CN105472563A - Precise navigation and positioning method and device - Google Patents
Precise navigation and positioning method and device Download PDFInfo
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- CN105472563A CN105472563A CN201410514163.1A CN201410514163A CN105472563A CN 105472563 A CN105472563 A CN 105472563A CN 201410514163 A CN201410514163 A CN 201410514163A CN 105472563 A CN105472563 A CN 105472563A
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Abstract
The present invention is applicable to the field of indoor navigation and positioning and provides a precise navigation and positioning method and a device. Under the premise of installing a position base station comprising specific location information based on a Bluetooth 4.0 protocol in a room according to space distribution, the method comprises a step of searching and receiving the positioning signal emitted by the Bluetooth positioning base station of an indoor space, a step of calculating the distance between a receiving terminal and the Bluetooth positioning base station according to the intensity of the received positioning signal, a step of calculating the space position of the terminal in the room according to the positioning information of the Bluetooth positioning base station to which the received positioning signal belongs and the distance between the receiving terminal and the positioning base station, and a step of searching the indoor plane map comprising vertical information of the receiving terminal in the indoor space position and displaying the position of the receiving terminal in the plane map comprising the vertical information. According to the method and the device, the Bluetooth positioning base station is used to carry out positioning, the positioning precision is high, and the cost is low.
Description
Technical field
The invention belongs to indoor navigation positioning field, particularly relate to a kind of precision navigation localization method, device.
Background technology
Along with popularizing of the mobile device such as smart mobile phone and Intelligent worn device, the navigator fix technology that can be applicable on Intelligent mobile equipment just constantly changes the life of people.In daily trip instrument is as vehicle, boats and ships, aircraft, uses navigation to position, in addition, also has application, for people's life brings great convenience at sphere of lifes such as the management trace of equipment, monitoring, antitheft and child's nurses.
Current location and navigation generally use GPS, and (English full name is GlobalPositionSystem, Chinese full name be global position system) or LBS (English full name is LocationBasedService, and Chinese full name is architecture service) position.
Wherein, GPS by 21 operational satellites and 3 in-orbit backup satellite form.24 satellites are evenly distributed in 6 orbit planes, two radio carriers of satellite L-band (frequency is at the radio waveband of 1-2GHz) continuously send navigator fix signal to user, positional information containing satellite in navigator fix signal, makes satellite become a dynamic known point.The position error of GPS is generally at about 10 meters, but the time needed when starting search of satellite and calculating location is longer.
LBS is the positional information being obtained mobile phone users by the network (as GSM net, CDMA net) of operator, and distribution and the density of the base station of operator directly have influence on positioning function.The position error of LBS is 50 meters about-500 meters (from far-off regions or that mobile phone signal is poor local error is larger), but its locating speed is fast.
The navigation system that current mobile device uses usually with GPS for main LBS is auxiliary A-GPS (AssistedGPS) navigation system, reaction speed is fast, error 15-30 rice.But current this locate mode all can only be located at horizontal space, cannot position in the indoor that precise requirements is high and navigate.
Summary of the invention
The object of the present invention is to provide a kind of method by carrying out precision navigation location navigation based on the low-power consumption locating base station equipment bluetooth locating base station of bluetooth 4.0 agreement, can only locate at horizontal space with the navigation locating method solving prior art, the problem that the indoor that cannot require at precise requirements height and vertical space position and navigate.
The present invention is achieved in that a kind of precision navigation localization method, and be provided with in the interior space and multiplely have the bluetooth locating base station based on bluetooth 4.0 low power consumption protocol determining positional information, described method comprises:
Search for and receive the interior space bluetooth locating base station launch framing signal;
According to the intensity of received framing signal, calculate the distance of receiving terminal and bluetooth locating base station;
The positional information of the bluetooth locating base station belonging to received framing signal, the distance of receiving terminal and locating base station, calculates the locus of receiving terminal in indoor;
Search the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
Another object of the present invention is to provide a kind of precision navigation positioner, be provided with in the interior space and multiplely have the bluetooth locating base station based on bluetooth 4.0 low power consumption protocol determining positional information, described device comprises:
Search receiving element, for search for and receive interior space bluetooth locating base station launch framing signal;
Distance determining unit, for according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station;
Locus determining unit, for the distance of the positional information of the bluetooth locating base station belonging to received framing signal, receiving terminal and bluetooth locating base station, calculates the locus of receiving terminal in indoor;
Map denotation unit, for searching the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
In the present invention, by installing in the interior space, there is the bluetooth locating base station based on bluetooth 4.0 determining positional information, realize in indoor transmitting framing signal, by the framing signal that search bluetooth locating base station is launched, and according to the Strength co-mputation receiving terminal of framing signal received and the distance of bluetooth locating base station, because the position of bluetooth locating base station is determined, therefore, the locus of receiving terminal jointly can be determined according to multiple bluetooth locating base station, on the map of receiving terminal, the current location of receiving terminal is shown according to the locus calculated, bluetooth locating base station is used to position, positioning precision is high, and cost is low.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the precision navigation localization method that first embodiment of the invention provides;
Fig. 2 is the realization flow figure of the precision navigation localization method that second embodiment of the invention provides;
The method schematic diagram positioned by three bluetooth locating base station that Fig. 3 provides for second embodiment of the invention;
Fig. 4 is the realization flow figure of the precision navigation localization method that third embodiment of the invention provides;
The method schematic diagram positioned by two bluetooth locating base station that Fig. 5 provides for third embodiment of the invention;
The structural representation of the precision navigation positioner that Fig. 6 provides for fourth embodiment of the invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The embodiment of the present invention is mainly in navigation locating method of the prior art, generally be applied to outdoor, the A-GPS location technology combined by GPS and LBS, it needs mobile terminal to search to satellite and operator's base station information, is coordinated calculate positional information by the satellite that searches and base station information.And for indoor positioning, mobile terminal cannot get indoor horizontal and vertical map accurately, in addition for framing signal, also likely there is the possibility at dead angle.Therefore, indoor positioning navigation cannot be carried out by existing A-GPS or pure base station.And the position error of A-GPS is generally at 15-30 rice, but for indoor positioning, this error can not position in indoor preferably, and the reaction time is longer, can not do again the differentiation of out position, be thus difficult to be applied to indoor positioning at vertical space.
The embodiment of the present invention has by installing in the interior space wBeacon based on bluetooth 4.0 low power consumption protocol determining positional information, also be bluetooth locating base station of the present invention, search for and receive the interior space bluetooth locating base station launch framing signal after, according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station, and the positional information of bluetooth locating base station belonging to received framing signal, the distance of receiving terminal and bluetooth locating base station, calculate the locus of receiving terminal in indoor, finally on receiving terminal map, show position location.The installation site of bluetooth locating base station of the present invention is determined, therefore, the locus of receiving terminal jointly can be determined according to multiple bluetooth locating base station, plane map is correspondingly searched according to the locus determined, thus the position that can show in the interior space map of receiving terminal place, owing to using bluetooth locating base station to position, positioning precision is high, and cost is low.
Embodiment one:
Fig. 1 shows the realization flow of the precision navigation localization method that first embodiment of the invention provides, and be provided with in the interior space and multiplely have the bluetooth locating base station determining positional information, details are as follows for described method:
In step S101, search for and receive interior space bluetooth locating base station launch framing signal.
Concrete, the bluetooth 4.0 low power loss communication agreement that described bluetooth locating base station is supported, is compared to early stage Bluetooth technology, and can not need pairing, terminal equipment can directly search not by the bluetooth locating base station of MFI certification; And, the general transmission range of common bluetooth equipment (before bluetooth 4.0) is at 0.1 to 10m, and can be as accurate as a millimeter rank based on the base station signal of the bluetooth locating base station of bluetooth 4.0 low power loss communication agreement, and the maximum scope supporting 50m; In addition, its power consumption is lower.Common button cell can for a bluetooth locating base station of the present invention 2 years.
The interior space described in example of the present invention, including, but not limited to market, airport, the public place such as museum, particularly larger for careat, in the position that the area of same floor is larger, as Aerodrome Construction, railway station building etc., by localization method described in the embodiment of the present invention, can position user fast and effectively and interior wiring navigation, thus bring convenience for user lives.
Described bluetooth locating base station, according to the needs covered that transmit comprehensively, can be arranged on the optional position in the described interior space.As being arranged in the retail shop in market, elevator, lounge, passageway etc., and in order to avoid causing the decay transmitted on the impact calculating distance because of wall obstruct, stream of people's stop etc., the framing signal that any position can receive the transmitting of multiple different bluetooth locating base station can be set in, described multiple can be two or more, better embodiment is three.And the power supply unit that these bluetooth locating base station do not need additional configuration special, only need a button cell work can reach for two years.
In addition, be make the same place in indoor can receive simultaneously at least plural bluetooth locating base station launch framing signal, the distance of two bluetooth locating base station no more than 50 meters, generally to be set in 15 meters to 20 meters for the best.Adhesive type can be adopted to install, when mounted, need ID and its installation site of recording each bluetooth locating base station, so that determine the position of receiving terminal subsequently through the position of bluetooth locating base station.As for the bluetooth locating base station of position, toilet being arranged on market Stall, its positional information needs to be reflected in definitely on floor level map.
The method of the search bluetooth locating base station described in the embodiment of the present invention, by supporting the mobile terminal of bluetooth 4.0 communication protocol, as mobile phone, flat board or Intelligent worn device, after unlatching Bluetooth function, can the bluetooth locating base station of automatic search and the reception framing signal of launching.
The framing signal that described bluetooth locating base station is launched, in order to more accurate distance calculates, sets unified transmitting power, or as required, adjustment tranmitting frequency comes the region that conditioning signal covers.
In step s 102, according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station.
Concrete, because the framing signal of bluetooth locating base station transmitting is in transmitting procedure, can there is different decay along with the change of distance in itself, and the size of decay can by the impact of environment.Therefore, under the prerequisite that the transmitting power of bluetooth locating base station is determined, according to the intensity of the signal that receiving terminal receives, by RSSI positioning signal strength, calculate the distance between receiving terminal and bluetooth locating base station.Be exemplified below:
Received signal strength location model for the foundation of certain interior space is y=f (x), and wherein x is the signal strength signal intensity of the bluetooth locating base station transmitting that receiving terminal receives, and x is more than or equal to the minimum signal strength value of predetermined coverage.So, for the signal strength signal intensity x satisfied condition arbitrarily obtained, namely calculate the distance between corresponding bluetooth locating base station and receiving terminal by described received signal strength location model.
In step s 103, the distance of the positional information of the bluetooth locating base station belonging to received framing signal, receiving terminal and bluetooth locating base station, calculates the locus of receiving terminal in indoor.
In embodiments of the present invention, can multiple account form, the bluetooth locating base station signal due to different floor is subject to wall and intercepts and be subject to very large decay, puts aside.As can when the framing signal that two bluetooth locating base station are launched being detected, so can according to the distance of receiving terminal and two locating base station, determine the position that may exist of receiving terminal in this floor level, and one that combines in historical movement track, movement velocity and the direction of motion formerly or multinomial, judge, obtain the accurate location that receiving terminal is current.
When the framing signal that the bluetooth locating base station of more than three or three is launched being detected, three bluetooth locating base station base stations that the larger frequency of signal strength signal intensity is the highest can be chosen, calculate the distance between receiving terminal and this three bluetooth locating base station, by the intersecting area of three round intersection location when same plane (multiple locating base station) or three spheres (when multiple locating base station is not at same plane), be the position of receiving terminal.
Certainly, three can be not limited to, jointly can also be determined the position of receiving terminal by multiple bluetooth locating base station of more than three, make its registration higher.
In step S104, search the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
After determining the position of receiving terminal in the interior space, the upright position of the interior space corresponding to this receiving terminal can be found, according to the vertical attribute information of the interior space plane map preset, call the plane map at receiving terminal place, and by the position display of receiving terminal on the vertical plane map of specifying.
The present invention is by installing the framing signal having and determine that the bluetooth locating base station of positional information is launched by search bluetooth locating base station in the interior space, and according to the intensity determination receiving terminal of framing signal received and the distance of bluetooth locating base station, position due to bluetooth locating base station is known, therefore, the locus of receiving terminal jointly can be calculated according to multiple bluetooth locating base station, plane map is correspondingly searched according to locus, thus the current position of user can be shown in the map of receiving terminal, position owing to using bluetooth locating base station, positioning precision is high, and cost is low.
Embodiment two:
Fig. 3 shows the realization flow of the precision navigation localization method that second embodiment of the invention provides, and is provided with multiplely has the bluetooth locating base station based on bluetooth 4.0 low power consumption protocol determining positional information in the interior space, as described in method details are as follows:
In step s 201, search for and receive the interior space bluetooth locating base station launch framing signal.
In step S202, judge whether the number of the bluetooth locating base station belonging to framing signal of searching for is greater than 3.
In step S203, if the number of the bluetooth locating base station of the framing signal of search is greater than 3, then calculate the framing signal of three bluetooth locating base station transmittings that signal strength signal intensity is comparatively large, signal frequency is higher.
In addition, the number of bluetooth locating base station of searching for be greater than 3 or equal 3 time, can sort to signal according to the frequency of signal and frequency.
Consider for positioning precision, can receive at same position place bluetooth locating base station transmit may have multiple, for improving computational efficiency, and avoiding the bluetooth locating base station framing signal after may being interfered to some to calculate the interference brought, the present invention preferentially selects that three signal strength signal intensities are comparatively large, higher the transmitting as location Calculation of signal frequency.
Be understandable that, when multiple framing signals of use more than three position calculating, in eliminating position obviously with after the framing signal when first calculating location does not conform to, the receiving terminal position that positioning precision is higher can be obtained.
When the equipment searched for is less than 3, then search for next time, if the number of searching for the bluetooth locating base station searched for three times continuously is still less than 3, then according to receiving terminal in first position, movement locus, movement velocity calculate this position location.
The framing signal that three larger bluetooth locating base station of signal strength signal intensity are launched is calculated described in this step, refer to and calculate the distance of receiving terminal to larger three the bluetooth locating base station of signal strength signal intensity, and according to the position of distance determination receiving terminal calculated, as described in later step S204 and step S205.
In step S204, according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station.
In step S205, according to the distance of the positional information of the bluetooth locating base station of received framing signal, receiving terminal and bluetooth locating base station, calculate the locus of receiving terminal in indoor.
Concrete, the distance of the positional information of the described bluetooth locating base station according to received framing signal, receiving terminal and bluetooth locating base station, calculates receiving terminal and is specifically as follows in the locus step of indoor:
With bluetooth locating base station position for the center of circle, the distance of receiving terminal and described bluetooth locating base station is radius, obtains the setting circle of multiple bluetooth locating base station;
According to the intersecting area that the setting circle of described multiple bluetooth locating base station is determined, as the locus in indoor of receiving terminal.
Specifically as shown in Figure 3, receiving terminal is when position A, and receive the signal of three bluetooth locating base station X of the larger same floor plane of signal strength signal intensity, Y, Z transmitting, its setting circle determined is respectively O
1, O
2, O
3, according to the region of intersecting of three setting circles that the signal strength signal intensity received is determined, be also the position A at the current place of receiving terminal.
Be understandable that, for the position of receiving terminal, in conjunction with in the translational speed of receiving terminal, moving direction or historical track information or multinomial, the locus of described receiving terminal in indoor can also be determined.
If the movement velocity of user A in floor holding receiving terminal is v, run duration is t, the direction of motion is the rectilinear direction determined, so when bluetooth locating base station signal is obstructed or the signal number that receives is less, still can determine according to the direction of motion and distance the accurate location that receiving terminal is up-to-date.
In step S206, search the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
The difference of the embodiment of the present invention and embodiment one is, the embodiment of the present invention further specifically describes computational methods when positioning with the bluetooth locating base station that three signal strength signal intensities are larger, can either simplify calculating, can obtain positioning precision accurately again.
Embodiment three:
Fig. 4 shows the realization flow of the precision navigation localization method that third embodiment of the invention provides, and install in the interior space and have the bluetooth locating base station based on bluetooth 4.0 agreement determining positional information, details are as follows:
In step S401, obtain the latitude and longitude information of receiving terminal position.
Concrete, for different buildings, because the moulding layout of building is different, and the floor level map of correspondence is also different, and the identifier of thus used bluetooth locating base station and the position data of correspondence are also not identical.
In order to can building corresponding to Obtaining Accurate to the current position of receiving terminal, the present invention also comprises the acquisition of the latitude and longitude information to receiving terminal, thus calculates the geographical position residing for receiving terminal.
In step S402, according to the building belonging to described latitude and longitude information determination receiving terminal.
Because the latitude and longitude information in indoor acquisition is generally positioned by mobile base station signal, the precision of its location is not high, and position error may, at tens meters or hundreds of rice, therefore, also need to mate further.
According to obtained latitude and longitude information, corresponding building matches.The mode of described coupling can adopt the mode of list to select for user, also automatically can be selected by the building of matching degree the best.
The mark that can identify the building belonging to it can also be set in bluetooth locating base station, after the signal receiving the transmission of bluetooth locating base station, directly can mate according to this signal.
In step S403, search for and receive the interior space bluetooth locating base station launch framing signal.
In step s 404, judge that the number of the bluetooth locating base station of the framing signal of search is less than 3.
In step S405, according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station.
In step S406, according to the intersecting area that the setting circle of multiple bluetooth locating base station is determined, and in conjunction with in the translational speed of receiving terminal, moving direction or historical track information or multinomial, determine the locus of described receiving terminal in indoor, described setting circle is with bluetooth locating base station for the center of circle, and the distance of receiving terminal and described bluetooth locating base station is the circle of radius.
When the bluetooth locating base station number of the framing signal received is two, by the setting circle of two bluetooth locating base station, determine the position that may exist.Described setting circle namely respectively with two bluetooth locating base station for the center of circle, the distance of receiving terminal and bluetooth locating base station is the circle of radius.
As shown in Figure 5, the center of circle of two bluetooth locating base station is respectively O
4, O
5determined two setting circles intersect 2 be respectively A and B, therefore, tentatively can determine that the position of receiving terminal is at A point or B point, further by historical movement track, movement velocity, direction and floor location information, finally determine the position of receiving terminal.As determined etc. according to the movement velocity of receiving terminal and the direction of motion.
When receiving only the locating information of a bluetooth locating base station or not having, need the position determining receiving terminal in conjunction with information such as movement locus further equally.
In step S 407, search the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
The difference part of the embodiment of the present invention and embodiment one is, also comprise the building determined belonging to receiving terminal, so that positional information and the floor information of the bluetooth locating base station corresponding with building can be deployed into, and describe when bluetooth locating base station number is less than three, by in conjunction with assist location, improve the positioning precision of whole navigation system.
Embodiment four:
Fig. 6 shows the structural representation of the precision navigation positioner that fourth embodiment of the invention provides, and install in the interior space and have the bluetooth locating base station determining positional information, details are as follows for described device:
Precision navigation positioner of the present invention comprises:
Search receiving element 601, for search for and receive the interior space bluetooth locating base station launch framing signal;
Distance determining unit 602, for according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station;
Locus determining unit 603, for the distance of the positional information of the bluetooth locating base station according to received framing signal, receiving terminal and bluetooth locating base station, calculates the locus of receiving terminal in indoor;
Map denotation unit 604, for searching the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
Further optimization, described device also comprises:
Sequencing unit, for searching for bluetooth locating base station, sorts to new number according to signal strength signal intensity and frequency;
Judging unit, if be greater than 3 for the bluetooth locating base station number of search, then positions calculating according to 3 equipment that error is minimum; If the equipment searched is less than 3, then opens and retrieve next time;
Position determination unit, the number for the bluetooth locating base station to search for continuous three times is still less than 3, then according to receiving terminal in first position, movement locus, movement velocity calculate this position location.
Preferably, described locus determining unit comprises:
Setting circle determining unit, for bluetooth locating base station position for the center of circle, the distance of receiving terminal and described bluetooth locating base station is radius, obtains multiple setting circle;
Intersecting area determining unit, for the intersecting area determined according to the setting circle of described multiple bluetooth locating base station, as the locus in indoor of receiving terminal.
Concrete, described locus determining unit specifically for:
According to the intersecting area that the setting circle of multiple bluetooth locating base station is determined, and in conjunction with in the translational speed of receiving terminal, moving direction or historical track information or multinomial, determine the locus of described receiving terminal in indoor, described setting circle is with bluetooth locating base station position for the center of circle, and the distance of receiving terminal and described bluetooth locating base station is the circle of radius.
Further optimization, described device also comprises:
Latitude and longitude information acquiring unit, for obtaining the latitude and longitude information of receiving terminal position;
Affiliated building determining unit, for the building belonging to described latitude and longitude information determination receiving terminal.
Precision navigation positioner described in the embodiment of the present invention is corresponding with the precision navigation localization method described in embodiment one, two, three, does not repeat at this.
In several embodiment provided by the present invention, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a precision navigation localization method, is characterised in that, be provided with in the interior space and multiplely have the bluetooth locating base station based on bluetooth 4.0 low power consumption protocol determining positional information, described method comprises:
Search for and receive the interior space bluetooth locating base station launch framing signal;
According to the intensity of received framing signal, calculate the distance of receiving terminal and bluetooth locating base station;
The positional information of the bluetooth locating base station belonging to received framing signal, the distance of receiving terminal and locating base station, calculates the locus of receiving terminal in indoor;
Search the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
2. method according to claim 1, is characterized in that, before the described Strength co-mputation receiving terminal of framing signal according to receiving and the distance step of bluetooth locating base station, described method also comprises:
Search bluetooth locating base station, sorts to signal according to signal strength signal intensity and frequency;
If the bluetooth locating base station number of search is greater than 3, then position calculating according to 3 equipment that error is minimum; If the equipment searched is less than 3, then opens and retrieve next time;
The number of the continuous bluetooth locating base station searched for three times is still less than 3, then according to receiving terminal in first position, movement locus, movement velocity calculate this position location.
3. method according to claim 1 or 2, is characterized in that, the distance of described framing signal, the positional information of bluetooth locating base station, receiving terminal and bluetooth locating base station according to receiving, and determines that receiving terminal is specially in the step of interior space position:
With bluetooth locating base station position for the center of circle, receiving terminal and bluetooth locating base station distance are radius, obtain the setting circle of multiple bluetooth locating base station;
According to the intersecting area that the setting circle of multiple bluetooth locating base station is determined, as the locus in indoor of receiving terminal.
4. method according to claim 1, it is characterized in that, described positional information of searching locating base station belonging to signal and described locating base station according to received framing signal, according to receiving terminal and the distance of locating base station and the positional information of locating base station, calculate receiving terminal and specifically comprise in the locus step of indoor:
According to the intersecting area that the setting circle of multiple bluetooth locating base station is determined, and in conjunction with in the translational speed of receiving terminal, moving direction or historical track information or multinomial, determine the locus of described receiving terminal in indoor, described setting circle is with bluetooth locating base station position for the center of circle, and the distance of receiving terminal and described bluetooth locating base station is the circle of radius.
5. method according to claim 1, is characterized in that, in described search and before the bluetooth locating base station receiving the interior space framing signal step of launching, described method also comprises:
Obtain the latitude and longitude information of receiving terminal position;
According to the building belonging to described latitude and longitude information determination receiving terminal.
6. a precision navigation positioner, is characterized in that, be provided with in the interior space and multiplely have the bluetooth locating base station based on bluetooth 4.0 low power consumption protocol determining positional information, described device comprises:
Search receiving element, for search for and receive interior space bluetooth locating base station launch framing signal;
Distance determining unit, for according to the Strength co-mputation receiving terminal of received framing signal and the distance of bluetooth locating base station;
Locus determining unit, for the distance of the positional information of the bluetooth locating base station belonging to received framing signal, receiving terminal and bluetooth locating base station, calculates the locus of receiving terminal in indoor;
Map denotation unit, for searching the indoor plane map that comprise vertical information of receiving terminal belonging to the locus of indoor, display receiving terminal is in the described position comprising the plane map of vertical information.
7. device according to claim 6, it is characterized in that, described device also comprises:
Sequencing unit, for searching for bluetooth locating base station, sorts to new number according to signal strength signal intensity and frequency;
Judging unit, if be greater than 3 for the bluetooth locating base station number of search, then positions calculating according to 3 equipment that error is minimum; If the equipment searched is less than 3, then opens and retrieve next time;
Position determination unit, the number for the bluetooth locating base station to search for continuous three times is still less than 3, then according to receiving terminal in first position, movement locus, movement velocity calculate this position location.
8. device according to claim 6 or 7, is characterized in that, described locus determining unit comprises:
Setting circle determining unit, for bluetooth locating base station position for the center of circle, the distance of receiving terminal and described bluetooth locating base station is radius, obtains multiple setting circle;
Intersecting area determining unit, for the intersecting area determined according to the setting circle of described multiple bluetooth locating base station, as the locus in indoor of receiving terminal.
9. device according to claim 6, is characterized in that, described locus determining unit specifically for:
According to the intersecting area that the setting circle of multiple bluetooth locating base station is determined, and in conjunction with in the translational speed of receiving terminal, moving direction or historical track information or multinomial, determine the locus of described receiving terminal in indoor, described setting circle is with bluetooth locating base station position for the center of circle, and the distance of receiving terminal and described bluetooth locating base station is the circle of radius.
10. device according to claim 6, it is characterized in that, described device also comprises:
Latitude and longitude information acquiring unit, for obtaining the latitude and longitude information of receiving terminal position;
Affiliated building determining unit, for the building belonging to described latitude and longitude information determination receiving terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410514163.1A CN105472563A (en) | 2014-09-29 | 2014-09-29 | Precise navigation and positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410514163.1A CN105472563A (en) | 2014-09-29 | 2014-09-29 | Precise navigation and positioning method and device |
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| Publication Number | Publication Date |
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| CN105472563A true CN105472563A (en) | 2016-04-06 |
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| CN109511165A (en) * | 2018-12-19 | 2019-03-22 | 广州市捷众智能科技有限公司 | Method, terminal device and storage medium based on iBeacon bluetooth module indoor positioning |
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| CN105911871A (en) * | 2016-04-13 | 2016-08-31 | 杭州聪普智能科技有限公司 | Intelligent household positioning control method based on bluetooth technology |
| WO2017181690A1 (en) * | 2016-04-22 | 2017-10-26 | 中兴通讯股份有限公司 | Indoor navigation method and apparatus |
| CN105911540B (en) * | 2016-06-01 | 2021-04-16 | 北京京东方多媒体科技有限公司 | Wireless positioning system and exercise training system |
| CN105911540A (en) * | 2016-06-01 | 2016-08-31 | 北京京东方多媒体科技有限公司 | Wireless positioning system and exercise training system |
| CN106028274A (en) * | 2016-08-03 | 2016-10-12 | 上海数字智能化***工程有限公司 | Intelligent positioning and cloud intercom integrated system |
| CN106211323A (en) * | 2016-08-23 | 2016-12-07 | 中国联合网络通信集团有限公司 | The method and device of location |
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| CN106664530B (en) * | 2016-10-05 | 2020-06-23 | 香港应用科技研究院有限公司 | Method and system for improving accuracy of location and proximity determination |
| WO2018064845A1 (en) * | 2016-10-05 | 2018-04-12 | Hong Kong Applied Science and Technology Research Institute Company Limited | Method and system for enhancing accuracy in location and proximity determination |
| CN106646573A (en) * | 2016-12-23 | 2017-05-10 | 烟台中飞海装科技有限公司 | Method of positioning person in urban area and location sending device |
| CN107144277A (en) * | 2017-04-07 | 2017-09-08 | 陈君华 | A kind of indoor orientation method |
| WO2018209586A1 (en) * | 2017-05-17 | 2018-11-22 | 深圳市炜光科技有限公司 | Bluetooth positioning method and system |
| CN107197494A (en) * | 2017-05-17 | 2017-09-22 | 深圳市炜光科技有限公司 | The localization method and system of bluetooth |
| CN107396302A (en) * | 2017-06-16 | 2017-11-24 | 深圳市盛路物联通讯技术有限公司 | Internet of Things localization method, apparatus and system |
| CN107404704A (en) * | 2017-07-25 | 2017-11-28 | 王奋勤 | A kind of method and system for the indoor positioning being used under conference scenario |
| CN108226977A (en) * | 2017-12-27 | 2018-06-29 | 北斗地网（重庆）科技集团有限公司 | A kind of localization method, alignment system and a kind of computer readable storage medium |
| CN110018508A (en) * | 2018-01-10 | 2019-07-16 | 西安中兴新软件有限责任公司 | A kind of localization method and device |
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| CN108415007A (en) * | 2018-01-31 | 2018-08-17 | 上海乐愚智能科技有限公司 | Indoor orientation method, intelligent appliance, storage medium and positioning system |
| CN109246597A (en) * | 2018-08-14 | 2019-01-18 | 北京云迹科技有限公司 | Location determining method and device |
| CN109283488A (en) * | 2018-08-14 | 2019-01-29 | 北京云迹科技有限公司 | Location determining method and device |
| CN109246597B (en) * | 2018-08-14 | 2021-03-09 | 北京云迹科技有限公司 | Position determination method and device |
| CN109348409A (en) * | 2018-11-07 | 2019-02-15 | 北京京东金融科技控股有限公司 | Location processing method, device, intelligent hardware devices and storage medium |
| CN109511165B (en) * | 2018-12-19 | 2020-12-29 | 广州市捷众智能科技有限公司 | Indoor positioning method based on iBeacon Bluetooth module, terminal equipment and storage medium |
| CN109511165A (en) * | 2018-12-19 | 2019-03-22 | 广州市捷众智能科技有限公司 | Method, terminal device and storage medium based on iBeacon bluetooth module indoor positioning |
| CN109497628A (en) * | 2018-12-26 | 2019-03-22 | 南昌与德软件技术有限公司 | Electronic cigarette device, smoking seat determine that system and smoking seat determine method |
| CN109714704A (en) * | 2018-12-26 | 2019-05-03 | 佛山科学技术学院 | A kind of indoor orientation method and device based on wisdom room point |
| CN109497628B (en) * | 2018-12-26 | 2021-08-27 | 上海芯爱智能科技有限公司 | Electronic cigarette device, smoking area determination system and smoking area determination method |
| CN109862514A (en) * | 2019-01-21 | 2019-06-07 | 上海美迪索科电子科技有限公司 | A kind of bluetooth positioning system, method, apparatus and storage medium |
| CN110602634A (en) * | 2019-08-14 | 2019-12-20 | 珠海格力电器股份有限公司 | Space positioning method based on Bluetooth, terminal and computer readable medium |
| CN110798799A (en) * | 2019-12-11 | 2020-02-14 | 深圳市创意之都投资有限公司 | WIFI accurate navigation positioning method |
| CN111110243A (en) * | 2019-12-19 | 2020-05-08 | 北京建筑大学 | Wearable tumble monitoring equipment and system |
| WO2021189464A1 (en) * | 2020-03-27 | 2021-09-30 | 深圳市速腾聚创科技有限公司 | Vehicle positioning method and apparatus, and vehicle |
| CN113795769A (en) * | 2020-03-27 | 2021-12-14 | 深圳市速腾聚创科技有限公司 | Vehicle positioning method and device and vehicle |
| CN113795769B (en) * | 2020-03-27 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Vehicle positioning method and device and vehicle |
| CN112505738B (en) * | 2021-02-04 | 2021-06-15 | 湖南惠旅云网络科技有限公司 | Scenic spot off-line positioning system |
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