiple users at the same intersection whose navigation routes deviate, the route indication arrows and parking space numbers can be displayed simultaneously on the electronic display screen so that each user can identify their own correct route and avoid users going the wrong way again.

[0116] In this embodiment, after the user's mobile phone re-establishes a stable and good communication connection with the server, the latest inertial position of the user's mobile phone is uploaded to the server, and the server updates the hybrid positioning position with the latest inertial position to update the navigation route.

[0117] The present invention utilizes a user terminal to collect the user's inertial position, corrects the positioning position through the inertial position to improve the positioning accuracy of the user's current position, and updates the navigation route in real time with a mixed positioning position to ensure that the user does not deviate from the navigation route, thereby providing the user with accurate navigation services.

[0118] Embodiment 2

[0119] Figure 2 is a block diagram of an indoor and outdoor hybrid positioning system based on the Internet of Things provided by an embodiment of the present invention, such as Figure 2 As shown, this embodiment provides an indoor and outdoor hybrid positioning system based on the Internet of Things, and the system includes: a server and a user terminal, and the user terminal is communicatively connected with the server.

[0120] The server is used to implement the indoor and outdoor hybrid positioning method based on the Internet of Things of Embodiment 1;

[0121] The user terminal is used to generate a user's navigation request and collect the user's inertial position, and upload the generated user's navigation request and the collected user's inertial position to the server; the server is also used to send the generated navigation route to the user terminal, and the user terminal is used to display the navigation route in real time.

[0122] In this embodiment, the user terminal may be a user's mobile phone, tablet or other intelligent terminal.

[0123] As a further optimization of this embodiment, the system also includes: a plurality of cameras, a plurality of electronic display screens and a plurality of location tags.

[0124] Each camera is connected to the server for communication, and each camera is deployed at each entrance of the confined space area and each intersection in the confined space area;

[0125] Each electronic display screen is connected to a camera at a corresponding intersection, and each electronic display screen is deployed at each intersection in the confined space area;

[0126] Each location tag is deployed on each parking space in the confined space area, and each location tag pre-stores the location information, parking space number and navigation link of the corresponding parking space; the user terminal is also used to identify the location tag to extract the location information, parking space number and navigation link in the location tag, and the user terminal establishes a communication connection with the server according to the navigation link.

[0127] The present invention constructs a three-dimensional model of a confined space area and generates a navigation route based on the three-dimensional model. At this time, the navigation route has a 3D look and feel, which improves the user's recognition of the navigation route and can reduce the probability of the user going wrong in the confined space area; secondly, the present invention uses the user terminal to collect the user's inertial position, corrects the positioning position through the inertial position to improve the positioning accuracy of the user's current position, and updates the navigation route in real time with a mixed positioning position to ensure that the user will not deviate from the navigation route, thereby providing the user with accurate navigation services.

[0128] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0129] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A hybrid indoor and outdoor positioning method based on the Internet of Things, characterized in that: The method comprises: Based on the user's navigation request, obtain the user's location and the parking positions of people and vehicles in the confined space area; Generate a navigation route based on the user's location, the parking positions of people and vehicles in the confined space area, and a pre-built three-dimensional model of the confined space area; Determine whether the user has reached the entrance of the confined space area according to the user's positioning position, and if so, obtain the user's inertial position; obtaining the user's inertial position specifically comprises: obtaining the user's walking data in the confined space area, the walking data including: acceleration and angular velocity; calculating the user's walking direction and walking distance according to the acceleration and angular velocity; determining the user's inertial position based on the user's walking direction and walking distance; The positioning position is corrected based on the inertial position to obtain a hybrid positioning position, and the navigation route is updated in real time with the hybrid positioning position; Cameras are deployed at each entrance and each intersection of the confined space area, and the method further includes: When a user enters the entrance of a confined space area, the initial image information of the user collected by the camera deployed at the entrance of the underground parking lot is obtained; Based on the acceleration and angular velocity, predict the arrival time of the user at each intersection on the navigation route; When the difference between the arrival time at the i-th intersection and the current time satisfies the preset time difference, the first image information collected by the camera at the i-th intersection is obtained; Based on the re-identification algorithm, re-identify the first image information to obtain a re-identification result, wherein the re-identification result includes: the first image information is consistent with the initial image information or the user image is not detected; When the first image information is consistent with the initial image information, the actual arrival time of the user is determined, and the arrival time of the i+1th intersection is corrected by the actual arrival time; When the user image is not detected, the deviation of the user from the navigation route is indicated; the method further includes: Obtaining second image information collected by a camera at an intersection adjacent to the i-th intersection; Re-identify the second image information based on the re-identification algorithm, and identify the second image information that is consistent with the initial image information; Acquire the position of a camera corresponding to second image information that is consistent with the initial image information, and correct the inertial position of the user based on the position of the camera; The navigation route is corrected based on the corrected inertial position, and a warning message and correct route indication information are generated at the same time, so as to inform the user that the walking route is wrong and to prompt the direction of the correct route by the warning message.

2. The indoor and outdoor hybrid positioning method based on the Internet of Things according to claim 1 is characterized in that: The warning information includes: warning voice; the correct route indication information includes: route indication arrow and parking space number. An electronic display screen is deployed at each intersection, and the electronic display screen is used to broadcast the warning voice and display the route indication arrow and parking space number at the same time.

3. The indoor and outdoor hybrid positioning method based on the Internet of Things according to claim 1 is characterized in that: A location tag is deployed on each parking space in the confined space area, and each location tag pre-stores location information, parking space number and navigation link of the corresponding parking space; The method further comprises: The user terminal identifies the location tag on the parking space where the vehicle is parked, extracts the location information, parking space number and navigation link in the location tag, and saves the location information, parking space number and navigation link locally; The user terminal generates a navigation request of the user based on the navigation link and the position information, wherein the navigation request includes the position information, and the position information is used as the parking position of the person or vehicle in the confined space area.

4. The indoor and outdoor hybrid positioning method based on the Internet of Things according to claim 1 is characterized in that: The method further comprises: constructing a three-dimensional model of the confined space area, comprising: Obtain design drawings of the confined space area; Model and render the design drawings of the confined space area based on the preset modeling tools to obtain the initial model; Based on the virtual reality algorithm, the initial model is integrated into the virtual reality scene to obtain a three-dimensional model of the confined space area.

5. The indoor and outdoor hybrid positioning method based on the Internet of Things according to claim 1 is characterized in that: The positioning position is corrected based on the inertial position to obtain a hybrid positioning position, including: Based on the Kalman filter algorithm, the inertial position is used as the observation quantity of the Kalman filter algorithm to correct the positioning position, obtain the optimal estimate of the positioning position, and use the optimal estimate of the positioning position as the hybrid positioning position.

6. An indoor and outdoor hybrid positioning system based on the Internet of Things, characterized in that: The system comprises: a server, wherein the server is used to implement the indoor and outdoor hybrid positioning method based on the Internet of Things according to any one of claims 1 to 5; The user terminal is connected to the server for communication, and is used to generate a user's navigation request and collect the user's inertial position, and upload the generated user's navigation request and the collected user's inertial position to the server; the server is also used to send the generated navigation route to the user terminal, and the user terminal is used to display the navigation route in real time.

7. The indoor and outdoor hybrid positioning system based on the Internet of Things according to claim 6, characterized in that: The system further comprises: A plurality of cameras, each of which is connected to the server for communication, and each of which is deployed at each entrance of the confined space area and each intersection in the confined space area; A plurality of electronic display screens, each of which is connected to a camera at a corresponding intersection, and each of which is deployed at each intersection in the confined space; A plurality of location tags, each of which is deployed on each parking space in the confined space area, and each location tag pre-stores the location information, parking space number and navigation link of the corresponding parking space; the user terminal is also used to identify the location tag to extract the location information, parking space number and navigation link in the location tag, and the user terminal establishes a communication connection with the server according to the navigation link.

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