Wide-area navigation path planning system based on passenger behaviors

Abstract

The invention provides a wide-area navigation path planning system based on passenger behaviors. According to the system, at least one positioning base station is deployed in a station place, and each positioning base station broadcasts at least one positioning signal containing base station identification information in real time; after the mobile terminal enters the signal range according to the out-station navigation path, the mobile terminal moves according to an in-station navigation path, and the in-station navigation path is obtained through pre-planning by matching travel information and a regional map based on a path planning strategy indicated by a passenger; positioning signals are received in real time in the moving process, base station identification information and direction intensity information are analyzed, and real-time position calculation information is generated and uploaded to the service terminal; the service terminal calculates the in-station real-time position based on the base station position information and the calculation information, and returns to the mobile terminal to update the current position in the regional map, so that seamless connection and accurate positioning of navigation inside and outside the station are realized; the problem that in-station positioning precision is insufficient due to unstable signals possibly existing in a complex station environment can be solved. And the positioning and navigation precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a wide-area navigation path planning system based on passenger behavior. Background Art

[0002] With the continued growth of passenger travel demand, in-station navigation systems have emerged. Leveraging indoor and outdoor online guidance services, this system is dedicated to providing accurate and efficient in-station location information and navigation planning support for diverse passenger groups. By integrating precise positioning, personalized route planning, real-time location search, and intelligent navigation, the system not only significantly enhances the passenger travel experience but also effectively reduces station service costs, providing important support for intelligent transportation management.

[0003] Currently, existing indoor navigation systems rely on Bluetooth or Bluetooth-integrated geomagnetic technology to achieve positioning within stations. The external portion of the system is then connected to an external navigation system, ultimately linking the internal and external portions to achieve integrated navigation within and outside the station. However, in complex station environments, signal attenuation and multipath effects caused by the presence of numerous metal structures, numerous signal interference sources, and the dense crowding can lead to unstable signals, resulting in insufficient positioning accuracy within the station. Summary of the Invention

[0004] In light of this, embodiments of the present invention provide a wide-area navigation path planning system based on passenger behavior to eliminate or improve one or more deficiencies in existing technologies. This system can address the problem of signal instability and insufficient positioning accuracy within stations, which can arise from signal attenuation and multipath effects caused by the presence of numerous metal structures, numerous signal interference sources, and dense crowds.

[0005] One aspect of the present invention provides a wide-area navigation route planning system based on passenger behavior, the system comprising the following steps:

[0006] At least one positioning base station is deployed in the station, each positioning base station is used to broadcast at least one positioning signal in real time; each positioning signal contains base station identification information of the corresponding positioning base station;

[0007] The mobile terminal is configured to, when moving within the signal range of at least one positioning base station according to an off-station navigation path, move along an on-station navigation path on a station area map and receive at least one positioning signal, determine the direction strength information corresponding to each positioning signal received; parse each received positioning signal to obtain base station identification information corresponding to the positioning base station involved in the current positioning; generate real-time location calculation information based on the base station identification information and the direction strength information; and send the real-time location calculation information to a service terminal; the on-station navigation path is pre-planned based on a path planning strategy indicated by a passenger, passenger travel information, and an area map; wherein the path planning strategy includes a shortest time strategy or a shortest distance strategy;

[0008] The service terminal is configured to, after receiving the real-time location calculation information, determine the base station location information corresponding to the base station identification information; calculate the real-time location information of the mobile terminal within the station based on the base station location information and the real-time location calculation information; and send the real-time location information within the station to the mobile terminal;

[0009] The mobile terminal is further configured to, upon receiving the real-time location information within the station, update the current location of the mobile terminal in the area map according to the real-time location information within the station.

[0010] In some embodiments of the present invention, the positioning signal includes a Wifi positioning signal, a Bluetooth iBeacon signal, and / or a Bluetooth angle-of-arrival signal;

[0011] In the case where the positioning signal includes a Bluetooth angle of arrival signal, the real-time location information of the mobile terminal within the station is calculated based on the base station location information and the real-time location calculation information, including:

[0012] Determine the current distance between the mobile terminal and each participating positioning base station based on the base station location information and the direction strength information in the real-time location calculation information;

[0013] Based on the current distance, base station location information and the preset multilateral positioning algorithm, the real-time location information within the station is determined.

[0014] In some embodiments of the present invention, when the positioning signal includes a Wi-Fi positioning signal or a Bluetooth iBeacon signal, the real-time location information of the mobile terminal within the station is calculated based on the base station location information and the real-time location calculation information, including:

[0015] Based on the direction strength information in the real-time position calculation information, determine the signal strength weight corresponding to each participating positioning base station;

[0016] Based on the signal strength weight, base station location information and the preset centroid positioning algorithm, the real-time location information within the station is determined.

[0017] In some embodiments of the present invention, when the positioning signal includes a Wi-Fi positioning signal, a Bluetooth iBeacon signal, and a Bluetooth angle-of-arrival signal, the real-time location information of the mobile terminal within the station is calculated based on the base station location information and the real-time location calculation information, including:

[0018] Calculate the first real-time location information based on the direction strength information of the Wi-Fi positioning signal, the base station location information, and a preset centroid positioning algorithm;

[0019] Calculate the second real-time location information based on the direction strength information of the Bluetooth iBeacon signal, the base station location information and the preset centroid positioning algorithm;

[0020] The third real-time location information is calculated based on the direction strength information of the Bluetooth arrival angle signal, the base station location information and the preset multilateration algorithm;

[0021] Based on the directional strength information of the Wi-Fi positioning signal, the directional strength information of the Bluetooth iBeacon signal, and the directional strength information of the Bluetooth arrival angle signal, the signal strength weight corresponding to each signal is determined;

[0022] The first real-time location information, the second real-time location information, and the third real-time location information are integrated through a multi-data fusion algorithm and a signal strength weight to obtain real-time location information.

[0023] In some embodiments of the present invention, passenger travel information includes train number information, seat information, ticket gate information, or passenger type; when the path planning strategy is the shortest distance strategy, before moving along the in-station navigation path on the area map of the station venue, the mobile terminal is further used to determine real-time off-station location information based on real-time collected satellite positioning data; and send the real-time off-station location information and the path planning strategy information indicated by the passenger to the service terminal;

[0024] The service terminal is also used to determine the entrance gate closest to the mobile terminal among all the entrance gates of the station based on the real-time off-station location information, as the target entrance gate; plan a navigation path from the current position to the target entrance gate based on the target entrance gate, the real-time off-station location information and the preset off-station map, and obtain the off-station navigation path; send the off-station navigation path to the mobile terminal; determine the corresponding boarding platform based on the train number information and seat information; plan the in-station navigation path based on the location of the target entrance gate, the ticket gate information and the passenger type, the location of the boarding platform and the landmark guidance marked on the area map; and send the in-station navigation path to the mobile terminal.

[0025] In some embodiments of the present invention, when the path planning strategy information is the shortest time strategy, the service terminal is also used to obtain passenger flow data of each entrance of the current station venue, and determine the entrance with the least passenger flow as the target entrance; as the target entrance; based on the target entrance, real-time off-station location information and a preset off-station map, plan an off-station navigation path from the current location to the target entrance; send the off-station navigation path to the mobile terminal; determine the corresponding boarding platform according to the passenger's train number information and seat information; combine the location of the target entrance, ticket gate information and passenger type, the location of the boarding platform, the landmark guidance marked on the area map and the passenger flow of each area in the station venue to plan the in-station navigation path; send the in-station navigation path to the mobile terminal.

[0026] In some embodiments of the present invention, the mobile terminal is also used to, during the process of moving according to the off-site navigation path, switch the preset off-site map to a regional map when a positioning signal broadcast by at least one positioning base station is received for the first time, or when real-time off-site location information indicates arrival at the target station entrance; the regional map is marked with the on-site navigation path.

[0027] In some embodiments of the present invention, when the in-station navigation path is a navigation path that guides passengers to exit the station or transfer, before moving according to the in-station navigation path pre-planned on the area map of the station venue, the service terminal is also used to determine the corresponding get-off location based on the passenger's train information and seat information; combined with the get-off location, the passenger's exit information or transfer information, the layout of the transfer or exit channel in the station venue, and the landmark guidance marked on the area map, the in-station navigation path from the get-off location to the exit or transfer platform is planned.

[0028] In some embodiments of the present invention, the service terminal is also used to obtain off-station traffic data related to the destination specified by the passenger, the off-station traffic data including bus route information, subway route information or taxi waiting point information; obtain real-time passenger flow data of arriving passengers and queue passenger flow data of each mode of transportation; based on the off-station traffic data, the passenger flow data of arriving passengers and the queue passenger flow data, calculate the walking distance and waiting time required to transfer to different modes of transportation, and plan and display feasible paths corresponding to each mode of transportation for the passenger.

[0029] In some embodiments of the present invention, the service terminal is further configured to plan a new in-station navigation path based on the in-station real-time location information when the current location indicated by the in-station real-time location information deviates from a preset distance of the in-station navigation path.

[0030] The beneficial effects of the present invention include:

[0031] The passenger behavior-based wide-area navigation path planning system of the present invention can solve the problem of signal instability caused by signal attenuation and multipath effects due to the large number of metal structures, numerous signal interference sources and dense crowds in a complex station environment, resulting in insufficient positioning accuracy within the station. By deploying at least one positioning base station in the station, multiple types of positioning signals are broadcast in real time. Each positioning signal contains the base station identification information of the positioning base station, which is convenient for parsing and associating with the specific base station location. Each signal has different propagation characteristics and anti-interference capabilities. By integrating the advantages of multiple signals, it can effectively deal with the situation where a single signal is unstable, and can improve the success rate and positioning accuracy of in-station positioning. At the same time, when the mobile terminal receives the positioning signal, it not only records the signal strength, but also collects the direction information of the signal. This direction strength information can provide richer positioning clues, reduce errors caused by signal attenuation or multipath effects, and further improve the accuracy of in-station positioning navigation.

[0032] In addition, combined with the positioning signals and satellite positioning information broadcast by the received positioning base stations, through the preset indoor and outdoor connection points (such as entrances and exits), indoor and outdoor paths are planned in advance and navigation information is updated in real time. The wide-area navigation path planning system based on passenger behavior is seamlessly connected with the external navigation system (such as Gaode and Baidu Maps), realizing a smooth transition between in-station navigation and out-station navigation when passengers enter and exit the station, realizing integrated navigation from any starting point to the target location in the station, eliminating the gap between indoor and outdoor navigation, providing a full-process, seamless navigation experience, and greatly improving the convenience of passenger travel.

[0033] Furthermore, differentiated services are provided based on passenger type. For key passengers, accessible routes are planned; for business travelers, business routes are planned; and for general passengers, efficient and convenient general route planning is provided. Furthermore, navigation routes are dynamically adjusted based on passengers' specific needs, recommending the most appropriate route. This system meets the personalized needs of different passenger groups, enhancing the targeted and personalized nature of the service. Furthermore, through differentiated services, passenger satisfaction and travel efficiency are improved.

[0034] In addition, passenger travel data, station operation data and off-station traffic data are connected to the wide-area navigation path planning system based on passenger behavior, and the navigation path is dynamically adjusted in combination with dynamic data to make path planning more accurate. At the same time, the introduction of dynamic data can alleviate passenger flow pressure and improve the convenience and efficiency of passenger travel.

[0035] Additional advantages, objects, and features of the present invention will be set forth in part in the following description and will become apparent to those skilled in the art upon examination of the following or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained by the structures particularly pointed out in the description and drawings.

[0036] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific descriptions, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. In the drawings:

[0038] Figure 1 A schematic diagram of the structure of a wide-area navigation route planning system based on passenger behavior provided by one embodiment of the present invention.

[0039] Figure 2 A schematic diagram illustrating the position relationship between a mobile terminal and a positioning base station provided in one embodiment of the present invention.

[0040] Figure 3 A schematic diagram of the structure of a wide-area navigation route planning system based on passenger behavior provided by one embodiment of the present invention.

[0041] Figure 4 A schematic diagram illustrating the position relationship between a mobile terminal and a positioning base station provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0043] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, the accompanying drawings only show structures and / or processing steps closely related to the solutions according to the present invention, while other details that are not closely related to the present invention are omitted.

[0044] It should be emphasized that the term "include / comprises" when used herein refers to the existence of features, elements, steps or components, but does not exclude the existence or addition of one or more other features, elements, steps or components.

[0045] It should also be noted that, unless otherwise specified, the term "connection" herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0046] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0047] This embodiment provides a schematic diagram of the structure of a wide-area navigation route planning system based on passenger behavior. Figure 1 As shown, the wide-area navigation route planning system based on passenger behavior includes: at least one positioning base station 110, a mobile terminal 120 and a service terminal 130 located in a station.

[0048] The positioning base station 110 is a base station capable of broadcasting at least one positioning signal. At least one positioning base station 110 is deployed in a station, and the positioning signal broadcast ranges of adjacent positioning base stations 110 are adjacent or overlapping.

[0049] In some embodiments of the present invention, the positioning base station 110 includes but is not limited to a Bluetooth base station and / or a wireless network base station. Different types of positioning base stations 110 may have the same or different positioning signal broadcasting ranges.

[0050] The Bluetooth base station includes a Bluetooth iBeacon signal base station and / or a Bluetooth Angle of Arrival (AoA) signal base station. Correspondingly, the positioning signal includes a Wi-Fi positioning signal, a Bluetooth iBeacon signal, or a Bluetooth Angle of Arrival signal.

[0051] In actual implementation, the positioning base station 110 may also include an ultrasonic base station, an ultra-wideband (UWB) base station, a radio frequency identification (RFID) base station, a ZigBee base station and / or an electromagnetic device; this embodiment does not limit the base station type of the positioning base station 110.

[0052] In some embodiments of the present invention, each positioning base station 110 is configured to broadcast at least one positioning signal in real time.

[0053] Each positioning signal includes base station identification information corresponding to the positioning base station 110 , which is used to uniquely indicate the positioning base station 110 ; different positioning base stations 110 correspond to different base station identification information.

[0054] In some embodiments of the present invention, the base station identification information includes a MAC address or a Basic Service Set Identifier (BSSID).

[0055] In actual implementation, the base station identification information may also be numbers, letters, or a combination of numbers and letters. This embodiment does not limit the implementation method of the base station identification information.

[0056] In addition, the positioning signal may also include a broadcast timestamp corresponding to the broadcast of the positioning signal, which is used to indicate the broadcast time corresponding to the positioning signal.

[0057] In some embodiments of the present invention, the positioning base station 110 is deployed in the station area, and the coordinated work of multiple positioning base stations 110 ensures that the broadcast range of the positioning signal can fully cover the entire station area. Figure 2 As shown, when the mobile terminal 120 enters the station and moves into the signal broadcast range of a certain positioning base station 110 , the mobile terminal 120 will receive and analyze the positioning signal broadcast by the positioning base station 110 .

[0058] The mobile terminal 120 refers to an electronic device capable of receiving the positioning signal broadcast by the positioning base station 110, including but not limited to a mobile phone or a tablet computer, etc. Generally, a station navigation program is installed in the mobile terminal 120.

[0059] In some embodiments of the present invention, the station navigation program is a program installed in the mobile terminal 120. The station navigation program has the function of calling and displaying a regional map. The station navigation program can be a separately developed application program or a functional module embedded in an existing program, such as a mini-program or a webpage. This embodiment does not limit the implementation method of the station navigation program.

[0060] In actual implementation, the mobile terminal 120 may also be a self-moving device for station navigation, such as a self-moving station navigation robot, etc. This embodiment does not limit the device type of the mobile terminal 120.

[0061] In some embodiments of the present invention, the mobile terminal 120 is used to move according to the intra-station navigation path on the station area map while moving within the signal range of at least one positioning base station according to the extra-station navigation path, and receive at least one positioning signal, determine the direction strength information corresponding to each positioning signal received; parse each received positioning signal to obtain the base station identification information corresponding to the positioning base station participating in the positioning; generate real-time position calculation information based on the base station identification information and the direction strength information; and send the real-time position calculation information to the service terminal 130.

[0062] Among them, the regional map refers to a map pre-drawn for the station location, which is used to provide detailed station layout information.

[0063] Large stations typically have complex ticket gate layouts, entry and exit, and transfer area layouts. To improve the precision of regional maps, some embodiments of the present invention include detailed annotation of points of interest (POIs) within regional maps. Specifically, regional map POI annotations include entry-related locations, exit-related locations, and platform-related locations.

[0064] Among them, the marking of relevant entrance locations includes marking the locations of ordinary entrances and business entrances, marking the locations and numbers of self-service real-name gates and manual real-name gates, marking the location and number of security inspection areas and noting that one-way entrances must be equipped with a no-backflow sign, marking the locations and numbers of automatic ticket vending machines and manual ticket offices, marking the locations of escalators, elevators, and walking stairs, marking the locations of barrier-free passages, marking the locations and numbers of ticket gates, marking the locations of service desks, caring service areas, medical service areas, and security offices.

[0065] Exit-related locations include marking the location and number of each exit, marking the location and number of the exit self-service gates and manual exits and noting that one-way exits require a no-backflow sign, marking the location of the ticket supplement office, marking the location of the exit elevators, escalators, and stairs; marking the location of various municipal transportation facilities (such as taxis, online car-hailing services, buses, subways, airport express lines, etc.).

[0066] Platform-related locations include the location of the platform and its number, the location of the carriage and its number, the location of escalators, elevators, and stairs, the location of barrier-free passages, and the location of safety warning signs.

[0067] Navigation routes are pre-planned routes within the station based on a regional map of the station, providing passengers with efficient and convenient guidance from their starting point to their destination. The planning of navigation routes comprehensively considers points of interest (POIs) marked on the regional map, passenger travel data, and the actual layout of the station to ensure the rationality, safety, and practicality of the routes.

[0068] In some embodiments of the present invention, the navigation path includes a navigation path for guiding passengers to board a train, a navigation path for guiding passengers to exit a station, or a navigation path for guiding passengers to transfer trains within the same station.

[0069] In cases where in-station navigation routes are designed to guide passengers to trains, the navigation route is planned by combining passenger travel data with landmark guidance marked on the regional map. Passenger travel information includes train number, seat number, ticket gate information, or passenger type, providing passengers with a full-process navigation service from entering the station to boarding the train. Furthermore, to ensure the accuracy and efficiency of the navigation route, taking into account the complex layout of the station venue, key landmark guidance points marked on the regional map, such as entrances, ticket gates, escalators, and barrier-free passages, are combined to optimize route planning.

[0070] In some embodiments of the present invention, the navigation route is pre-planned based on a route planning strategy indicated by the passenger, the passenger's travel information, and a regional map, wherein the route planning strategy includes a shortest distance strategy and a shortest time strategy.

[0071] When the route planning strategy indicated by the passenger is the shortest distance strategy, refer to Figure 3 , satellite positioning data is received through the mobile terminal 120 to determine the real-time off-station location of the passenger. The real-time off-station location is sent to the service terminal 130. Based on the real-time off-station location, the service terminal 130 determines the station entrance closest to the mobile terminal among all the station entrances as the target entrance, and plans an off-station navigation path from the real-time off-station location to the target entrance in combination with a preset off-station map (such as Gaode Map or Baidu Map, etc.) and sends it to the mobile terminal 120. The path is marked on the preset off-station map and displayed to the passenger. Afterwards, the service terminal 130 takes the target entrance as the starting point and the target boarding platform as the end point, and combines the landmark guidance marked on the regional map of the station to plan the in-station navigation path from the target entrance to the target boarding platform and sends it to the mobile terminal 120.

[0072] Specifically, when the path planning strategy is the shortest distance strategy, before moving according to the pre-planned in-station navigation path on the area map of the station venue, the mobile terminal 120 is also used to determine the real-time off-station location information based on the real-time collected satellite positioning data; and send the real-time off-station location information and the path planning strategy information indicated by the passenger to the service terminal.

[0073] The service terminal 130 is also used to determine the entrance closest to the mobile terminal among all the entrances of the station based on the real-time off-station location information, as the target entrance; plan a navigation path from the current position to the target entrance based on the target entrance, the real-time off-station location information and the preset off-station map, and obtain the off-station navigation path; send the off-station navigation path to the mobile terminal; determine the corresponding boarding platform based on the train number information and seat information; and plan the in-station navigation path based on the location of the target entrance, the ticket gate information and the passenger type, the location of the boarding platform and the landmark guidance marked on the area map.

[0074] Customized station navigation routes are planned based on the needs of different types of passengers. In the case of key passengers (such as the elderly, pregnant women, people with disabilities, etc.), barrier-free station navigation routes are planned based on their special needs and the location information of barrier-free facilities in the station. For example: according to the layout of station facilities or barrier-free service windows, passengers entering the station are directed to barrier-free service windows / customer service centers. Elevators (avoiding stairs), barrier-free passages, manual ticket gates, etc. are planned in the station. On the platform, passengers are directed to the nearest boarding car entrance based on train formation, passenger seats, and landmark information, completing barrier-free navigation route planning for the entire journey connecting inside and outside the station.

[0075] For business travelers, a business navigation route is planned based on the passenger's ticket purchase train number, seat information, and business seat waiting area information. For example, a business entrance channel is planned, the waiting room is routed to the business waiting area, the ticket gate is routed to the manual / business ticket gate, and on the platform, the business carriage entrance is routed based on train formation, passenger seat, and landmark information. This completes the full-trip wide-area navigation route planning for connections within and outside the station.

[0076] When the in-station navigation path is designed to guide passengers out of the station, the navigation path is planned by combining the passenger's travel data and the landmark guidance marked on the regional map. The passenger's travel data includes the train number and seat information purchased by the passenger. This information is used to determine the passenger's disembarkation location and target exit, providing passengers with a full-process navigation service from disembarkation to exit. At the same time, to ensure the accuracy and efficiency of the navigation path, it is also necessary to comprehensively consider the complex layout characteristics of the station venue and make full use of key landmark guidance points marked on the regional map, such as platform exits, transfer passages, escalators, and barrier-free passages, to optimize path planning.

[0077] If the passenger indicates that the path planning strategy is the shortest time strategy, the mobile terminal 120 receives satellite positioning data, determines the passenger's real-time off-station location, and sends it to the service terminal 130. The service terminal 130 obtains current station operation data and determines the customer flow data of each entrance. Based on the passenger flow data, the entrance with the least passenger flow among all the station entrances is determined as the target entrance. The service terminal 130 plans an off-station navigation path from the real-time off-station location to the target entrance in combination with a preset off-station map (such as Amap or Baidu Map) and sends it to the mobile terminal 120. Afterwards, the service terminal 130 uses the target entrance as the starting point and the target boarding platform as the end point, and combines the landmark guidance marked on the regional map of the station and the passenger flow in each area to plan an in-station navigation path from the target entrance to the target boarding platform and sends it to the mobile terminal 120.

[0078] Specifically, when the path planning strategy information is the shortest time strategy, before moving according to the pre-planned in-station navigation path on the regional map of the station venue, the service terminal 130 is also used to obtain the passenger flow data of each entrance of the current station venue, and determine the entrance with the least passenger flow as the target entrance; based on the target entrance, real-time off-station location information and the preset off-station map, plan the off-station navigation path from the current position to the target entrance, and send the off-station navigation path to the mobile terminal; determine the corresponding boarding platform according to the train number information and seat information; and plan the in-station navigation path in combination with the location of the target entrance, ticket gate information and passenger type, the location of the boarding platform and the landmark guidance marked on the regional map.

[0079] While the mobile terminal 120 is moving along the off-station navigation path, satellite positioning data is received in real time to update the real-time off-station location information and the preset off-station map. When the updated real-time off-station location information indicates that the current location of the mobile terminal 120 is at the target entrance, the off-station navigation is determined to be completed, the preset off-station map is switched to an area map of the station venue, and the in-station navigation path is marked on the area map for navigation within the station venue.

[0080] Alternatively, after the mobile terminal 120 moves within the signal broadcast range of any positioning base station 110, it is determined that the mobile terminal 120 is located in the station venue. At this time, the preset off-station map is switched to the regional map of the station venue, and the station navigation path is marked on the regional map for navigation within the station venue.

[0081] Specifically, the mobile terminal 120 is also used to switch the preset off-site map to a regional map when, during the process of moving along the off-site navigation path, it receives a positioning signal broadcast by at least one positioning base station for the first time, or when the real-time off-site location information indicates that the target entrance has been reached; the regional map is marked with the on-site navigation path.

[0082] When the in-station navigation route is to guide passengers to exit the station or transfer at the same station, the passenger's travel data, including the current train number, the target transfer train number and the corresponding seat information, is combined to determine the passenger's alighting location and the boarding location of the target transfer train (including the target platform and ticket gate) or the exit, thereby providing passengers with a full-process navigation service from getting off the train to boarding the transfer platform or exiting the station.

[0083] Specifically, before moving according to the pre-planned in-station navigation path on the regional map of the station venue, the mobile terminal 120 is also used to determine the corresponding get-off location based on the passenger's train number information and seat information; combined with the get-off location, the passenger's exit information or transfer information, the layout of the transfer or exit channel in the station venue, and the landmark guidance marked on the regional map, the in-station navigation path from the get-off location to the exit or transfer platform is planned.

[0084] After the mobile terminal 120 enters the station from the target entrance or get-off location, it moves according to the pre-planned in-station navigation path on the area map, and receives the positioning signal broadcast by at least one positioning base station 110 during the movement; while receiving the positioning signal, the direction strength information of the positioning signal is determined, and then the positioning signal is analyzed to obtain the base station identification information corresponding to the positioning base station 110 that broadcasts the positioning signal.

[0085] The directional strength information includes the direction information and strength information of the positioning signal. The direction of the positioning signal represents the spatial angle or orientation of the positioning signal as it propagates from the positioning base station 110 to the mobile terminal 120, and is used to help determine the specific location or direction of the signal source. The strength information of the positioning signal refers to the energy level of the positioning signal when it is detected by the mobile terminal 120. It is usually expressed in the form of signal power or field strength and reflects the degree of attenuation of the positioning signal during its propagation from the positioning base station 110 to the mobile terminal 120.

[0086] After the base station identification information and the direction strength information are obtained, real-time position calculation information is generated from the base station identification information and the direction strength information and sent to the service terminal 130 .

[0087] The service terminal 130 is used to determine the base station location information corresponding to the base station identification information after receiving the real-time location calculation information; calculate the real-time location information of the mobile terminal within the station based on the base station location information and the real-time location calculation information; and send the real-time location information within the station to the mobile terminal 120.

[0088] After receiving the real-time location calculation information, the service terminal 130 maps the base station identification information to the actual base station location information based on a pre-built base station location database or map data. During the deployment phase of the positioning base stations 110, the locations of all positioning base stations 110 are pre-measured and recorded in a database or map data. When the service terminal 130 receives the base station identification information, it queries the database or map data to obtain the corresponding base station location information.

[0089] Through the above steps, service terminal 130 successfully obtains the specific location information of the base station. Next, service terminal 130 combines the base station location information with the real-time location calculation information to further calculate the real-time location information within the station for mobile terminal 120. The specific calculation method will vary depending on the type of positioning signal.

[0090] If the positioning signal includes a Bluetooth angle of arrival signal, the service terminal 130 determines the current distance between the mobile terminal and each participating positioning base station 110 based on the base station location information and the directional strength information in the real-time location calculation information. The service terminal 130 then uses the current distance, base station location information, and a pre-set multilateration (MLT) algorithm to ultimately determine the real-time location information within the station. This method fully utilizes the directionality and accuracy of the Bluetooth angle of arrival signal, providing support for high-precision positioning.

[0091] For example, consider the case where mobile terminal 120 receives positioning signals broadcast by positioning base stations A, B, and C. Their locations are known and recorded in the database of service terminal 130. The base station location information for positioning base station A is (x=0, y=0), the base station location information for positioning base station B is (x=10, y=0), and the base station location information for positioning base station C is (x=5, y=10). After receiving the positioning signal broadcast by positioning base station A, mobile terminal 120 determines that the direction angle of positioning base station A is 45° and the signal strength is -60dBm. After receiving the positioning signal broadcast by positioning base station B, mobile terminal 120 determines that the direction angle of positioning base station B is 135° and the signal strength is -65dBm. After receiving the positioning signal broadcast by positioning base station C, mobile terminal 120 determines that the direction angle of positioning base station C is 270° and the signal strength is -55dBm. Based on the direction angle and signal strength of the Bluetooth arrival angle signal, combined with a propagation model (such as a free space path loss model), the service terminal 130 can estimate the current distance between the mobile terminal and each base station, including the distance from the mobile terminal 120 to positioning base station A is 5 meters, the distance from the mobile terminal 120 to positioning base station B is 8 meters, and the distance from the mobile terminal 120 to positioning base station C is 7 meters; then, the service terminal 130 uses the above distance information and the location information of each positioning base station to calculate the coordinates of the mobile terminal 120 through a multilateral positioning algorithm, that is, the real-time location information of the mobile terminal 120 within the station.

[0092] Specifically, when the positioning signal includes a Bluetooth arrival angle signal, the real-time position information of the mobile terminal within the station is calculated based on the base station position information and the real-time position calculation information, including: determining the current distance between the mobile terminal and each participating positioning base station based on the base station position information and the direction strength information in the real-time position calculation information; determining the real-time position information within the station based on the current distance, the base station position information and the preset multilateral positioning algorithm.

[0093] However, although Bluetooth AOA technology has high measurement accuracy, it relies on a high-precision antenna array. In order to implement the AoA function, the mobile terminal 120 needs to be equipped with an array consisting of multiple antennas to detect the angle of arrival of the signal. At the same time, AoA signals are susceptible to multipath effects. In complex indoor environments (such as shopping malls, stations, etc.), the signals may be reflected by walls, furniture or other obstacles, and the coverage range of AOA signals is smaller than that of Wi-Fi positioning signals or Bluetooth iBeacon signals.

[0094] Therefore, during the movement of the mobile terminal 120, there is a possibility that the Bluetooth arrival angle signal cannot be received or the received Bluetooth arrival angle signal is of poor quality. In this case, it is necessary to determine the real-time in-station position of the mobile terminal 120 based on the Wi-Fi positioning signal or the Bluetooth iBeacon signal, and adopt the Centroid Localization Algorithm (CLA) to adapt to the characteristics of these signals.

[0095] Specifically, when the positioning signal includes a Wi-Fi positioning signal or a Bluetooth iBeacon signal, the real-time location information of the mobile terminal within the station is calculated based on the base station location information and the real-time location calculation information, including: determining the signal strength weight corresponding to each participating positioning base station based on the direction strength information in the real-time location calculation information; determining the real-time location information within the station based on the signal strength weight, the base station location information and the preset centroid positioning algorithm.

[0096] In the case of Wi-Fi positioning signals or Bluetooth iBeacon signals, the signal strength weight is a value determined based on the directional strength information in the real-time location calculation information. It is used to reflect the degree of influence of each participating positioning base station 110 on the final positioning result. The signal strength weight is positively correlated with the strength information. Positioning base stations 110 with higher signal strength are generally assigned a greater weight, thereby improving positioning accuracy.

[0097] In some embodiments of the present invention, the signal strengths of the positioning signals received by the mobile terminal 120 may be normalized to obtain a signal strength weight corresponding to each positioning signal.

[0098] In actual implementation, refer to Figure 4In the case where the mobile terminal 120 receives multiple types of positioning signals at the same time, in order to improve positioning accuracy and reliability, the service terminal 130 needs to integrate the data of multiple signals for comprehensive calculation.

[0099] Specifically, when the positioning signal includes a Wi-Fi positioning signal, a Bluetooth iBeacon signal, and a Bluetooth angle of arrival signal, the real-time position information of the mobile terminal within the station is calculated based on the base station position information and the real-time position calculation information, including: calculating the first real-time position information based on the direction strength information of the Wi-Fi positioning signal, the base station position information, and a preset centroid positioning algorithm; calculating the second real-time position information based on the direction strength information of the Bluetooth iBeacon signal, the base station position information, and a preset centroid positioning algorithm; calculating the third real-time position information based on the direction strength information of the Bluetooth angle of arrival signal, the base station position information, and a preset multilateral positioning algorithm; determining the signal strength weight corresponding to each signal based on the direction strength information of the Wi-Fi positioning signal, the direction strength information of the Bluetooth iBeacon signal, and the direction strength information of the Bluetooth angle of arrival signal; integrating the first real-time position information, the second real-time position information, and the third real-time position information through a multi-data fusion algorithm and signal strength weights to obtain the real-time position information.

[0100] After calculating the real-time location information of mobile terminal 120, service terminal 130 transmits the real-time location information to mobile terminal 120. Upon receiving the real-time location information within the station, mobile terminal 120 dynamically updates its current location on the map based on the annotation information on the regional map, providing passengers with an intuitive location display and providing basic data support for subsequent navigation route planning. Specifically, mobile terminal 120 is further configured to update the mobile terminal's current location on the regional map based on the real-time location information within the station.

[0101] In some embodiments of the present invention, while the mobile terminal 120 is moving along the station navigation path, the station navigation path may also be dynamically adjusted based on the passenger's real-time location information and the real-time conditions within the station. Specifically, the service terminal 130 is further configured to plan a new station navigation path based on the current location if the current location deviates by a preset distance from the station navigation path.

[0102] Furthermore, in the event of a temporary passage closure or peak passenger flow, station navigation routes must be quickly replanned to ensure smooth arrival at the platform. Furthermore, personalized navigation suggestions can be provided based on passengers' specific needs (e.g., whether they are carrying large luggage or require barrier-free passages), further enhancing the passenger's travel experience.

[0103] In addition, after the mobile terminal 120 leaves the station, it automatically obtains off-site traffic data related to the destination, including bus route information, subway route information, or taxi waiting point information, based on the destination specified by the passenger. At the same time, combined with the real-time passenger flow data of arriving passengers and the queue passenger flow data of each means of transportation, the walking distance and waiting time required to transfer to different means of transportation are calculated. Based on these data, feasible paths for passengers to transfer to different means of transportation such as buses, subways, or taxis are planned separately, and detailed information is provided for passengers to choose. For the path planning outside the station, it is achieved by calling the services of Gaode Map or Baidu Map, thereby completing the full-trip wide-area navigation route planning from inside the station to outside the station, ensuring that passengers can smoothly reach their final destination.

[0104] The service terminal 130 is also used to obtain off-station traffic data related to the destination specified by the passenger, including bus route information, subway route information or taxi waiting point information; obtain real-time passenger flow data of arriving passengers and queue passenger flow data of various means of transportation; based on the off-station traffic data, passenger flow data of arriving passengers and queue passenger flow data, calculate the walking distance and waiting time required to transfer to different means of transportation, and plan and display feasible paths corresponding to various means of transportation for passengers.

[0105] In some embodiments of the present invention, the off-station traffic data also includes weather data or road congestion data, wherein the weather data includes weather data of the passenger's departure station, arrival station, and transit station.

[0106] Furthermore, in actual implementation, due to the complexity of environmental factors, the mobile terminal 120 may not receive positioning signals or receive positioning signals of poor quality. For example, large metal objects, walls, or other obstacles may block or interfere with wireless signals, causing signal attenuation or loss, thereby affecting positioning accuracy. To address this issue, the mobile terminal 120 can introduce geomagnetic positioning, inertial navigation, 5G-assisted positioning technology, and other supplementary means.

[0107] Among them, geomagnetic positioning uses changes in the earth's natural magnetic field and environmental magnetic field to calculate position, and can provide a relatively stable positioning reference even in areas with weak wireless signals.

[0108] Inertial Navigation System (INS) measures the acceleration and angular velocity of an object and integrates these data to calculate the object's position, velocity, and attitude.

[0109] 5G technology, with its high bandwidth, low latency, and large number of connections, can provide more accurate spatiotemporal information for indoor positioning. By combining geomagnetic positioning with 5G technology, passengers can continue to receive continuous and reliable positioning services even when positioning signals are unstable, further enhancing the robustness and applicability of the overall navigation system.

[0110] To sum up, the wide-area navigation path planning system based on passenger behavior provided in this embodiment can solve the problem of signal instability caused by signal attenuation and multipath effects due to the large number of metal structures, numerous signal interference sources and dense crowds in a complex station environment, resulting in insufficient positioning accuracy within the station. By deploying at least one positioning base station in the station, multiple types of positioning signals are broadcast in real time. Each positioning signal contains the base station identification information of the positioning base station, which is convenient for parsing and associating with the specific base station location. Each signal has different propagation characteristics and anti-interference capabilities. By integrating the advantages of multiple signals, it can effectively deal with the situation where a single signal is unstable, and can improve the success rate and positioning accuracy of in-station positioning. At the same time, when the mobile terminal receives the positioning signal, it not only records the signal strength, but also collects the direction information of the signal. This direction strength information can provide richer positioning clues, reduce errors caused by signal attenuation or multipath effects, and further improve the accuracy of in-station positioning navigation.

[0111] In addition, combined with the positioning signals and satellite positioning information broadcast by the received positioning base stations, through the preset indoor and outdoor connection points (such as entrances and exits), indoor and outdoor paths are planned in advance and navigation information is updated in real time. The wide-area navigation path planning system based on passenger behavior is seamlessly connected with the external navigation system (such as Gaode and Baidu Maps), realizing a smooth transition between in-station navigation and out-station navigation when passengers enter and exit the station, realizing integrated navigation from any starting point to the target location in the station, eliminating the gap between indoor and outdoor navigation, providing a full-process, seamless navigation experience, and greatly improving the convenience of passenger travel.

[0112] Furthermore, differentiated services are provided based on passenger type. For key passengers, accessible routes are planned; for business travelers, business routes are planned; and for general passengers, efficient and convenient general route planning is provided. Furthermore, navigation routes are dynamically adjusted based on passengers' specific needs, recommending the most appropriate route. This system meets the personalized needs of different passenger groups, enhancing the targeted and personalized nature of the service. Furthermore, through differentiated services, passenger satisfaction and travel efficiency are improved.

[0113] In addition, passenger travel data, station operation data and off-station traffic data are connected to the wide-area navigation path planning system based on passenger behavior, and the navigation path is dynamically adjusted in combination with dynamic data to make path planning more accurate. At the same time, the introduction of dynamic data can alleviate passenger flow pressure and improve the convenience and efficiency of passenger travel.

[0114] It should be understood by those skilled in the art that the various exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is specifically performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0115] It should be understood that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method of the present invention is not limited to the specific steps described and illustrated. Those skilled in the art may make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present invention.

[0116] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or replace features of other embodiments.

[0117] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations to the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A wide-area navigation route planning system based on passenger behavior, characterized in that: The system comprises: At least one positioning base station is deployed in the station, each positioning base station is used to broadcast at least one positioning signal in real time; each positioning signal contains base station identification information of the corresponding positioning base station; The mobile terminal is configured to, when moving within the signal range of the at least one positioning base station according to the off-station navigation path, move according to the on-station navigation path on the station area map and receive the at least one positioning signal, determine the direction strength information corresponding to each positioning signal received; parse each received positioning signal to obtain base station identification information corresponding to the positioning base station participating in the current positioning; generate real-time position calculation information based on the base station identification information and the direction strength information; and send the real-time position calculation information to the service terminal; the on-station navigation path is pre-planned based on a path planning strategy indicated by a passenger, passenger travel information, and the area map; wherein the path planning strategy includes a shortest time strategy or a shortest distance strategy; The service terminal is configured to, after receiving the real-time location calculation information, determine the base station location information corresponding to the base station identification information; calculate the real-time location information of the mobile terminal within the station based on the base station location information and the real-time location calculation information; and send the real-time location information within the station to the mobile terminal; The mobile terminal is further configured to update the current location of the mobile terminal in the area map according to the real-time location information within the station when the real-time location information within the station is received.

2. The system according to claim 1, wherein: The positioning signal includes a Wi-Fi positioning signal, a Bluetooth iBeacon signal and / or a Bluetooth angle of arrival signal; In a case where the positioning signal includes the Bluetooth angle-of-arrival signal, the calculating and obtaining the real-time in-station location information of the mobile terminal based on the base station location information and the real-time location calculation information includes: Determining a current distance between the mobile terminal and each participating positioning base station based on the base station location information and the direction strength information in the real-time location calculation information; The real-time location information within the station is determined based on the current distance, the base station location information and a preset multilateration algorithm.

3. The system according to claim 2, characterized in that In a case where the positioning signal includes the Wi-Fi positioning signal or the Bluetooth iBeacon signal, the calculating, based on the base station location information and the real-time location calculation information, the real-time location information of the mobile terminal within the station includes: Determine the signal strength weight corresponding to each participating positioning base station based on the direction strength information in the real-time position calculation information; The real-time location information within the station is determined based on the signal strength weight, the base station location information and a preset centroid positioning algorithm.

4. The system according to claim 2, wherein: In a case where the positioning signal includes the Wi-Fi positioning signal, the Bluetooth iBeacon signal, and the Bluetooth angle-of-arrival signal, the calculating and obtaining the in-station real-time location information of the mobile terminal based on the base station location information and the real-time location calculation information includes: Calculate first real-time location information based on the direction strength information of the Wi-Fi positioning signal, the base station location information, and a preset centroid positioning algorithm; Calculate and obtain second real-time location information based on the direction strength information of the Bluetooth iBeacon signal, the base station location information, and the preset centroid positioning algorithm; Calculating third real-time location information based on the direction strength information of the Bluetooth arrival angle signal, the base station location information, and a preset multilateration algorithm; Determine the signal strength weight corresponding to each signal based on the directional strength information of the Wi-Fi positioning signal, the directional strength information of the Bluetooth iBeacon signal, and the directional strength information of the Bluetooth angle of arrival signal; The first real-time location information, the second real-time location information, and the third real-time location information are integrated through a multi-data fusion algorithm and the signal strength weight to obtain the real-time location information.

5. The system according to claim 1, wherein: The passenger travel information includes train number information, seat information, ticket gate information, or passenger type; when the path planning strategy is the shortest distance strategy, before moving along the station navigation path on the area map of the station venue, the mobile terminal is further used to determine real-time off-station location information based on real-time collected satellite positioning data; Sending the real-time off-station location information and the path planning strategy information indicated by the passenger to the service terminal; The service terminal is further configured to determine, based on the real-time off-station location information, the station entrance closest to the mobile terminal among the station entrances as the target station entrance; Planning a navigation path from the current location to the target station entrance based on the target station entrance, the real-time off-station location information, and a preset off-station map to obtain the off-station navigation path; Sending the off-site navigation path to the mobile terminal; Determine the corresponding boarding platform based on the train number information and the seat information; plan the navigation path within the station by combining the location of the target entrance, the ticket gate information, the passenger type, the location of the boarding platform, and the landmark guidance marked on the area map; The in-site navigation path is sent to the mobile terminal.

6. The system according to claim 5, characterized in that When the path planning strategy information is the shortest time strategy, the service terminal is further configured to obtain passenger flow data of each entrance of the station and determine the entrance with the least passenger flow as the target entrance; As the target entry point; Planning the off-station navigation path from the current location to the target station entrance based on the target station entrance, the real-time off-station location information, and a preset off-station map; Sending the off-site navigation path to the mobile terminal; The corresponding boarding platform is determined based on the train number information and the seat information; the in-station navigation path is planned based on the location of the target entrance, the ticket gate information and the passenger type, the location of the boarding platform, the landmark guidance marked in the area map, and the passenger flow of each area in the station venue; and the in-station navigation path is sent to the mobile terminal.

7. The system according to any one of claims 5 or 6, characterized in that: The mobile terminal is further configured to, during movement along the off-station navigation route, switch the preset off-station map to the regional map upon first receiving a positioning signal broadcast by the at least one positioning base station, or upon receiving the real-time off-station location information indicating arrival at the target station entrance; The regional map is marked with the in-station navigation path.

8. The system according to claim 5, wherein: In the case where the in-station navigation path is a navigation path that guides passengers to exit the station or transfer within the station, before moving according to the in-station navigation path pre-planned on the regional map of the station venue, the service terminal is also used to determine the corresponding get-off location based on the passenger's train number information and seat information; and plan the in-station navigation path from the get-off location to the exit or transfer platform in combination with the get-off location, the passenger's exit information or transfer information, the layout of the transfer or exit passages in the station venue, and the landmark guidance marked on the regional map.

9. The system according to claim 8, characterized in that The service terminal is further configured to obtain off-station transportation data related to the destination specified by the passenger, the off-station transportation data including bus route information, subway route information, or taxi waiting point information; and obtain real-time passenger flow data of arriving passengers and queue flow data of various modes of transportation; Based on the off-station traffic data, the arriving passenger flow data and the queuing passenger flow data, the walking distance and waiting time required to transfer to different means of transportation are calculated, and feasible paths corresponding to each means of transportation are planned and displayed for the passengers.

10. The system according to claim 1, wherein: The service terminal is further configured to plan a new in-station navigation path based on the in-station real-time location information when the current location indicated by the in-station real-time location information deviates from the in-station navigation path by a preset distance.

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