A Practical Indoor and Outdoor Seamless Navigation System Based on Electronic Map and Geomagnetism

Abstract

In order to solve the problem that the transition point facing indoor and outdoor seamless positioning is low in accuracy and the coordinates are difficult to be uniformly converted, in this paper, a combination of Baidu map app positioning technology using GPS, base station and Wi-Fi signal positioning and indoor geomagnetic fingerprint node is developed to develop a system for seamless positioning and navigation indoors and outdoors. We propose a novel and rapid method for establishing coordinate uniformity to solve the key problem of indoor and outdoor seamless positioning - coordinate smoothing conversion. Through the combination of 3D laser scanning technology and GPS positioning technology, the data from multiple viewing angles are organized into the same coordinate system according to the transformation matrix. The iterative closest point algorithm registration technique is used to obtain a three-dimensional model of the high-precision local coordinate system of indoor and outdoor critical points.