WO2017181690A1 - Indoor navigation method and apparatus - Google Patents

Abstract

An indoor navigation method and apparatus, the indoor navigation method comprising the following steps: acquiring position information of a detected wireless hotspot AP, and on the basis of the position information, calculating starting position information of a user (S1); receiving set target position information (S2); and, on the basis of the starting position information and the target position information, generating a navigation route (S3). The indoor navigation method and apparatus, by means of acquiring position information of a detected AP, and on the basis of the position information, calculating starting position information of a user (S1), receiving set target position information (S2), and, on the basis of the starting position information and the target position information, generating a navigation route (S3), effectively use the AP to provide an accurate indoor positioning and navigation service for a user, meeting user requirements, and improving the user experience.

Description

Indoor navigation method and device Technical field

The embodiments of the present invention relate to the technical field of mobile terminals, and in particular, to an indoor navigation method and apparatus.

Background technique

With the rapid development of information technology, satellite positioning and navigation technology has gradually become popular. People can use navigation software anytime, anywhere to determine where they are and where they are, as well as the route to their destination. At present, positioning and navigation are mainly realized by GPS, Beidou satellite navigation system, Galileo navigation system and the like. However, due to the blockage of the ceiling and walls of the building, the above navigation system cannot accurately locate and navigate indoors, and cannot meet more precise small-scale positioning, such as positioning to a certain room in a building, resulting in User experience is getting worse.

Summary of the invention

The embodiment of the invention provides an indoor navigation method, which can at least effectively utilize the AP to provide an accurate indoor positioning and navigation service for the user, meet the user's needs, and improve the user experience.

An embodiment of the present invention also provides an indoor navigation device.

According to an embodiment of the present invention, an indoor navigation method is provided, including: acquiring location information of a detected wireless hotspot AP, and calculating initial location information of the user according to the location information; and receiving the set destination location information. Generating a navigation path based on the initial location information and the destination location information.

The indoor navigation method of the embodiment of the present invention acquires the location information of the detected AP, calculates the initial location information of the user according to the location information, receives the set destination location information, and generates navigation according to the initial location information and the destination location information. The path effectively utilizes the AP to provide users with accurate indoor positioning and navigation services to meet user needs and enhance user experience.

Optionally, the method further includes: acquiring displacement information of the user, and calculating current location information of the user according to the displacement information and the initial location information; and the navigation path according to the current location information. Make corrections.

Optionally, the method further includes: displaying the current location information in real time.

Optionally, calculating the initial location information of the user according to the location information, including: acquiring a signal strength of the detected AP; determining, according to the signal strength, location information of the detected AP and the user The distance between the initial location information; determining the initial location information of the user based on the distance.

Optionally, acquiring the displacement information of the user includes: calculating a moving distance of the user based on the acceleration sensor and the air pressure sensor; and acquiring a moving direction of the user based on the compass sensor.

According to another embodiment of the present invention, an indoor navigation device is further provided, including: an acquiring module, configured to acquire location information of the detected wireless hotspot AP, and calculate initial location information of the user according to the location information; The receiving module is configured to receive the set destination location information, and the generating module is configured to generate a navigation path according to the initial location information and the destination location information.

The indoor navigation device of the embodiment of the present invention acquires the location information of the detected AP, calculates the initial location information of the user according to the location information, receives the set destination location information, and generates navigation according to the initial location information and the destination location information. The path effectively utilizes the AP to provide users with accurate indoor positioning and navigation services to meet user needs and enhance user experience.

Optionally, the device further includes: a calculating module, configured to acquire displacement information of the user, and calculate current location information of the user according to the displacement information and the initial position information; and a correction module configured to The current location information corrects the navigation path.

Optionally, the device further includes: a display module configured to display the current location information in real time.

Optionally, the acquiring module includes: an acquiring unit, configured to acquire a signal strength of the detected AP;

a first determining unit, configured to determine a distance between the location information of the detected AP and the initial location information of the user according to the signal strength; and the second determining unit is configured to determine the location according to the distance The user's initial location information.

Optionally, the calculating module is configured to: calculate a moving distance of the user based on the acceleration sensor and the air pressure sensor; and acquire a moving direction of the user based on the compass sensor.

According to still another embodiment of the present invention, there is also provided a computer storage medium arranged to store a computer program for performing the indoor navigation method described above.

DRAWINGS

1 is a flow chart of an indoor navigation method in accordance with one embodiment of the present invention;

2 is a schematic diagram of an AP distribution according to an embodiment of the present invention;

3 is a schematic diagram of an effect of calculating initial position information of a user according to an embodiment of the present invention;

4 is a schematic view showing the layout of a building interior according to an embodiment of the present invention;

FIG. 5 is a flowchart of an indoor navigation method according to another embodiment of the present invention; FIG.

6 is a schematic structural view 1 of an indoor navigation device according to an embodiment of the present invention;

FIG. 7 is a second schematic structural diagram of an indoor navigation device according to an embodiment of the present invention.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

The indoor navigation method and apparatus of the embodiment of the present invention will be described below with reference to the accompanying drawings.

When entering large buildings such as unfamiliar shopping malls, supermarkets, office buildings, etc., many people will lose their way because of the lack of understanding of the strange environment. In the absence of any help, it is more difficult to reach the destination in the shortest possible time. However, current navigation systems generally cannot achieve accurate indoor navigation. Accordingly, the present invention provides an indoor navigation method that assists a user in quickly reaching a destination indoors.

1 is a flow chart of an indoor navigation method in accordance with one embodiment of the present invention.

As shown in FIG. 1, the indoor navigation method may include:

S1. Acquire location information of the detected wireless hotspot AP, and calculate initial location information of the user according to the location information.

For example, a large building is provided with multiple APs (Wireless Access Points). The specific distribution can be as shown in Figure 2. A coordinate system is established based on the building. The position coordinates of the APs. At this point, the user can turn on the wireless function to detect AP signals in the vicinity of the building. Then, the signal strength of the detected AP is acquired, and the signal strength is converted into a distance, thereby knowing the distance between the detected AP and the initial position of the user. Since the position coordinates of the detected AP are all known, the position coordinates of the user in the building coordinate system can be calculated.

The specific method is as follows: As shown in FIG. 3, A4, A7, and A8 may be selected from the detected APs to locate the initial position of the user. Assume that the distance between the user and A4 is D4, the distance from A7 is D7, and the distance from A8 is D8. The coordinates of A4 are the center of the sphere, D4 is the radius to generate the sphere 1; the coordinates of A7 are the center of the sphere, and D7 is the radius to generate the sphere 2; the coordinates of A8 are the center of the sphere, and D8 is the radius to generate the sphere 3. Ball 1, Ball 2 and Ball 3 have a unique intersection, the initial position of the user. Since the position coordinates of A4, A7, and A8 are known, the initial position of the user, that is, the position coordinates of the user in the building can be calculated. It should be noted that the position coordinates of A4, A7, and A8 are not on the same line.

S2. Receive the set destination location information.

After acquiring the initial location information, the user can set the destination location information such as room 409 within the building.

S3. Generate a navigation path according to the initial location information and the destination location information.

Before generating the navigation path, you need to obtain the indoor layout structure map corresponding to the building. As shown in Fig. 4, the building has five floors, two elevators with elevator 1 and elevator 2, two sets of stairs for stairs 1 and stairs 2, and a set of straight ladders for going up and down. Each floor is a circular corridor, and the rooms are arranged in a circle along the corridor, such as 201, 202, 203, etc. The position coordinates of each room are fixed. Suppose the user is at the front entrance of the first floor, and his destination is the 409 meeting room on the fourth floor. At this time, a plurality of different navigation paths can be provided to the user according to the initial location information and the destination location information. Combined with reality In the case, for example, the elevator 1 waits for a large number of people, etc., intelligently recommends a more time-saving navigation path to the user, avoiding wasting time.

The indoor navigation method of the embodiment of the present invention acquires the location information of the detected AP, calculates the initial location information of the user according to the location information, receives the set destination location information, and generates navigation according to the initial location information and the destination location information. The path effectively utilizes the AP to provide users with accurate indoor positioning and navigation services to meet user needs and enhance user experience.

FIG. 5 is a flow chart of an indoor navigation method according to another embodiment of the present invention.

As shown in FIG. 5, the indoor navigation method may include:

S1. Acquire location information of the detected wireless hotspot AP, and calculate initial location information of the user according to the location information.

For example, a large building is provided with multiple APs (Wireless Access Points). The specific distribution can be as shown in Figure 2. A coordinate system is established based on the building. The position coordinates of the APs. At this point, the user can turn on the wireless function to detect AP signals in the vicinity of the building. Then, the signal strength of the detected AP is acquired, and the signal strength is converted into a distance, thereby knowing the distance between the detected AP and the initial position of the user. Since the position coordinates of the detected AP are all known, the position coordinates of the user in the building coordinate system can be calculated.

The specific method is as follows: As shown in FIG. 3, A4, A7, and A8 may be selected from the detected APs to locate the initial position of the user. Assume that the distance between the user and A4 is D4, the distance from A7 is D7, and the distance from A8 is D8. The coordinates of A4 are the center of the sphere, D4 is the radius to generate the sphere 1; the coordinates of A7 are the center of the sphere, and D7 is the radius to generate the sphere 2; the coordinates of A8 are the center of the sphere, and D8 is the radius to generate the sphere 3. Ball 1, Ball 2 and Ball 3 have a unique intersection, the initial position of the user. Since the position coordinates of A4, A7, and A8 are known, the initial position of the user, that is, the position coordinates of the user in the building can be calculated. It should be noted that the position coordinates of A4, A7, and A8 are not on the same line.

S2. Receive the set destination location information.

After acquiring the initial location information, the user can set the destination location information such as room 409 within the building.

S3. Generate a navigation path according to the initial location information and the destination location information.

Before generating the navigation path, you need to obtain the indoor layout structure map corresponding to the building. As shown in Fig. 4, the building has five floors, two elevators with elevator 1 and elevator 2, two sets of stairs for stairs 1 and stairs 2, and a set of straight ladders for going up and down. Each floor is a circular corridor, and the rooms are arranged in a circle along the corridor, such as 201, 202, 203, etc. The position coordinates of each room are fixed. Suppose the user is at the front entrance of the first floor, and his destination is the 409 meeting room on the fourth floor. At this time, a plurality of different navigation paths can be provided to the user according to the initial location information and the destination location information. Combined with the actual situation, such as the number of people waiting for the elevator 1, etc., intelligently recommend a more time-saving navigation path to the user, avoiding wasting time.

S4. Acquire displacement information of the user, and calculate current location information of the user according to the displacement information and the initial location information.

After the navigation path is generated, the user can move according to the navigation path.

在Y轴方向上的加速度为

在Z轴方向上的加速度为

则在X轴方向上的位移

则可根据公式1计算得出。During the movement, the moving distance of the user can be calculated based on the acceleration sensor and the air pressure sensor, and the moving direction of the user can be acquired based on the compass sensor. For example, suppose the positive direction of the X axis represents the east and the negative direction of the X axis represents the west. The positive direction of the Y axis represents the north, and the negative direction of the Y axis represents the south. The positive direction of the Z axis represents the upper side, and the negative direction of the Z axis represents the lower side. Specifically, the time t of the moving process can be divided into n segments, that is, t=Δt ₀ +Δt ₁ +Δt ₂ +...+Δt _n-1 , and the time interval of each segment is Δt _i , where 0≤i≤n- 1. Assume that the acceleration sensor detects the acceleration in the X-axis direction as

The acceleration in the Y-axis direction is

The acceleration in the Z-axis direction is

Then the displacement in the X-axis direction

It can be calculated according to formula 1.

Formula 1:

为前一时间间隔的速度，

为X轴方向上的加速度，Δt_i为时间间隔。among them,

For the speed of the previous interval,

For the acceleration in the X-axis direction, Δt _i is the time interval.

则可根据公式2计算得出。Similarly, the displacement in the Y-axis direction

It can be calculated according to formula 2.

Formula 2:

为前一时间间隔的速度，

为Y轴方向上的加速度，Δt_i为时间间隔。among them,

For the speed of the previous interval,

For the acceleration in the Y-axis direction, Δt _i is the time interval.

可根据气压传感器检测的气压变化值进行换算获得。最终，位移信息

可通过公式3计算得出。And the displacement in the Z-axis direction

It can be obtained by conversion based on the pressure change value detected by the air pressure sensor. Finally, the displacement information

Can be calculated by Equation 3.

Formula 3:

总路程为

即计算得出用户的当前位置信息，从而实现移动轨迹的跟踪。Convert the displacement to a distance

The total distance is

That is, the current position information of the user is calculated, thereby realizing the tracking of the movement track.

In addition, the current location information of the user can be displayed in real time through the mobile terminal.

S5. Correct the navigation path according to the current location information.

和Y轴加速度

可计算出用户的移动方向与Y轴正方向的夹角θ_i’，将θ_i与θ_i’进行对比，可实现对导航路线的实时修正和提醒。For example, assume that the output angle detected by the compass sensor for each time interval is θ _i , where 0° ≤ θ _i < 360°. X-axis acceleration detected by the acceleration sensor during the movement

And Y-axis acceleration

The angle θ _i ' between the moving direction of the user and the positive direction of the Y-axis can be calculated, and θ _i and θ _i ' can be compared to realize real-time correction and reminding of the navigation route.

The indoor navigation method of the embodiment of the invention acquires the moving distance of the user through the acceleration sensor and the air pressure sensor, and acquires the moving direction of the user through the compass sensor, thereby realizing the tracking of the moving track, so that the user can know the location of the user in real time and avoid the user. The waste of time caused by the wrong route improves the user experience.

In order to achieve the above object, an embodiment of the present invention further provides an indoor navigation device.

FIG. 6 is a first schematic structural diagram of an indoor navigation device according to an embodiment of the present invention.

As shown in FIG. 6, the indoor navigation device may include: an acquisition module 110, a receiving module 120, and a generation module 130.

The obtaining module 110 is configured to acquire location information of the detected wireless hotspot AP, and calculate initial location information of the user according to the location information. The obtaining module 110 may include an obtaining unit 111, a first determining unit 112, and a second determining unit 113.

The acquisition unit 111 is arranged to acquire the signal strength of the detected AP.

The first determining unit 112 is configured to determine a distance between the detected position information of the AP and the initial position information of the user according to the signal strength.

The second determining unit 130 is configured to determine the initial position information of the user based on the distance.

For example, a large building is provided with multiple APs (Wireless Access Points). The specific distribution can be as shown in Figure 2. A coordinate system is established based on the building. The position coordinates of the APs. At this point, the user can turn on the wireless function to detect AP signals in the vicinity of the building. Then, the signal strength of the detected AP is acquired, and the signal strength is converted into a distance, thereby knowing the distance between the detected AP and the initial position of the user. Since the position coordinates of the detected AP are all known, the position coordinates of the user in the building coordinate system can be calculated.

The specific method is as follows: As shown in FIG. 3, A4, A7, and A8 may be selected from the detected APs to locate the initial position of the user. Assume that the distance between the user and A4 is D4, the distance from A7 is D7, and the distance from A8 is D8. The coordinates of A4 are the center of the sphere, D4 is the radius to generate the sphere 1; the coordinates of A7 are the center of the sphere, and D7 is the radius to generate the sphere 2; the coordinates of A8 are the center of the sphere, and D8 is the radius to generate the sphere 3. Ball 1, Ball 2 and Ball 3 have a unique intersection, the initial position of the user. Since the position coordinates of A4, A7, and A8 are known, the initial position of the user can be calculated, that is, the user is in the building. Position coordinates. It should be noted that the position coordinates of A4, A7, and A8 are not on the same line.

The receiving module 120 is configured to receive the set destination location information. For example, after obtaining the initial location information, the user can set the destination location information such as room 409 within the building.

The generating module 130 is configured to generate a navigation path based on the initial location information and the destination location information. Before generating the navigation path, you need to obtain the indoor layout structure map corresponding to the building. As shown in Fig. 4, the building has five floors, two elevators with elevator 1 and elevator 2, two sets of stairs for stairs 1 and stairs 2, and a set of straight ladders for going up and down. Each floor is a circular corridor, and the rooms are arranged in a circle along the corridor, such as 201, 202, 203, etc. The position coordinates of each room are fixed. Suppose the user is at the front entrance of the first floor, and his destination is the 409 meeting room on the fourth floor. At this time, the generating module 130 may provide the user with a plurality of different navigation paths according to the initial location information and the destination location information. Combined with the actual situation, such as the number of people waiting for the elevator 1, etc., intelligently recommend a more time-saving navigation path to the user, avoiding wasting time.

In addition, as shown in FIG. 7, the indoor navigation device may further include a calculation module 140, a correction module 150, and a display module 160.

The calculation module 140 is configured to acquire displacement information of the user, and calculate current location information of the user according to the displacement information and the initial position information.

After the navigation path is generated, the user can move according to the navigation path.

在Y轴方向上的加速度为

在Z轴方向上的加速度为

则在X轴方向上的位移

则可根据公式1计算得出。During the movement, the calculation module 140 may calculate the moving distance of the user based on the acceleration sensor and the air pressure sensor, and may acquire the moving direction of the user based on the compass sensor. For example, suppose the positive direction of the X axis represents the east and the negative direction of the X axis represents the west. The positive direction of the Y axis represents the north, and the negative direction of the Y axis represents the south. The positive direction of the Z axis represents the upper side, and the negative direction of the Z axis represents the lower side. Specifically, the time t of the moving process can be divided into n segments, that is, t=Δt ₀ +Δt ₁ +Δt ₂ +...+Δt _n-1 , and the time interval of each segment is Δt _i , where 0≤i≤n- 1. Assume that the acceleration sensor detects the acceleration in the X-axis direction as

The acceleration in the Y-axis direction is

The acceleration in the Z-axis direction is

Then the displacement in the X-axis direction

It can be calculated according to formula 1.

Formula 1:

为前一时间间隔的速度，

为X轴方向上的加速度，Δt_i为时间间隔。among them,

For the speed of the previous interval,

For the acceleration in the X-axis direction, Δt _i is the time interval.

则可根据公式2计算得出。 Similarly, the displacement in the Y-axis direction

It can be calculated according to formula 2.

Formula 2:

为前一时间间隔的速度，

为Y轴方向上的加速度，Δt_i为时间间隔。among them,

For the speed of the previous interval,

For the acceleration in the Y-axis direction, Δt _i is the time interval.

可根据气压传感器检测的气压变化值进行换算获得。最终，位移信息

可通过公式3计算得出。And the displacement in the Z-axis direction

It can be obtained by conversion based on the pressure change value detected by the air pressure sensor. Finally, the displacement information

Can be calculated by Equation 3.

Formula 3:

总路程为

即计算得出用户的当前位置信息，从而实现移动轨迹的跟踪。Convert the displacement to a distance

The total distance is

That is, the current position information of the user is calculated, thereby realizing the tracking of the movement track.

The correction module 150 is configured to correct the navigation path based on the current location information.

和Y轴加速度

可计算出用户的移动方向与Y轴正方向的夹角θ_i’，将θ_i与θ_i’进行对比，可实现对导航路线的实时修正和提醒。For example, assume that the output angle detected by the compass sensor for each time interval is θ _i , where 0° ≤ θ _i < 360°. X-axis acceleration detected by the acceleration sensor during the movement

And Y-axis acceleration

The angle θ _i ' between the moving direction of the user and the positive direction of the Y-axis can be calculated, and θ _i and θ _i ' can be compared to realize real-time correction and reminding of the navigation route.

The display module 160 is configured to display the current location information of the user in real time.

The indoor navigation device of the embodiment of the present invention acquires the location information of the detected AP, calculates the initial location information of the user according to the location information, receives the set destination location information, and generates navigation according to the initial location information and the destination location information. The path effectively utilizes the AP to provide users with accurate indoor positioning and navigation services to meet user needs and enhance user experience.

In the description of the embodiments of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front" , "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial" The orientation or positional relationship of the indications such as "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only The invention has been described with reference to the preferred embodiments of the invention, and is not intended to be construed as a limitation of the invention.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.

In the present invention, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

In the present invention, the first feature "on" or "under" the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact. Moreover, the first feature "above", "above" and "above" the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature. The first feature "below", "below" and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.

In another embodiment, a software is provided that is configured to perform the technical solutions described in the above embodiments and preferred embodiments.

In another embodiment, a storage medium is also provided, in which the above software is stored, including but not limited to an optical disk, a floppy disk, a hard disk, an erasable memory, and the like.

It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device such that they may be stored in the storage device by the computing device and, in some cases, may be different from the order herein. Execution shown Or the steps described, either separately as individual integrated circuit modules, or as a plurality of modules or steps in a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Industrial applicability

As described above, the indoor navigation method and apparatus provided by the embodiments of the present invention have the following beneficial effects: by acquiring the location information of the detected AP, and calculating the initial location information of the user according to the location information, and receiving the setting purpose. The location information, and the generation of the navigation path based on the initial location information and the destination location information, effectively utilize the AP to provide the user with accurate indoor positioning and navigation services to meet user needs and enhance the user experience.

Claims (11)

An indoor navigation method includes the following steps: Obtaining location information of the detected wireless hotspot AP, and calculating initial location information of the user according to the location information; Receiving the set destination location information; Generating a navigation path based on the initial location information and the destination location information. The method of claim 1 further comprising: Obtaining displacement information of the user, and calculating current location information of the user according to the displacement information and the initial location information; Correcting the navigation path according to the current location information. The method of claim 2, further comprising: The current location information is displayed in real time. The method of claim 1, wherein calculating the initial location information of the user based on the location information comprises: Obtaining a signal strength of the detected AP; Determining, according to the signal strength, a distance between the location information of the detected AP and the initial location information of the user; The initial location information of the user is determined according to the distance. The method of claim 2, wherein acquiring the displacement information of the user comprises: Calculating the moving distance of the user based on the acceleration sensor and the air pressure sensor; The moving direction of the user is acquired based on a compass sensor. An indoor navigation device includes: An acquiring module, configured to acquire location information of the detected wireless hotspot AP, and calculate initial location information of the user according to the location information; a receiving module configured to receive the set destination location information; And generating a module, configured to generate a navigation path according to the initial location information and the destination location information. The apparatus of claim 6 further comprising: a calculation module, configured to acquire displacement information of the user, and calculate current location information of the user according to the displacement information and the initial location information; The correction module is configured to correct the navigation path according to the current location information. The apparatus of claim 7 further comprising: The display module is configured to display the current location information in real time. The device of claim 6, wherein the obtaining module comprises: An acquiring unit, configured to acquire a signal strength of the detected AP; a first determining unit, configured to determine a distance between the location information of the detected AP and the initial location information of the user according to the signal strength; The second determining unit is configured to determine initial location information of the user according to the distance. The apparatus of claim 7 wherein said computing module is configured to: Calculating the moving distance of the user based on the acceleration sensor and the air pressure sensor; The moving direction of the user is acquired based on a compass sensor. A computer storage medium arranged to store a computer program for performing the indoor navigation method of any one of claims 1 to 5.

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