CN103826299B - The indoor augmented reality implementation method perceived based on wireless signal - Google Patents
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Abstract
The invention discloses a kind of indoor augmented reality implementation method perceived based on wireless signal, this method uses the basis that wireless fingerprint judges as system position, system operations amount is reduced by the method for kd trees and BBF inquiries, sweep spacing is optimized based on Attitude estimation, weights KNN computational methods based on prior location range-azimuth, the display methods based on POI range-azimuths are shown.This method can realize augmented reality service under large scene indoors, compensate for realizing augmented reality and caused limitation by label indoors at present.
Description
Technical field
The present invention relates to wireless communication field and field of virtual reality, and in particular to a kind of indoor augmented reality realization side
Method.
Background technology
With the rapid development of mobile Internet, augmented reality is not only served only for the professional domains such as industry, military affairs, and
The life of ordinary people will more be served.Augmented reality system based on customer location is a kind of shape of current relatively main flow
Formula.
Its related technology includes augmented reality and wireless fingerprint positioning technology.Existing location-based enhancing is existing
Real technology relies primarily on GPS, electronic compass, gyroscope etc. and is used as information support, but GPS indoors can not be just under enclosed environment
Often work, and the accuracy of GPS augmented reality services in the case where 10 meters or so of precision can not also meet indoor environment, so as to cause
Technology runs into bottleneck.At present, indoor main targeting scheme is still based on wireless location.Wherein wireless fingerprint positioning technology has
Anti-multipath propagation effect, suitable for advantages such as complicated geographical environments, it is but equidistant compared to TOA, TDOA in positioning precision
Method is relatively low, the problem of operand is larger be present under high-dimensional.
The content of the invention
For under existing augmented reality indoors environment, due to can not accurately perceive customer location by GPS, strengthening
Real service suffers from limitation；In addition, the use of the terminal of augmented reality is user mobile phone, its electricity is to a certain extent
It is restricted；The technical problems to be solved by the invention are to provide the increasing based on wireless signal cognition technology under a kind of indoor environment
Strong reality technology, the defects of to overcome present in existing augmented reality.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme that：
The indoor augmented reality implementation method perceived based on wireless signal, this method is using wireless fingerprint data as position
The basis of judgement, while the weights KNN computational methods based on prior location range-azimuth determine final position, are finally based on
The display methods of POI range-azimuths is shown.
In the preferred scheme of this programme, methods described specifically includes following steps:
(1) reference point is chosen according to indoor map, while POI (the Point of needed is chosen to corresponding map
Interest information points)；
(2) the wireless fingerprint data of each reference point are obtained；
(3) step (2) acquisition wireless fingerprint data are mutually bound with actual geographic position, completes to adopt in full map
Collection, and form corresponding wireless map；
(4) processing of structuring is carried out to wireless map by the method for KD trees (abbreviation of k-dimensional trees), will
Signal domain is divided into different regions.
(5) the real time scan stage is entered, the side to the kd trees that step (4) is formed using BBF inquiries (Priority Queues inquiry)
Method is inquired about, and the K for searching out current wireless fingerprint is individual closest to reference point；
(6) to K caused by step (5) closest to reference point, by analyzing its distance and side with previous moment position
Weights corresponding to parallactic angle calculating, the final calculating for carrying out weights KNN (K closest to point), obtain the estimate of current location；
(7) final position and the position of the POI of typing in step (1) that step (6) obtains are combined, calculates POI with working as
The range-azimuth angle of front position；
(8) by POI actual position coordinates, the position coordinates on screen, and regarding according to user terminal camera are converted to
Angular region, the POI after most screening at last are shown on the screen of the subscriber terminal.
Further, the spacing between the reference point chosen in the step (1) is 3-5 rice.
Further, institute's step (2) is when obtaining the wireless fingerprint data of each reference point, by being adopted in each reference point
Collect some groups of wireless signal data, and generating probability distribution map, then choose the data of maximum probability as final wireless fingerprint
Data.
Further, in the step (5) when being scanned, by judging (augmented reality to the posture of user terminal
Needed also exist in service), the behaviour in service of user terminal is judged with this, and Regulate signal sweep spacing is come with this.
Further, the step (1) to (4) is the processed offline stage, is carried out by service provider；The step (5)
User terminal is run on to (8).
Scheme provided by the invention based on the wireless signal under indoor environment as position judgment foundation, can be big indoors
Augmented reality service is realized under scene, compensate for realizing augmented reality and caused limitation by label indoors at present.
Meanwhile this programme can greatly reduce the operand of user terminal, the effective usage time for extending terminal, and
So that the performance of user terminal greatly promotes with efficiency.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 present invention's realizes block diagram；
Fig. 2 present invention is with reference to point selection and wireless fingerprint data acquisition；
When user terminal is in normal operating condition in Fig. 3 present invention, effect diagram is finally realized；
When Fig. 4 user terminals of the present invention are in horizontal use state, effect diagram is finally realized.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Due under environment indoors, can not accurately perceive customer location by GPS so that augmented reality service suffers from
Limitation；In addition, because terminal is user mobile phone, its electricity is restricted to a certain extent.Increase on the other hand, the present invention combines
The characteristic and wireless location technology of strong reality, and propose solution, the party under conditions of mobile terminal itself limitation is considered
Case particular content includes：The basis judged using wireless fingerprint as system position, and dropped by the method for kd trees and BBF inquiries
Low system operations amount, sweep spacing is optimized based on Attitude estimation, while based on the weights of prior location range-azimuth
KNN computational methods, the display methods progress result for being finally based on POI range-azimuths are shown.
Based on above-mentioned principle, the realization of the indoor augmented reality implementation method provided by the invention perceived based on wireless signal
Process is following (referring to Fig. 1)：
Step 1, according to actual indoor map, some reference points are chosen indoors, reference point is chosen using equidistant, they
Between spacing be generally 3~5 meters or so.POI (the Point of needed are chosen to corresponding map (i.e. indoor map) simultaneously
Interest information points), the display for augmented reality.During specific implementation, when choosing POI, existing geography information can be used
The technology commonly used in system, by the prior typing of corresponding POI data.
Step 2, the wireless fingerprint data of each reference point are obtained.
For wireless fingerprint positioning technology, stable wireless fingerprint data are extremely important, and in the case of reality,
The caused multipath effect due to indoor environment complexity, causes the signal that same WAP is received on same position
Intensity can constantly change.It is this present invention in each reference point, to ensure the stability of implementation process, gathers some groups
Wireless signal data, and generating probability distribution map, the final data for choosing maximum probability are as final wireless fingerprint data.
In this step when gathering wireless signal data, wireless signal is obtained by wireless terminal scanning imaging system in real time
The data such as MAC Address, SSID, RSSI；Due to being constantly in fluctuation status in the RSS values of same position, wireless signal, then pass through
Gather a large amount of RSS numerical value and draw basic probability distribution graph.
Step 3, by the method for address of cache, the wireless fingerprint data that step (2) is obtained and actual geographic position are (i.e.
The position during data acquisition) mutually binding, collection is completed in full map, forms final wireless map.
The wireless fingerprint data of acquisition are bound with actual geographic position by numbering the method for binding in the step,
It is identically numbered so that the wireless fingerprint data of binding have with actual geographic position；
Accordingly all reference points in full map (i.e. indoor map) are completed with the collection of data and corresponding actual geographic position
The binding put.
Finally, the wireless fingerprint data obtained according to all reference points carry out mapping and form corresponding wireless map.Having
When body is realized, each reference point of map can will be represented by a wireless fingerprint data, thus be mapped to realize, then by
Corresponding wireless fingerprint data form corresponding wireless map on map.But specific scheme is not limited to this, can also use
Other manner.
Step 4, the wireless map obtained to step 3 carries out the processing of structuring, passes through kd trees (k-dimensional trees
Abbreviation) method signal domain is divided into different regions, to improve the search efficiency of subscription client.
Step 5, user terminal will enter the real time scan stage after the interior is entered, i.e. real time scan current location
Wireless signal data, characteristic value matching is carried out with existing wireless fingerprint database, so as to judge user terminal current location.
By judging (being needed also exist in augmented reality service) to the posture of user terminal during real time scan, according to
The posture of user terminal estimates the behaviour in service of user terminal, further according to the appropriate Regulate signal of the use state of user terminal
Sweep spacing, reduce operand.
When the inclination angle of user terminal is between -90 to 90 degree, then user terminal normal use moment or state are judged, suitably
Reduce user terminal signal surface sweeping interval；
When user terminal inclination angle in -180 to -90 degree and 90 between 180 degree, then judging user terminal in improper
Using moment or state, user terminal signal surface sweeping interval is properly increased.
Step 6, it is contemplated that high-dimensional wireless environment, the kd trees formed in scanning process to step 4 use BBF
The method of (Best Bin First) inquiry (Priority Queues inquiry) substitutes traditional kd tree query checking methods to be inquired about, and root
According to the inquiry threshold value of setting, search out current wireless fingerprint K (search out and current wireless fingerprint Europe closest to reference point
K closest reference point of formula).Wireless fingerprint described here is the collection of each wireless signal data detected in real time
Close.
Step 7, to K caused by step 6 closest to reference point, by analyze their distances with previous moment position with
Their weights of azimuthal angle calculation, the final calculating for carrying out weights KNN (K-Nearest Neighbors), obtain current location
Estimate.In the step analyze K closest to reference point weights when, can be carried out, judged by corresponding function
When distance nearlyer weights it is higher, the smaller weights in azimuth are higher.It can be set for the function according to actual environment.
Step 8, with reference to the POI's chosen in the final position (i.e. the estimate of current location) and step 1 that step 7 obtains
Physical location, calculate the range-azimuth angle of POI and current location.The range-azimuth angle specifically can be by theorem in Euclid space
Correlation computations try to achieve.
Step 9, by POI actual position coordinates, the position coordinates on screen is converted to, and according to user terminal camera
Angular field of view, the POI after most screening at last are shown on the screen of the subscriber terminal.
, will by calculating according to the range-azimuth angle for the POI and current location being calculated in step 8 in the step
POI actual position coordinates are converted to the position coordinates on screen, then the posture of equipment is obtained by equipment gyroscope, adjust screen
The position of upper display.It can specifically be realized using programmed algorithm, be calculated by algorithm judge whether POI takes the photograph in current phone first
As in head azimuth, if in the presence of being shown according to specific angle on screen.But concrete implementation method is not limited to this.
Screened further according to the angular field of view of user terminal camera, POI will only be included in angular field of view in user
On terminal screen, i.e., the POI only in display view angle is shown on user's screen.
Such scheme in specific implementation, wherein step 1 to step 4 be the processed offline stage, this part of operation
Carried out, be not present on user terminal by service provider, realize that substantial amounts of previous information is handled by this part, so as to
So that the performance of user terminal greatly promotes with efficiency；Step 5 performs to step 9 in user terminal simultaneously, so can not only
Augmented reality service is realized under large scene indoors, additionally it is possible to the operand of user terminal is greatly reduced, it is effective to extend eventually
The usage time at end, and the performance of user terminal is greatly promoted with efficiency.
Scheme provided by the invention is specifically described below by way of an instantiation.
The implementation case at service provider and user terminal both ends using android smart phone as operational outfit,
Thus augmented reality service system is cooperatively formed.
As the android smart phone of service provider, its interior operation has pretreatment system, is mainly useful for interior
The collection of wireless data, and wireless map is built into, and the processing of structuring is carried out to the map.
As the android smart phone of user terminal, its interior operation has augmented reality computing system, is mainly used in service
The wireless map of provider's structure is scanned and calculated, to obtain and show corresponding POI.
This example realizes augmented reality service for a certain floor in certain building in it.For the indoor ring
Border, this example realize that the process of augmented reality service is following (referring to Fig. 1)：
Step 1, reference point is chosen according to actual indoor map.
Referring to Fig. 2, this example have selected 57 geographical position as reference by location altogether according to its actual indoor map
Point, the spacing between this 57 position reference points are generally 3~5 meters or so；The POI needed is chosen to corresponding map simultaneously, used
In the display of augmented reality.
Step 2, by the android smart phone as service provider in each reference point, 100 groups of collection is without line number
According to, and generating probability distribution map, the final data for choosing maximum probability are as final wireless fingerprint data.
Step 3, the android smart phone as service provider is obtained step 2 by the method for address of cache
Wireless fingerprint data are mutually bound with actual geographic position, and collection is completed in full map, forms final wireless map.
Step 4, in order to improve the search efficiency of user terminal, the android smart phone as service provider is to step 3
Obtained wireless map carries out the processing of structuring, and the signal domain of interior is divided into different regions by the method for kd trees.
In this example, when carrying out structuring processing by kd trees, the k in kd trees represents effective wireless in indoor environment
Access point (AP) quantity.A variance maximum AP is selected first as cut-point, to all reference points (RP) according to this AP's
Signal strength values are ranked up, and all reference points (RP) are divided into left subtree and right subtree according to median, then successively on a left side
Aforesaid operations are repeated in right subtree, until being finally completed kd trees.
Step 5, after processed offline is completed as the android smart phone of service provider, user terminal is entering
To after the indoor environment, the real time scan stage will be entered, in order to meet the real-time of service, run on the system of user terminal
Sweep spacing is arranged to 500ms, that is to say, that each second, the system will position twice to user terminal.It is but if long
Time be in one second frequency positioned twice can suitable power consumption, and under many circumstances, user, which, pays special attention to oneself
Positional information.The system suitably adjusts sweep spacing by judging the posture of user terminal.Such as：When the inclination angle of terminal
When between -90 to 90 degree, user terminal is judged for normal operating condition, using 500ms sweep spacing, and -180 to -90
Degree arrives 180 degree etc. with 90, then user terminal is non-normal use state, then using 2s sweep spacing.To a certain extent may be used
Operand is reduced, extends the usage time of terminal.
Step 6, it is contemplated that high-dimensional wireless environment, the kd trees that user terminal is formed in scanning process to step 4 are adopted
Substitute traditional kd tree queries with the method for BBF inquiries.Specifically, one is added in the system for run on user terminal preferentially
Level queue, the separation (obtaining the bigger separation of the probability of point of proximity) of point of proximity is more likely obtained for storing.Returning
Trace back during lookup, system will set a threshold value, and recall each preferential separation successively in priority query and (deposit
Separation in storing up in priority query), so as to carry out the inquiry closest to point.When inquiry quantity reaches threshold value, inquiry
Terminate, it is final to obtain K closest to reference point.
Step 7, user terminal is individual to K caused by step 6 closest to reference point, by analyzing they and previous moment position
Range-azimuth angle (the range-azimuth angle specifically can calculate gained according to now position and eve position) calculate them
Weights, the final calculating for carrying out weights KNN, obtain the estimate of user terminal current location.
Further, since weights KNN here considers previous moment position so that position levels of precision is to whole mistake first
Journey has a considerable influence, therefore this example is when positioning first, in advance with 3 seconds wireless fingerprint numbers for obtaining 6 groups of user terminals collections
According to by this 6 groups of Data Analysis Services, obtaining relatively accurate position location first.
Step 8, the final position (i.e. the estimate of user terminal current location) that user terminal combination step 7 obtains and step
Prior typing POI position in rapid 1, calculate the range-azimuth angle of POI and current location.
Step 9, POI actual position coordinates are converted to the position coordinates on screen by user terminal, and according to user terminal
The angular field of view of camera, the POI after most screening at last are shown on the screen of the subscriber terminal.
Referring to Fig. 3 and 4, it show user terminal in this example (mobile phone) and entered in this building in respective storey,
Based on above-mentioned augmented reality service plan, what is obtained finally realizes schematic diagram, and wherein Fig. 3 show user terminal and is in vertical
During state, its obtained augmented reality content, i.e., the Azimuth ＆ Range of toilet is shown in the display screen of terminal.Work as user
Flat when holding terminal (mobile phone), system judges terminal posture, switchs to map mode automatically, and shows current location, such as Fig. 4 institutes
Show.
By examples detailed above, the augmented reality that this example provides causes user terminal not access any Wi-Fi
In the case of, it can realize under complex indoor environment, guide user to arrive at well, than common digital map navigation more
To be directly perceived.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. the indoor augmented reality implementation method perceived based on wireless signal, it is characterised in that methods described uses wireless fingerprint
Basis of the data as position judgment, while the weights based on prior location range-azimuth K are closest to point KNN computational methods
Final position is determined, the display methods for being finally based on information point POI range-azimuths is shown；Methods described specifically include as
Lower step:
(1) reference point is chosen according to indoor map, while the information point POI needed is chosen to corresponding map；
(2) the wireless fingerprint data of each reference point are obtained；
(3) step (2) acquisition wireless fingerprint data are mutually bound with actual geographic position, collection is completed in full map, and
Form corresponding wireless map；
(4) processing of structuring is carried out to wireless map by the method for KD trees, signal domain is divided into different regions；
(5) enter the real time scan stage, the kd trees that step (4) is formed inquired about using the method for Priority Queues BBF inquiries,
The K for searching out current wireless fingerprint is individual closest to reference point；
(6) to K caused by step (5) closest to reference point, by analyzing its range-azimuth angle with previous moment position
Weights corresponding to calculating, it is final to carry out the K calculating closest to point KNN of weights, obtain the estimate of current location；
(7) final position and the position of the information point POI of typing in step (1) that step (6) obtains are combined, calculates information point
POI and the range-azimuth angle of current location；
(8) by information point POI actual position coordinates, the position coordinates on screen is converted to, and according to user terminal camera
Angular field of view, the information point POI after most screening at last are shown on the screen of the subscriber terminal.
2. the indoor augmented reality implementation method according to claim 1 perceived based on wireless signal, it is characterised in that institute
The spacing stated between the reference point chosen in step (1) is 3-5 rice.
3. the indoor augmented reality implementation method according to claim 1 perceived based on wireless signal, it is characterised in that institute
Step (2) is when obtaining the wireless fingerprint data of each reference point, by gathering some groups of wireless communication numbers in each reference point
According to, and generating probability distribution map, then the data of maximum probability are chosen as final wireless fingerprint data.
4. the indoor augmented reality implementation method according to claim 1 perceived based on wireless signal, it is characterised in that institute
State in step (5) when being scanned, by judging the posture of user terminal, the use shape of user terminal is judged with this
Condition, and Regulate signal sweep spacing is come with this.
5. the indoor augmented reality implementation method according to any one of claim 1 to 4 perceived based on wireless signal, its
It is characterised by, the step (1) to (4) is the processed offline stage, is carried out by service provider；Step (5) to (8) operation
In user terminal.
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| CN105021304A (en) * | 2015-07-03 | 2015-11-04 | 江苏声立传感技术有限公司 | Signal coverage and quality improving method for passive wireless temperature measurement system in contact temperature measurement application of power switchgear |
| CN105021200B (en) * | 2015-07-27 | 2018-06-05 | 北京博阳世通信息技术有限公司 | A kind of generation system and method for indoor location information on services |
| CN105243115B (en) * | 2015-09-25 | 2019-06-11 | 宇龙计算机通信科技(深圳)有限公司 | Orientation on map method, Orientation on map device and terminal |
| CN108151709B (en) * | 2016-12-06 | 2020-07-10 | 百度在线网络技术（北京）有限公司 | Positioning method and device applied to terminal |
| US9768928B1 (en) | 2016-12-16 | 2017-09-19 | Futurewei Technologies, Inc. | High dimensional (HiDi) radio environment characterization and representation |
| EP3598337B1 (en) * | 2017-12-01 | 2024-02-07 | Shenzhen Goodix Technology Co., Ltd. | Fingerprint image enhancement method and fingerprint image module |
| CN108921889A (en) * | 2018-05-16 | 2018-11-30 | 天津大学 | A kind of indoor 3-D positioning method based on Augmented Reality application |
| CN113027696B (en) * | 2019-12-24 | 2022-11-15 | 新疆金风科技股份有限公司 | Fault diagnosis method and device of hydraulic variable pitch system |
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