CN106255201A - A kind of indoor orientation method and device - Google Patents
A kind of indoor orientation method and device Download PDFInfo
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- CN106255201A CN106255201A CN201610697342.2A CN201610697342A CN106255201A CN 106255201 A CN106255201 A CN 106255201A CN 201610697342 A CN201610697342 A CN 201610697342A CN 106255201 A CN106255201 A CN 106255201A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The present invention provides a kind of indoor orientation method, first gathers the location information of destination object, and wherein said location information includes at least one in around Wi-Fi hotspot information and mobile communication base station signal;Then according to the location information gathered, according to default screening strategy, corresponding localization method is selected;Recycle described localization method to position, it is thus achieved that the positioning result of described destination object.The present invention can choose corresponding localization method according to the location information gathered and position, thus ensure the accuracy of location, avoid the dependency to single location information, compatible strong, applied widely, need not arrange that substantial amounts of network node can realize indoor positioning, accurate positioning and cost are relatively low, are capable of the seamless connection with outdoor positioning simultaneously, improve the precision of location.
Description
Technical field
The present invention relates to technical field of navigation and positioning, be specifically related to a kind of indoor orientation method and device.
Background technology
Along with the development of development of Mobile Internet technology, location-based service (LocationBased Severs, LBS) has obtained extensively
Pay close attention to.According to statistics, have more than 80% relevant with " position " in the information that people are used, people are seamless to indoor and outdoor location
Demand is also being continuously increased.
At present, outdoor positioning technology is the most ripe, the whole world with GPS, the Big Dipper, Galileo, GLONASS as representative
Four large satellite navigation system have been able to popularization and application widely.But satellite positioning signal is difficult to the indoor ring covered
Border, though existing indoor positioning technologies based on technology such as Wi-Fi, ZigBee, RFID, bluetooth, ultra broadbands, above-mentioned indoor are fixed
Due to needs, the realization of position technology arranges that great deal of nodes, signal cover the shortcomings such as relatively costly, it is difficult to popularization and application.
Summary of the invention
For defect of the prior art, the present invention provides a kind of indoor orientation method and device, to solve existing indoor
Location technology needs to arrange that great deal of nodes, signal cover relatively costly problem.
First aspect, a kind of indoor orientation method that the present invention provides, including:
Gathering the location information of destination object, wherein said location information includes around Wi-Fi hotspot information and mobile communication
At least one in base station signal;
According to the described location information gathered, according to default screening strategy, select corresponding localization method;
Described localization method is utilized to position, it is thus achieved that the positioning result of described destination object.
Optionally, described according to default screening strategy, select corresponding localization method, including:
Default intensity threshold condition, localizing environment whether has been met the most according to the intensity of described location information gathered
The priority of the localization method known and preset, selects at least one localization method.
Optionally, described localization method includes that WiFi tri-limit localization method, WiFi fingerprint positioning method, mobile communication are moved
Communication base station signal framing method.
Optionally, described indoor orientation method also includes: use the positioning correction method preset to described destination object
Positioning result is modified.
Optionally, the positioning result of described destination object is modified by the positioning correction method that described employing is preset, bag
Include:
The real-time positioning information of described destination object is modified by the method using map match.
Second aspect, a kind of indoor positioning device that the present invention provides, including:
Locating information acquisition module, for gathering the location information of destination object, wherein said location information includes around
At least one in Wi-Fi hotspot information and mobile communication base station signal;
Localization method selects module, for according to the described location information gathered, according to default screening strategy, selects phase
The localization method answered;
Locating module, is used for utilizing described localization method to position, it is thus achieved that the positioning result of described destination object.
Optionally, described localization method selects module, including:
Localization method selects unit, for whether meeting default intensity threshold according to the intensity of the described location information gathered
The priority of the localization method that value condition, localizing environment are the most known and default, selects at least one localization method.
Optionally, described localization method includes WiFi tri-limit localization method, WiFi fingerprint positioning method, mobile communication base station
Signal framing method.
Optionally, described indoor positioning device, also include:
Location correcting module, for using default positioning correction method to repair the positioning result of described destination object
Just.
Optionally, described location correcting module, including:
Map amending unit, for using the method for map match to repair the real-time positioning information of described destination object
Just.
As shown from the above technical solution, a kind of indoor orientation method that the present invention provides, first gather determining of destination object
Position information, wherein said location information includes at least one in around Wi-Fi hotspot information and mobile communication base station signal;So
Afterwards according to the location information gathered, according to default screening strategy, select corresponding localization method;Recycle described localization method
Position, it is thus achieved that the positioning result of described destination object.It is corresponding fixed that the present invention can choose according to the location information gathered
Method for position positions, thus ensures the accuracy of location, it is to avoid the dependency to single location information, compatible strong, applicable
Scope is wide, it is not necessary to arrange that substantial amounts of network node can realize indoor positioning, accurate positioning and cost relatively low, simultaneously can be real
Now with the seamless connection of outdoor positioning, improve the precision of location.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to specifically
In embodiment or description of the prior art, the required accompanying drawing used is briefly described.In all of the figs, similar element
Or part is typically by the reference mark being similar to.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 shows the flow chart of a kind of indoor orientation method that first embodiment of the invention provided;
Fig. 2 shows the schematic diagram of a kind of indoor positioning device that second embodiment of the invention provided.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of technical solution of the present invention is described in detail.Following example are only used for
Technical scheme is clearly described, is therefore intended only as example, and the protection of the present invention can not be limited with this
Scope.
It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should be this
The ordinary meaning that bright one of ordinary skill in the art are understood.
Fig. 1 shows the flow chart of a kind of indoor orientation method that first embodiment of the invention provided.As it is shown in figure 1,
A kind of indoor orientation method that first embodiment of the invention provides comprises the following steps:
Step S101: gathering the location information of destination object, wherein said location information includes Wi-Fi hotspot information around
With at least one in mobile communication base station signal.
This step, can position information accordingly by corresponding sensor or signal sending and receiving equipment collection, such as, pass through
WiFi transceiver module gathers Wi-Fi hotspot information around, gathers mobile communication base by mobile communication module such as 4G communication module etc.
Stand signal, etc., any of the above item is all existing mature technology, repeats the most one by one, and it is all in the protection of the application
Within the scope of.
Step S102: according to the described location information gathered, according to default screening strategy, select the side of location accordingly
Method.
The difference of the type of the location information according to the collection of step S101, the described location that this step can select and gather
The corresponding localization method of information, such as, if the Wi-Fi hotspot information that described location information is surrounding, then can use WiFi tri-limit
Localization method or WiFi fingerprint positioning method position;If described location information is mobile communication base station signal, then can make
Position by mobile communication base station signal framing method.
In the embodiment of the present invention, described localization method includes WiFi tri-limit localization method, WiFi fingerprint positioning method, movement
Communication base station signal framing method.One can be selected according to the type of the location information gathered or select multinomial being applied in combination to carry out determining
Position, above every kind of localization method is all existing localization method, and therefore, concrete localization method repeats no more herein, and it is all at this
Within the protection domain of invention.
In this step when implementing, whether can meet default intensity threshold according to the intensity of the described location information gathered
The priority of the localization method that value condition, localizing environment are the most known and default, selects at least one localization method.Such as,
When being in the localizing environment that known Wi-Fi hotspot is more, preferential use WiFi fingerprint positioning method positions;If
Wi-Fi hotspot is less but time WiFi signal intensity is in default intensity threshold, it is possible to use location, WiFi tri-limit to carry out fixed
Position.Wherein, can't detect certain signal and can be regarded as not meeting default intensity threshold condition and process, this step is permissible
Arranging numerous embodiments the most flexibly, repeat the most one by one, it is all within protection scope of the present invention.
Step S103: utilize described localization method to position, it is thus achieved that the positioning result of described destination object.
So far, by step S101 to step S103, a kind of indoor that completing first embodiment of the invention is provided are determined
The flow process of method for position.The present invention can choose corresponding localization method according to the location information gathered and position, thus ensures
The accuracy of location, it is to avoid the dependency to single location information, compatible strong, applied widely, it is not necessary to arrange substantial amounts of
It is relatively low that network node can realize indoor positioning, accurate positioning and cost, is capable of the seamless connection with outdoor positioning simultaneously,
Improve the precision of location.
In the embodiment that the present invention provides, after step S103, also include: use the positioning correction method preset
The positioning result of described destination object is modified.Wherein, the positioning correction method that described employing is preset is to described target pair
The positioning result of elephant is modified, including:
The real-time positioning information of described destination object is modified by the method using map match.
Wherein, map match is to utilize the position in geometric properties point correction walking process during walking, described
Geometric properties point includes the crossing of mark, doorway etc. in map.
In the embodiment that the present invention provides, after step S103, also include step S104 and S105:
Step S104: gather the described destination object inertial navigation data when indoor walking.
This step, can gather destination object at indoor row by the inertial navigation system that described destination object is carried with
Inertial navigation data when walking, INS (Inertial Navigation System, inertial navigation system) is main by IMU
(Inertial Measurement Unit, Inertial Measurement Unit) forms, and generally includes with lower module: three-axis gyroscope, three axles
Accelerometer etc..After it is by processing inertia measurement data, the acceleration of object, angular velocity etc., Jin Erneng can be drawn
Enough calculate the information such as speed, attitude, course.On the basis of given position, available IMU carries out Camera calibration,
The covering that can solve GNSS (Global Navigation Satellite System GPS) system is asked
Topic.As utilized accelerometer to gather acceleration information, utilize gyroscope acquisition angle speed data etc..
Step S105: according to described positioning result and described inertial navigation data, use the positioning and tracing method pair preset
Described destination object carries out locating and tracking, it is thus achieved that the real-time positioning information of described destination object.
After the positioning result getting destination object and inertial navigation data, default positioning and tracing method can be used
Described destination object is carried out locating and tracking, described default positioning and tracing method can be pedestrian's reckoning (PDR,
Pedestrian Dead-Reckoning) method, pedestrian's reckoning, is to be judged pedestrian's stride motion by IMU detection, estimated
Meter step-length, detection action course are to realize the navigator fix of pedestrian.Pedestrian's reckoning method can use of the prior art
Any one, repeat the most one by one, and it is all within the protection domain of the application.
In the embodiment that the present invention provides, described according to described positioning result with described inertial navigation data, adopt
By pedestrian's reckoning method, described destination object is carried out locating and tracking, it is thus achieved that the real-time positioning information of described destination object,
Including:
According to described positioning result and described inertial navigation data, use the pedestrian reckoning side combining Kalman filtering
Method carries out locating and tracking to described destination object, it is thus achieved that the real-time positioning information of described destination object.
Wherein, the pedestrian's reckoning method in conjunction with Kalman filtering is the improvement to pedestrian's reckoning method, passes through
During reckoning, add Kalman filtering, the error of step-length, course value etc. can be revised in motor process, make step
Precision long, course value is higher, to improve final reckoning precision, positioning precision etc..Detailed description of the invention is it may be that head
First calculate the time that strides of destination object, step-length and course value according to inertial navigation data, then with described destination object
Time, step-length and the course value of striding is recursive parameter, uses the recursive algorithm containing Kalman filtering preset to calculate described mesh
The flight path of mark object.
In the embodiment that the present invention provides, the described time that strides, step-length and course value with described destination object
For recursive parameter, the recursive algorithm containing Kalman filtering preset is used to calculate the flight path of described destination object, including:
Set up motion model:
In formula, x represents the quantity of state of walking track data, x, y represent destination object at horizontal and vertical coordinate figure,
vx、vyRepresent that destination object is at horizontal and vertical translational speed component;FkRepresent kth stride correspondence state-transition matrix,
ΔtkRepresent kth stride correspondence stride the time, εkThe index parameters of the correspondence that strides for kth, I representation unit matrix;QkTable
Show dynamic disturbances covariance matrix, σa 2Represent the mean square deviation of acceleration of motion, σv 2Represent the mean square deviation of movement velocity, for constant;
Wherein,
σa 2=σv 2(1-exp(-2Δtk/τ))/Δtk 2
In formula, τ represents the time constant relevant to movement velocity;
Set up observation model:
In formula, zkRepresent the observed quantity of walking track data, xk-1、yk-1Represent that destination object strides correspondence kth-1
Horizontal and vertical coordinate figure, lkRepresent destination object kth stride correspondence step-length, θkRepresent that destination object is in kth
The course value of the correspondence that strides, Δ tkRepresent kth stride correspondence stride the time;RkRepresent observation error, σl 2Represent step-length
Mean square deviation, I representation unit matrix;
The state estimation of prediction walking track data and covariance:
In formula,Represent state estimation,Represent covariance, xk-1Represent kth-1 stride correspondence quantity of state, Pk-1
Represent kth-1 stride correspondence covariance,Represent FkTransposed matrix;
Calculating observation amount residual sum residual covariance:
In formula,Represent kth stride correspondence residual error of measurements;SkRepresent residual covariance, HkRepresent observing matrix,Represent observing matrix HkTransposed matrix;
The optimum Kalman gain of calculating:
In formula, KkRepresent kth stride correspondence optimum Kalman gain,Represent residual covariance SkInverse matrix;
Calculate revised state estimation:
In formula, xkRepresent the walking track data calculating the destination object obtained,Represent pre-to walking track data
Survey state estimation, kkRepresent optimum Kalman gain,Represent the residual error of measurements to walking track data.
During concrete operation, some auxiliary parameters can be introduced and calculate, to improve operation efficiency, such as:
Wherein,
Residual covariance:
Inverse matrix
Optimum Kalman gain:
Wherein
The state estimation revised:
The estimate covariance revised:
Wherein
By step S104 and S105, the mode that the embodiment of the present invention have employed initial alignment and locating and tracking combines is real
The now indoor positioning to destination object, thus it is further ensured that the precision of indoor positioning.
In above-mentioned first embodiment, it is provided that a kind of indoor orientation method, corresponding, the application also provides for
A kind of indoor positioning device.Refer to Fig. 2, the signal of its a kind of indoor positioning device provided for second embodiment of the invention
Figure.Owing to device embodiment is substantially similar to embodiment of the method, so describing fairly simple, relevant part sees method and implements
The part of example illustrates.Device embodiment described below is only schematically.
A kind of indoor positioning device that second embodiment of the invention provides, including:
Locating information acquisition module 101, for gathering the location information of destination object, wherein said location information includes week
Enclose at least one in Wi-Fi hotspot information and mobile communication base station signal;
Localization method selects module 102, for according to the described location information gathered, according to default screening strategy, choosing
Select corresponding localization method;
Locating module 103, is used for utilizing described localization method to position, it is thus achieved that the positioning result of described destination object.
In the embodiment that the present invention provides, described localization method selects module 102, including:
Localization method selects unit, for whether meeting default intensity threshold according to the intensity of the described location information gathered
The priority of the localization method that value condition, localizing environment are the most known and default, selects at least one localization method.
In the embodiment that the present invention provides, described localization method includes WiFi tri-limit localization method, WiFi fingerprint
Localization method, mobile communication base station signal framing method.
In the embodiment that the present invention provides, described indoor positioning device, also include:
Location correcting module, for using default positioning correction method to repair the positioning result of described destination object
Just.
In the embodiment that the present invention provides, described location correcting module, including:
Map amending unit, for using the method for map match to repair the real-time positioning information of described destination object
Just.
Above, the embodiment explanation of a kind of indoor positioning device provided for second embodiment of the invention.
A kind of indoor positioning device that the present invention provides and above-mentioned indoor orientation method, for identical inventive concept, have
Identical beneficial effect, here is omitted.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office
One or more embodiments or example combine in an appropriate manner.Additionally, in the case of the most conflicting, the skill of this area
The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel
Close and combination.
It should be noted that flow chart in accompanying drawing and block diagram show the multiple embodiments according to the present invention system,
Architectural framework in the cards, function and the operation of method and computer program product.In this, in flow chart or block diagram
Each square frame can represent a module, program segment or a part for code, the part bag of described module, program segment or code
Executable instruction containing one or more logic functions for realizing regulation.It should also be noted that at some as the reality replaced
In Xian, the function marked in square frame can also occur to be different from the order marked in accompanying drawing.Such as, two continuous print sides
Frame can essentially perform substantially in parallel, and they can also perform sometimes in the opposite order, and this is according to involved function
Fixed.It is also noted that the group of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart
Close, can realize by the special hardware based system of the function or action that perform regulation, or specialized hardware can be used
Combination with computer instruction realizes.
The indoor positioning device that the embodiment of the present invention is provided can be computer program, including storing program generation
The computer-readable recording medium of code, the instruction that described program code includes can be used for performing described in previous methods embodiment
Method, implements and can be found in embodiment of the method, does not repeats them here.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, the system of foregoing description,
The specific works process of device and unit, is referred to the corresponding process in preceding method embodiment, does not repeats them here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, permissible
Realize by another way.Device embodiment described above is only schematically, such as, and the division of described unit,
Being only a kind of logic function to divide, actual can have other dividing mode when realizing, and the most such as, multiple unit or assembly can
To combine or to be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or beg for
The coupling each other of opinion or direct-coupling or communication connection can be indirect by some communication interfaces, device or unit
Coupling or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, Intelligent mobile equipment, server, or the network equipment etc.) perform the complete of method described in each embodiment of the present invention
Portion or part steps.And aforesaid storage medium includes: magnetic storage medium, electronic device storage medium etc. are various can store journey
The medium of sequence code.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit;To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent;And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.
Claims (10)
1. an indoor orientation method, it is characterised in that including:
Gathering the location information of destination object, wherein said location information includes around Wi-Fi hotspot information and mobile communication base station
At least one in signal;
According to the described location information gathered, according to default screening strategy, select corresponding localization method;
Described localization method is utilized to position, it is thus achieved that the positioning result of described destination object.
Indoor orientation method the most according to claim 1, it is characterised in that described according to default screening strategy, selects
Corresponding localization method, including:
According to the intensity of described location information gathered whether meet default intensity threshold condition, localizing environment the most known with
And the priority of the localization method preset, select at least one localization method.
Indoor orientation method the most according to claim 1, it is characterised in that described localization method includes that WiFi tri-limit positions
Method, WiFi fingerprint positioning method, mobile communication base station signal framing method.
Indoor orientation method the most according to claim 1, it is characterised in that also include: use the location correction side preset
The positioning result of described destination object is modified by method.
Indoor orientation method the most according to claim 4, it is characterised in that the positioning correction method pair that described employing is preset
The positioning result of described destination object is modified, including:
The real-time positioning information of described destination object is modified by the method using map match.
6. an indoor positioning device, it is characterised in that including:
Locating information acquisition module, for gathering the location information of destination object, wherein said location information includes WiFi around
At least one in hot information and mobile communication base station signal;
Localization method selects module, for according to the described location information gathered, according to default screening strategy, selects corresponding
Localization method;
Locating module, is used for utilizing described localization method to position, it is thus achieved that the positioning result of described destination object.
Indoor positioning device the most according to claim 6, it is characterised in that described localization method selects module, including:
Localization method selects unit, for whether meeting default intensity threshold bar according to the intensity of the described location information gathered
The priority of the localization method that part, localizing environment are the most known and default, selects at least one localization method.
Indoor orientation method the most according to claim 6, it is characterised in that described localization method includes that WiFi tri-limit positions
Method, WiFi fingerprint positioning method, mobile communication base station signal framing method.
Indoor positioning device the most according to claim 6, it is characterised in that also include:
Location correcting module, for using default positioning correction method to be modified the positioning result of described destination object.
Indoor positioning device the most according to claim 9, it is characterised in that described location correcting module, including:
Map amending unit, for using the method for map match to be modified the real-time positioning information of described destination object.
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CN108471597A (en) * | 2017-02-17 | 2018-08-31 | 刘润晨 | The control method of locating and tracking system |
CN108574984A (en) * | 2017-03-10 | 2018-09-25 | ***通信集团上海有限公司 | A kind of localization method and device |
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