CN103596263A - Method and device for position acquisition in indoor positioning - Google Patents
Method and device for position acquisition in indoor positioning Download PDFInfo
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- CN103596263A CN103596263A CN201310452766.9A CN201310452766A CN103596263A CN 103596263 A CN103596263 A CN 103596263A CN 201310452766 A CN201310452766 A CN 201310452766A CN 103596263 A CN103596263 A CN 103596263A
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Abstract
The invention discloses a method and a device for position acquisition in indoor positioning, and belongs to the technical field of positioning. The method comprises the steps of acquiring first position coordinates obtained by a terminal in positioning of the current positioning cycle, a first direction of motion of the terminal, and second position coordinates obtained by the terminal in positioning of the prior positioning cycle; selecting an indoor map contained within a preset range in a preset indoor map information set by taking the first position coordinates as the center, wherein the indoor map comprises structure information, paths and corresponding position coordinates of areas belonging to the indoor map range; and determining the current position of the terminal according to the first position coordinates, the first direction, the second position coordinates and the indoor map. The method and the device make up a problem of positioning errors caused by positioning precision and the complexity of the indoor map, and improving the positioning accuracy.
Description
Technical field
The present invention relates to field of locating technology, particularly in a kind of indoor positioning, obtain method and the device of position.
Background technology
Along with the fast development of location technology, there is the indoor positioning mode of inertial navigation, made up the defect of user in the indoor blind area, location that cannot receive the signal of position location satellite and cause.
The process of indoor positioning is, located and obtained terminal at the position coordinates of current location, and obtain pre-stored indoor map according to this position coordinates by inertial navigation, and this position coordinates is projected in indoor map, completed the process of indoor positioning.
In realizing process of the present invention, inventor finds that prior art at least exists following problem:
Because indoor environment is relatively complicated, comprise numerous rooms and corridor, and because indoor positioning exists the problem of error, so easily cause location mistake.For example: user walks in corridor, because error causes in the room that is positioned to limit, corridor.
Summary of the invention
In order to solve the problem of prior art, the embodiment of the present invention provides method and the device that obtains position in a kind of indoor positioning.Described technical scheme is as follows:
On the one hand, provide a kind of obtain position in indoor positioning method, described method comprises:
Obtain terminal and in current locating periodically, locate the first direction of the primary importance coordinate that obtains and the motion of described terminal, and described terminal is located the second place coordinate obtaining in previous locating periodically;
In the indoor cartographic information set setting in advance, choose centered by described primary importance coordinate, the indoor map comprising in preset range, in wherein said indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
According to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determine the position that described terminal is current.
On the other hand, provide the device that obtains position in a kind of indoor positioning, described device comprises:
Acquisition module, for obtaining primary importance coordinate that terminal obtains in current locating periodically location and the first direction of described terminal motion, and described terminal is located the second place coordinate obtaining in previous locating periodically;
Choose module, for choosing centered by described primary importance coordinate in the indoor cartographic information set setting in advance, the indoor map comprising in preset range, in wherein said indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
Determine position module, for according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determine the position that described terminal is current.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
By the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The method flow diagram of position is provided in the indoor positioning that provides of the embodiment of the present invention one Fig. 1;
The method flow diagram of position is provided in the indoor positioning that provides of the embodiment of the present invention two Fig. 2;
The method flow diagram of position is provided in the indoor positioning that provides of the embodiment of the present invention three Fig. 3;
The method flow diagram of position is provided in the indoor positioning that provides of the embodiment of the present invention four Fig. 4;
The method flow diagram of position is provided in the indoor positioning that provides of the embodiment of the present invention five Fig. 5;
The apparatus structure schematic diagram of position is provided in the indoor positioning that provides of the embodiment of the present invention six Fig. 6.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment mono-
The embodiment of the present invention provides a kind of obtain position in indoor positioning method, and referring to Fig. 1, method flow comprises:
101: obtain the first direction that terminal is located the primary importance coordinate that obtains and terminal motion in current locating periodically, and terminal is located the second place coordinate obtaining in previous locating periodically;
102: in the indoor cartographic information set setting in advance, choose centered by primary importance coordinate, the indoor map comprising in preset range, wherein in indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
103: according to primary importance coordinate, first direction, second place coordinate and indoor map, determine the position that terminal is current.
The embodiment of the present invention is by the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
Embodiment bis-
The embodiment of the present invention provides a kind of obtain position in indoor positioning method, referring to Fig. 2.It should be noted that, when the attribute in region is the first attribute, this attribute belongs to attribute corresponding to corridor in indoor map.
Wherein, the method flow that obtains position in this indoor positioning comprises:
201: obtain the first direction that terminal is located the primary importance coordinate that obtains and terminal motion in current locating periodically, and terminal is located the second place coordinate obtaining in previous locating periodically.
Wherein, the first direction of terminal motion is the direction calculating by acceleration transducer and/or electronic compass in inertial navigation process, and for example, according to its angle with respect to geographic coordinate system of this orientation determination: angle corresponding to east is 0 degree.
202: in the indoor cartographic information set setting in advance, choose centered by primary importance coordinate, the indoor map comprising in preset range, wherein in indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates.
Wherein, preset range can be for centered by primary importance coordinate, the circle that default distance is radius; Also can, for centered by primary importance coordinate, choose the rectangle of predefined length and wide correspondence.For the mode of choosing preset range, at this, do not limit.
Wherein, indoor map has comprised the structural information in the regions such as room in current selection range, corridor, and corresponding position coordinates in structural information.For example: concrete position coordinates can be preserved in each angle in a room in indoor map, and four angles have formed this room, and be room by the attribute in this region is set, determined position and the attribute in this room.And can be further, the attribute in each side is set, comprise arranging in side being provided with door, the attribute of this side can include a corresponding attribute.And each side can pre-storedly have the direction that this side is corresponding.Wherein, in indoor map, also can comprise road network information, wherein specifically comprise the route that each region, corridor is corresponding, and direction corresponding to this route, also comprise the route corresponding to door in room, and direction corresponding to this route.
203: according to primary importance coordinate, first direction, second place coordinate and indoor map, determine the position that terminal is current.
Wherein, in embodiments of the present invention, when the position coordinates of the position coordinates of prelocalization and last locating periodically location is projected in indoor map, when the area attribute of the position coordinates at place all belongs to corridor, determine that the process of the position of current terminal is specially:
2031: the attribute when the first area of primary importance coordinate projection in indoor map is the first attribute, and when the attribute of the second area of second place coordinate projection in indoor map is the first attribute, calculate the angle between the direction that first direction is corresponding with all routes that comprise in indoor cartographic information.
Wherein, after the angle of calculating, get the absolute value of each angle as the angle of step calculating afterwards.
2032: choose the first minimum angle obtaining after calculating, and when the first angle is less than the first differential seat angle threshold value, on the first route that primary importance coordinate projection is chosen when calculating the first angle, and calculate three position coordinates of primary importance coordinate projection on the first route.
Be projected in and in the first route, determine that the process of the 3rd position coordinates is: choose straight line, through primary importance coordinate, simultaneously through the first route, and be vertical between this straight line and the first route, so the coordinate of the intersection point between this straight line and the first route is the 3rd position coordinates.
2033: calculate the distance between the 3rd position coordinates and primary importance coordinate.
In indoor map, road network information is not very complete in some place, can be different between the corridor that the layout of road network is different or hall, and improve on indoor map, be that corridor, hall road network is evenly distributed, the workload that can make like this map datum process is multiplied.Therefore distance restraint threshold value is set, determines whether the position coordinates getting is projected on route corresponding to region when prelocalization.
2034: when the distance between the 3rd position coordinates and primary importance coordinate is less than or equal to distance restraint threshold value, the 3rd position coordinates is defined as to the current position of terminal.
Now, being about to the current position of terminal is projected in route corresponding to first area.
2035: when the distance between the 3rd position coordinates and primary importance coordinate is greater than distance restraint threshold value, primary importance coordinate is defined as to the current position of terminal.
Now, be about to the position that the current position of terminal is projected in primary importance coordinate in first area.
The embodiment of the present invention is by the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
Embodiment tri-
The embodiment of the present invention provides a kind of obtain position in indoor positioning method, referring to Fig. 3,
It should be noted that, when the attribute in region is the first attribute, this attribute belongs to attribute corresponding to corridor in indoor map.When the attribute in region is the second attribute, this attribute belongs to attribute corresponding to room in indoor map.When the attribute kit of side contains the 3rd attribute, determine that this side exists door.Further, in the embodiment of the present invention, partly description is identical with the description in embodiment bis-, does not repeat them here.
Wherein, the method flow that obtains position in this indoor positioning comprises:
301: obtain the first direction that terminal is located the primary importance coordinate that obtains and terminal motion in current locating periodically, and terminal is located the second place coordinate obtaining in previous locating periodically;
302: in the indoor cartographic information set setting in advance, choose centered by primary importance coordinate, the indoor map comprising in preset range, wherein in indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
303: according to primary importance coordinate, first direction, second place coordinate and indoor map, determine the position that terminal is current.
Wherein, in embodiments of the present invention, when the position coordinates of the position coordinates of prelocalization and last locating periodically location is projected in indoor map, when the position coordinates of prelocalization is in corridor, the position coordinates of last locating periodically location, when room, determines that the process of the position of current terminal is specially:
3031: the attribute when three region of primary importance coordinate projection in indoor map is the first attribute, and when the four-range attribute of second place coordinate projection in indoor map is the second attribute, whether the attribute of inquiring about the first side adjacent with the 3rd region comprising in the 4th region in indoor map comprises the 3rd attribute.
Wherein when comprising the 3rd attribute, when this first side has, perform step 3032, otherwise perform step 3035.
3032: the attribute kit when first side contains the 3rd attribute, according to the second direction of the first side of preserving in indoor map, calculate the third direction of vertical and first side, and calculate the second angle between first direction and third direction;
3033: when the second angle is less than or equal to the second differential seat angle threshold value, by primary importance coordinate projection on the second route corresponding to the 3rd region, and calculate four position coordinates of primary importance coordinate projection on the second route, the 4th position coordinates is defined as to the current position of terminal.
The process of projection is as identical in the process of describing in step 2032 in embodiment bis-, does not repeat them here.
3034: when the second angle is greater than the second differential seat angle threshold value, the first counting variable is added to a processing, and whether the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when the first counting variable is greater than across area of space number of times constraint threshold value, the 4th position coordinates is defined as to the current position of terminal; When the first counting variable is less than or equal to across area of space number of times constraint threshold value, second place coordinate is defined as to the current position of terminal.
Wherein, because user arrives room in corridor, room is to corridor, and room, to room, in these several scenes across area of space, once there is mistake coupling, will be difficult to come out of from an area of space.Therefore,, in order to solve this way, when the inferior situation from a region to another region of anchor point coordinate N continuous, allow anchor point to match on another one region.What be wherein setting for N time retrains threshold value across area of space number of times.
3035: the attribute when first side does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value;
3036: when the first counting variable is greater than across area of space number of times constraint threshold value, by primary importance coordinate projection on the second route corresponding to the 3rd region, and calculate four position coordinates of primary importance coordinate projection on the second route, the 4th position coordinates is defined as to the current position of terminal;
When the first counting variable is less than or equal to across area of space number of times constraint threshold value, second place coordinate is defined as to the current position of terminal.
The embodiment of the present invention is by the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
Embodiment tetra-
The embodiment of the present invention provides a kind of obtain position in indoor positioning method, referring to Fig. 4.
It should be noted that, when the attribute in region is the first attribute, this attribute belongs to attribute corresponding to corridor in indoor map.When the attribute in region is the second attribute, this attribute belongs to attribute corresponding to room in indoor map.When the attribute kit of side contains the 3rd attribute, determine that this side exists door.Further, in the embodiment of the present invention, partly description is identical with the description in embodiment bis-, does not repeat them here.
Wherein, the method flow that obtains position in this indoor positioning comprises:
401: obtain the first direction that terminal is located the primary importance coordinate that obtains and terminal motion in current locating periodically, and terminal is located the second place coordinate obtaining in previous locating periodically;
402: in the indoor cartographic information set setting in advance, choose centered by primary importance coordinate, the indoor map comprising in preset range, wherein in indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
403: according to primary importance coordinate, first direction, second place coordinate and indoor map, determine the position that terminal is current.
Wherein, in embodiments of the present invention, when the position coordinates of the position coordinates of prelocalization and last locating periodically location is projected in indoor map, when the position coordinates of prelocalization is in room, the position coordinates of last locating periodically location, when corridor, determines that the process of the position of current terminal is specially:
4031: the attribute when five region of primary importance coordinate projection in indoor map is the second attribute, and when the attribute in six region of second place coordinate projection in indoor map is the first attribute, whether the attribute of inquiring about the second side adjacent with the 6th region comprising in the 5th region in indoor map comprises the 3rd attribute.
Wherein when second side comprises the 3rd attribute, when this second side has, perform step 4032, otherwise perform step 4037.
4032: the attribute kit when second side contains the 3rd attribute, according to the fourth direction of the second side of preserving in indoor map, calculate the 5th direction of vertical and second side, and calculate the 3rd angle between first direction and the 5th direction;
4033: when the 3rd angle is less than or equal to the second differential seat angle threshold value, primary importance coordinate is defined as to the current position of terminal;
4034: when the 3rd angle is greater than the second differential seat angle threshold value, the first counting variable is added to a processing, and whether the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value;
4035: when the first counting variable is greater than across area of space number of times constraint threshold value, primary importance coordinate is defined as to the current position of terminal;
4036: when the first counting variable is less than or equal to across area of space number of times constraint threshold value, by primary importance coordinate projection on Third Road line corresponding to the 6th region, and calculate five position coordinates of primary importance coordinate projection on Third Road line, the 5th position coordinates is defined as to the current position of terminal.
4037: the attribute when second side does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value.
Wherein, because user arrives room in corridor, room is to corridor, and room, to room, in these several scenes across area of space, once there is mistake coupling, will be difficult to come out of from an area of space.Therefore,, in order to solve this way, when the inferior situation from a region to another region of anchor point coordinate N continuous, allow anchor point to match on another one region.What be wherein setting for N time retrains threshold value across area of space number of times.
4038: when the first counting variable is greater than across area of space number of times constraint threshold value, primary importance coordinate is defined as to the current position of terminal.
4039: when the first counting variable is less than or equal to across area of space number of times constraint threshold value, by primary importance coordinate projection on Third Road line corresponding to the 6th region, and calculate five position coordinates of primary importance coordinate projection on Third Road line, the 5th position coordinates is defined as to the current position of terminal.
The embodiment of the present invention is by the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
Embodiment five
The embodiment of the present invention provides a kind of obtain position in indoor positioning method, referring to Fig. 5.It should be noted that, when the attribute in region is the first attribute, this attribute belongs to attribute corresponding to corridor in indoor map.When the attribute in region is the second attribute, this attribute belongs to attribute corresponding to room in indoor map.When the attribute kit of side contains the 3rd attribute, determine that this side exists door.Further, in the embodiment of the present invention, partly description is identical with the description in embodiment bis-, does not repeat them here.
Wherein, the method flow that obtains position in this indoor positioning comprises:
501: obtain the first direction that terminal is located the primary importance coordinate that obtains and terminal motion in current locating periodically, and terminal is located the second place coordinate obtaining in previous locating periodically;
502: in the indoor cartographic information set setting in advance, choose centered by primary importance coordinate, the indoor map comprising in preset range, wherein in indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
503: according to primary importance coordinate, first direction, second place coordinate and indoor map, determine the position that terminal is current.
Wherein, in embodiments of the present invention, when the position coordinates of the position coordinates of prelocalization and last locating periodically location is projected in indoor map, when the position coordinates of prelocalization is in room, the position coordinates of last locating periodically location, when room, determines that the process of the position of current terminal is specially:
5031: the attribute when the SECTOR-SEVEN territory of primary importance coordinate projection in indoor map is the second attribute, and when the attribute in the Section Eight territory of second place coordinate projection in indoor map is the second attribute, judge whether SECTOR-SEVEN territory and Section Eight territory are the same area.
If do not belong to the same area, illustrate that user moves out former room, enter another room and perform step 5032; If belong to the same area, illustrate that user does not move out former room, performs step 50311.
5032: when SECTOR-SEVEN territory and Section Eight territory are not the same areas, in indoor map, obtain with SECTOR-SEVEN territory and Section Eight territory all adjacent attribute be the 9th region of the first attribute, and obtain the 6th direction corresponding to the 4th route corresponding to the 9th region, and calculate the 4th angle between first direction and the 6th direction.While being greater than, perform step 5033, be less than or equal to and perform step 5038.
5033: when the 4th angle is less than or equal to the 3rd angle difference limen value, the first counting variable is added to a processing, and whether the first counting variable after judgement processing is greater than default count threshold.
5034: when the first counting variable is greater than default count threshold, by primary importance coordinate projection on the 4th route corresponding to the 9th region, and calculate six position coordinates of primary importance coordinate projection on the 4th route, the 6th position coordinates is defined as to the current position of terminal.
5035: when the first counting variable is less than or equal to default count threshold, the second counting variable is added to a processing, and whether the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value.
5036: when the second counting variable is greater than across area of space number of times constraint threshold value, primary importance coordinate is defined as to the current position of terminal;
5037: when the second counting variable is less than or equal to across area of space number of times constraint threshold value, second place coordinate is defined as to the current position of terminal.
5038: when the 4th angle is greater than the 3rd angle difference limen value, the second counting variable is added to a processing, and whether the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value.
5039: when the second counting variable is greater than across area of space number of times constraint threshold value, primary importance coordinate is defined as to the current position of terminal.
50310: when the second counting variable is less than or equal to across area of space number of times constraint threshold value, second place coordinate is defined as to the current position of terminal.
50311: when SECTOR-SEVEN territory and Section Eight territory are the same areas, primary importance coordinate is defined as to the current position of terminal.
The embodiment of the present invention is by the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
Embodiment six
The embodiment of the present invention provides the device that obtains position in a kind of indoor positioning, and referring to Fig. 6, this device comprises:
Acquisition module 601, for obtaining primary importance coordinate that terminal obtains in current locating periodically location and the first direction of described terminal motion, and described terminal is located the second place coordinate obtaining in previous locating periodically;
Choose module 602, for choosing centered by described primary importance coordinate in the indoor cartographic information set setting in advance, the indoor map comprising in preset range, in wherein said indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
Determine position module 603, for according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determine the position that described terminal is current.
Wherein, in one embodiment, described definite position module 603, comprising:
The first computing unit, for working as the attribute of described primary importance coordinate projection in the first area of described indoor map, it is the first attribute, and when the attribute of the second area of described second place coordinate projection in described indoor map is the first attribute, calculate the angle between the direction that described first direction is corresponding with all routes that comprise in described indoor cartographic information;
The first processing unit, for choosing the first minimum angle obtaining after calculating, and when described the first angle is less than the first differential seat angle threshold value, on the first route that described primary importance coordinate projection is chosen when calculating described the first angle, and calculate three position coordinates of described primary importance coordinate projection on described the first route;
The second computing unit, for calculating the distance between described the 3rd position coordinates and described primary importance coordinate;
First determines position units, while being less than or equal to distance restraint threshold value for the distance when between described the 3rd position coordinates and described primary importance coordinate, described the 3rd position coordinates is defined as to the current position of described terminal;
Second determines position units, while being greater than distance restraint threshold value for the distance when between described the 3rd position coordinates and described primary importance coordinate, described primary importance coordinate is defined as to the current position of described terminal.
Wherein, in another embodiment, described definite position module 603, comprising:
The first query unit, for working as the attribute of described primary importance coordinate projection in the 3rd region of described indoor map, it is the first attribute, and when the four-range attribute of described second place coordinate projection in described indoor map is the second attribute, whether the attribute of inquiring about the first side adjacent with described the 3rd region comprising in described the 4th region in described indoor map comprises the 3rd attribute;
The 3rd determines position units, for the attribute kit when described first side, contain the 3rd attribute, according to the second direction of the described first side of preserving in described indoor map, calculate third direction vertical and described first side, and calculate the second angle between described first direction and described third direction; When described the second angle is less than or equal to the second differential seat angle threshold value, by described primary importance coordinate projection on the second route corresponding to described the 3rd region, and calculate four position coordinates of described primary importance coordinate projection on described the second route, described the 4th position coordinates is defined as to the current position of described terminal; When described the second angle is greater than described the second differential seat angle threshold value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the first counting variable is greater than, described the 4th position coordinates is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal;
The 4th determines position units, for the attribute when described first side, does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, by described primary importance coordinate projection on the second route corresponding to described the 3rd region, and calculate four position coordinates of described primary importance coordinate projection on described the second route, described the 4th position coordinates is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal.
Wherein, in another embodiment, described definite position module 603, comprising:
The second query unit, for working as the attribute of described primary importance coordinate projection in the 5th region of described indoor map, it is the second attribute, and when the attribute in six region of described second place coordinate projection in described indoor map is the first attribute, whether the attribute of inquiring about the second side adjacent with described the 6th region comprising in described the 5th region in described indoor map comprises the 3rd attribute;
The 5th determines position units, for the attribute kit when described second side, contain the 3rd attribute, according to the fourth direction of the described second side of preserving in described indoor map, calculate the 5th direction vertical and described second side, and calculate the 3rd angle between described first direction and described the 5th direction; When described the 3rd angle is less than or equal to the second differential seat angle threshold value, described primary importance coordinate is defined as to the current position of described terminal; When described the 3rd angle is greater than described the second differential seat angle threshold value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, by described primary importance coordinate projection on Third Road line corresponding to described the 6th region, and calculate five position coordinates of described primary importance coordinate projection on described Third Road line, described the 5th position coordinates is defined as to the current position of described terminal.
The 6th determines position units, for the attribute when described second side, does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, by described primary importance coordinate projection on Third Road line corresponding to described the 6th region, and calculate five position coordinates of described primary importance coordinate projection on described Third Road line, described the 5th position coordinates is defined as to the current position of described terminal.
Wherein, in another embodiment, described definite position module 603, comprising:
Judging unit, for working as the attribute of described primary importance coordinate projection in the SECTOR-SEVEN territory of described indoor map, it is the second attribute, and when the attribute in the Section Eight territory of described second place coordinate projection in described indoor map is the second attribute, judge whether described SECTOR-SEVEN territory and described Section Eight territory are the same area;
The 7th determines position units, for working as described SECTOR-SEVEN territory and described Section Eight territory, it not the same area, in described indoor map, obtain with described SECTOR-SEVEN territory and described Section Eight territory all adjacent attribute be the 9th region of the first attribute, and obtain the 6th direction corresponding to the 4th route corresponding to described the 9th region, and calculate the 4th angle between described first direction and described the 6th direction, when described the 4th angle is less than or equal to the 3rd angle difference limen value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than default count threshold, when described the first counting variable is greater than described default count threshold, by described primary importance coordinate projection on the 4th route corresponding to described the 9th region, and calculate six position coordinates of described primary importance coordinate projection on described the 4th route, described the 6th position coordinates is defined as to the current position of described terminal, when described the first counting variable is less than or equal to described default count threshold, the second counting variable is added to a processing, and whether described the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the second counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal, when retraining threshold value across area of space number of times described in described the second counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal, when described the 4th angle is greater than described the 3rd angle difference limen value, the second counting variable is added to a processing, and whether described the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the second counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal, when retraining threshold value across area of space number of times described in described the second counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal,
The 8th determines position units, for working as described SECTOR-SEVEN territory and described Section Eight territory, is the same area, described primary importance coordinate is defined as to the current position of described terminal.
The embodiment of the present invention is by the primary importance coordinate obtaining when prelocalization, the first direction of terminal motion and the second place coordinate of previous locating periodically, and the indoor map of choosing in indoor cartographic information set according to primary importance coordinate, determine the position that terminal is current, make up the location Problem-Error causing due to positioning precision and indoor map complexity, improved the accuracy of location.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can complete by hardware, also can come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only memory, disk or CD etc.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. in indoor positioning, obtain a method for position, it is characterized in that, described method comprises:
Obtain terminal and in current locating periodically, locate the first direction of the primary importance coordinate that obtains and the motion of described terminal, and described terminal is located the second place coordinate obtaining in previous locating periodically;
In the indoor cartographic information set setting in advance, choose centered by described primary importance coordinate, the indoor map comprising in preset range, in wherein said indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
According to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determine the position that described terminal is current.
2. method according to claim 1, is characterized in that, describedly according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determines the position that described terminal is current, comprising:
Attribute when the first area of described primary importance coordinate projection in described indoor map is the first attribute, and when the attribute of the second area of described second place coordinate projection in described indoor map is the first attribute, calculate the angle between the direction that described first direction is corresponding with all routes that comprise in described indoor cartographic information;
Choose the first minimum angle obtaining after calculating, and when described the first angle is less than the first differential seat angle threshold value, on the first route that described primary importance coordinate projection is chosen when calculating described the first angle, and calculate three position coordinates of described primary importance coordinate projection on described the first route;
Calculate the distance between described the 3rd position coordinates and described primary importance coordinate;
When the distance between described the 3rd position coordinates and described primary importance coordinate is less than or equal to distance restraint threshold value, described the 3rd position coordinates is defined as to the current position of described terminal;
When the distance between described the 3rd position coordinates and described primary importance coordinate is greater than distance restraint threshold value, described primary importance coordinate is defined as to the current position of described terminal.
3. method according to claim 1, is characterized in that, describedly according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determines the position that described terminal is current, comprising:
Attribute when three region of described primary importance coordinate projection in described indoor map is the first attribute, and when the four-range attribute of described second place coordinate projection in described indoor map is the second attribute, whether the attribute of inquiring about the first side adjacent with described the 3rd region comprising in described the 4th region in described indoor map comprises the 3rd attribute;
Attribute kit when described first side contains the 3rd attribute, according to the second direction of the described first side of preserving in described indoor map, calculate third direction vertical and described first side, and calculate the second angle between described first direction and described third direction; When described the second angle is less than or equal to the second differential seat angle threshold value, by described primary importance coordinate projection on the second route corresponding to described the 3rd region, and calculate four position coordinates of described primary importance coordinate projection on described the second route, described the 4th position coordinates is defined as to the current position of described terminal; When described the second angle is greater than described the second differential seat angle threshold value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the first counting variable is greater than, described the 4th position coordinates is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal;
Attribute when described first side does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, by described primary importance coordinate projection on the second route corresponding to described the 3rd region, and calculate four position coordinates of described primary importance coordinate projection on described the second route, described the 4th position coordinates is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal.
4. method according to claim 1, is characterized in that, describedly according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determines the position that described terminal is current, comprising:
Attribute when five region of described primary importance coordinate projection in described indoor map is the second attribute, and when the attribute in six region of described second place coordinate projection in described indoor map is the first attribute, whether the attribute of inquiring about the second side adjacent with described the 6th region comprising in described the 5th region in described indoor map comprises the 3rd attribute;
Attribute kit when described second side contains the 3rd attribute, according to the fourth direction of the described second side of preserving in described indoor map, calculate the 5th direction vertical and described second side, and calculate the 3rd angle between described first direction and described the 5th direction; When described the 3rd angle is less than or equal to the second differential seat angle threshold value, described primary importance coordinate is defined as to the current position of described terminal; When described the 3rd angle is greater than described the second differential seat angle threshold value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, by described primary importance coordinate projection on Third Road line corresponding to described the 6th region, and calculate five position coordinates of described primary importance coordinate projection on described Third Road line, described the 5th position coordinates is defined as to the current position of described terminal.
Attribute when described second side does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, by described primary importance coordinate projection on Third Road line corresponding to described the 6th region, and calculate five position coordinates of described primary importance coordinate projection on described Third Road line, described the 5th position coordinates is defined as to the current position of described terminal.
5. method according to claim 1, is characterized in that, describedly according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determines the position that described terminal is current, comprising:
Attribute when the SECTOR-SEVEN territory of described primary importance coordinate projection in described indoor map is the second attribute, and when the attribute in the Section Eight territory of described second place coordinate projection in described indoor map is the second attribute, judge whether described SECTOR-SEVEN territory and described Section Eight territory are the same area;
When described SECTOR-SEVEN territory and described Section Eight territory are not the same areas, in described indoor map, obtain with described SECTOR-SEVEN territory and described Section Eight territory all adjacent attribute be the 9th region of the first attribute, and obtain the 6th direction corresponding to the 4th route corresponding to described the 9th region, and calculate the 4th angle between described first direction and described the 6th direction, when described the 4th angle is less than or equal to the 3rd angle difference limen value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than default count threshold, when described the first counting variable is greater than described default count threshold, by described primary importance coordinate projection on the 4th route corresponding to described the 9th region, and calculate six position coordinates of described primary importance coordinate projection on described the 4th route, described the 6th position coordinates is defined as to the current position of described terminal, when described the first counting variable is less than or equal to described default count threshold, the second counting variable is added to a processing, and whether described the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the second counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal, when retraining threshold value across area of space number of times described in described the second counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal, when described the 4th angle is greater than described the 3rd angle difference limen value, the second counting variable is added to a processing, and whether described the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the second counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal, when retraining threshold value across area of space number of times described in described the second counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal,
When described SECTOR-SEVEN territory and described Section Eight territory are the same areas, described primary importance coordinate is defined as to the current position of described terminal.
6. in indoor positioning, obtain a device for position, it is characterized in that, described device comprises:
Acquisition module, for obtaining primary importance coordinate that terminal obtains in current locating periodically location and the first direction of described terminal motion, and described terminal is located the second place coordinate obtaining in previous locating periodically;
Choose module, for choosing centered by described primary importance coordinate in the indoor cartographic information set setting in advance, the indoor map comprising in preset range, in wherein said indoor map, comprise the structural information that belongs to each region in this indoor body of a map or chart, route and corresponding position coordinates;
Determine position module, for according to described primary importance coordinate, described first direction, described second place coordinate and described indoor map, determine the position that described terminal is current.
7. device according to claim 6, is characterized in that, described definite position module, comprising:
The first computing unit, for working as the attribute of described primary importance coordinate projection in the first area of described indoor map, it is the first attribute, and when the attribute of the second area of described second place coordinate projection in described indoor map is the first attribute, calculate the angle between the direction that described first direction is corresponding with all routes that comprise in described indoor cartographic information;
The first processing unit, for choosing the first minimum angle obtaining after calculating, and when described the first angle is less than the first differential seat angle threshold value, on the first route that described primary importance coordinate projection is chosen when calculating described the first angle, and calculate three position coordinates of described primary importance coordinate projection on described the first route;
The second computing unit, for calculating the distance between described the 3rd position coordinates and described primary importance coordinate;
First determines position units, while being less than or equal to distance restraint threshold value for the distance when between described the 3rd position coordinates and described primary importance coordinate, described the 3rd position coordinates is defined as to the current position of described terminal;
Second determines position units, while being greater than distance restraint threshold value for the distance when between described the 3rd position coordinates and described primary importance coordinate, described primary importance coordinate is defined as to the current position of described terminal.
8. device according to claim 6, is characterized in that, described definite position module, comprising:
The first query unit, for working as the attribute of described primary importance coordinate projection in the 3rd region of described indoor map, it is the first attribute, and when the four-range attribute of described second place coordinate projection in described indoor map is the second attribute, whether the attribute of inquiring about the first side adjacent with described the 3rd region comprising in described the 4th region in described indoor map comprises the 3rd attribute;
The 3rd determines position units, for the attribute kit when described first side, contain the 3rd attribute, according to the second direction of the described first side of preserving in described indoor map, calculate third direction vertical and described first side, and calculate the second angle between described first direction and described third direction; When described the second angle is less than or equal to the second differential seat angle threshold value, by described primary importance coordinate projection on the second route corresponding to described the 3rd region, and calculate four position coordinates of described primary importance coordinate projection on described the second route, described the 4th position coordinates is defined as to the current position of described terminal; When described the second angle is greater than described the second differential seat angle threshold value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the first counting variable is greater than, described the 4th position coordinates is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal;
The 4th determines position units, for the attribute when described first side, does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, by described primary importance coordinate projection on the second route corresponding to described the 3rd region, and calculate four position coordinates of described primary importance coordinate projection on described the second route, described the 4th position coordinates is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal.
9. device according to claim 6, is characterized in that, described definite position module, comprising:
The second query unit, for working as the attribute of described primary importance coordinate projection in the 5th region of described indoor map, it is the second attribute, and when the attribute in six region of described second place coordinate projection in described indoor map is the first attribute, whether the attribute of inquiring about the second side adjacent with described the 6th region comprising in described the 5th region in described indoor map comprises the 3rd attribute;
The 5th determines position units, for the attribute kit when described second side, contain the 3rd attribute, according to the fourth direction of the described second side of preserving in described indoor map, calculate the 5th direction vertical and described second side, and calculate the 3rd angle between described first direction and described the 5th direction; When described the 3rd angle is less than or equal to the second differential seat angle threshold value, described primary importance coordinate is defined as to the current position of described terminal; When described the 3rd angle is greater than described the second differential seat angle threshold value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, by described primary importance coordinate projection on Third Road line corresponding to described the 6th region, and calculate five position coordinates of described primary importance coordinate projection on described Third Road line, described the 5th position coordinates is defined as to the current position of described terminal.
The 6th determines position units, for the attribute when described second side, does not comprise the 3rd attribute, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than across area of space number of times constraint threshold value; When retraining threshold value across area of space number of times described in described the first counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal; When retraining threshold value across area of space number of times described in described the first counting variable is less than or equal to, by described primary importance coordinate projection on Third Road line corresponding to described the 6th region, and calculate five position coordinates of described primary importance coordinate projection on described Third Road line, described the 5th position coordinates is defined as to the current position of described terminal.
10. device according to claim 6, is characterized in that, described definite position module, comprising:
Judging unit, for working as the attribute of described primary importance coordinate projection in the SECTOR-SEVEN territory of described indoor map, it is the second attribute, and when the attribute in the Section Eight territory of described second place coordinate projection in described indoor map is the second attribute, judge whether described SECTOR-SEVEN territory and described Section Eight territory are the same area;
The 7th determines position units, for working as described SECTOR-SEVEN territory and described Section Eight territory, it not the same area, in described indoor map, obtain with described SECTOR-SEVEN territory and described Section Eight territory all adjacent attribute be the 9th region of the first attribute, and obtain the 6th direction corresponding to the 4th route corresponding to described the 9th region, and calculate the 4th angle between described first direction and described the 6th direction, when described the 4th angle is less than or equal to the 3rd angle difference limen value, the first counting variable is added to a processing, and whether described the first counting variable after judgement processing is greater than default count threshold, when described the first counting variable is greater than described default count threshold, by described primary importance coordinate projection on the 4th route corresponding to described the 9th region, and calculate six position coordinates of described primary importance coordinate projection on described the 4th route, described the 6th position coordinates is defined as to the current position of described terminal, when described the first counting variable is less than or equal to described default count threshold, the second counting variable is added to a processing, and whether described the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the second counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal, when retraining threshold value across area of space number of times described in described the second counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal, when described the 4th angle is greater than described the 3rd angle difference limen value, the second counting variable is added to a processing, and whether described the second counting variable after judgement processing is greater than across area of space number of times constraint threshold value, when retraining threshold value across area of space number of times described in described the second counting variable is greater than, described primary importance coordinate is defined as to the current position of described terminal, when retraining threshold value across area of space number of times described in described the second counting variable is less than or equal to, described second place coordinate is defined as to the current position of described terminal,
The 8th determines position units, for working as described SECTOR-SEVEN territory and described Section Eight territory, is the same area, described primary importance coordinate is defined as to the current position of described terminal.
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