CN106291635A - Method and system for indoor positioning - Google Patents
Method and system for indoor positioning Download PDFInfo
- Publication number
- CN106291635A CN106291635A CN201610591099.6A CN201610591099A CN106291635A CN 106291635 A CN106291635 A CN 106291635A CN 201610591099 A CN201610591099 A CN 201610591099A CN 106291635 A CN106291635 A CN 106291635A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- location
- signal
- described mobile
- station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000009432 framing Methods 0.000 claims abstract description 53
- 230000003287 optical effect Effects 0.000 claims description 24
- 230000004807 localization Effects 0.000 claims description 16
- 238000005516 engineering process Methods 0.000 abstract description 17
- 238000003860 storage Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 9
- 208000018989 iridogoniodysgenesis Diseases 0.000 description 7
- PLXMOAALOJOTIY-FPTXNFDTSA-N Aesculin Natural products OC[C@@H]1[C@@H](O)[C@H](O)[C@@H](O)[C@H](O)[C@H]1Oc2cc3C=CC(=O)Oc3cc2O PLXMOAALOJOTIY-FPTXNFDTSA-N 0.000 description 6
- 230000005764 inhibitory process Effects 0.000 description 6
- 238000004040 coloring Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000015654 memory Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
- G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The embodiment of the present invention provides a kind of method for indoor positioning, including: according to the information of at least one framing signal that mobile device receives, determine the position scene of mobile device；Position scene determined by based on, determines the station-keeping mode that described mobile device is to be applied；Select with determined by station-keeping mode mate at least one can use framing signal described mobile device is positioned.The embodiment of the present invention also provides for a kind of system for indoor positioning.Shown method and system can make full use of the feature of multiple location technology, abandon conventional single wireless indoor location technology, according to different scene areas, corresponding location mode is set, avoid the disturbed condition of multiple framing signal, achieve and mobile device is accurately positioned, meet the demand of large complicated indoor accurate position simultaneously, improve user and position experience, have broad application prospects.
Description
Technical field
The present embodiments relate to indoor positioning field, particularly relate to a kind of method and system for indoor positioning.
Background technology
4.4 hundred million person-times are reached at China Aviation passenger traffic volume in 2015, average daily 1,210,000 person-times, it is contemplated that permissible by 2034
Reach 1,200,000,000 person-times, average daily 3,300,000 person-times.But, airport environment feature place is big, layout and path is complicated, flow of the people is big, trip
Visitor is more and more urgent for the demand of indoor positioning navigation, it is desirable to know self position, and quick and precisely arrives
Reach objective, it is to avoid disorientation, the delay time at stop.
GPS (GPS) and big-dipper satellite alignment system (BDS) have been widely used and have led in outdoor positioning
Boat, navigates to the trip of people and brings convenience.Although satellite-signal has certain penetrance, can through roof or
Window-glass arrives indoor, but due to the occlusion effect of building structure, satellite-signal is interfered and is greatly attenuated, and defends in indoor
Under conditions of star weak output signal, smart mobile phone, panel computer etc. are low owing to satellite antenna own receives power, to such an extent as to occur connecing
Situation about can not receive, thus indoor positioning cannot be realized.It addition, global position system is applied to indoor positioning, cost cost is relatively
High, it is difficult to popularization and application.
The problem existed based on above-mentioned indoor positioning, at the GPS/ not changing the configurations such as existing smart mobile phone, panel computer
Under conditions of Beidou navigation chip module of software and hardware, frequently with solution be in building or closed area everywhere
Entity sensor networks built by cloth, realizes indoor positioning navigation, and such as infrared ray, ultrasound wave, pressure inductor or a few person are integrated
Wireless beacon module.For example, as it is known that a kind of based on wireless beacon indoor locating system and method, by required location
Environment installs wireless beacon module, it is ensured that the wireless beacon signal of whole indoor environment covers without dead angle, its wireless beacon module
On be integrated with RF radio frequency, infrared sensor and baroceptor, mobile device is come real by bluetooth and wireless beacon system communication
Existing indoor positioning.
But, in realizing process of the present invention, inventor finds that in correlation technique, at least there are the following problems: heavy construction
Indoor environment complicated, such as airport, in usual regional channel, boarding gate and safety and alarm relevant range, and automatically walk
In the different scene such as ladder way, stairs port, retail shop and regional extent, its magnetic field environment is not quite similar, and various wireless signals are the most dry
Disturb, so, in region, all places, use conventional single wireless indoor location technology, it is difficult to realize the indoor towards passenger
Location navigation services.It addition, wireless beacon built by a large amount of cloth, its infrastructure project implemented is great, and cost is relatively costly, also can
Produce a large amount of electromagnetic pollution.Therefore, realize being accurately positioned navigation in large-scale indoor place, there is also asking of numerous urgent need solution
Topic.
Summary of the invention
The embodiment of the present invention provide a kind of method and system for indoor positioning, in order to solve of the prior art at least
One problem.
First aspect, the embodiment of the present invention provides a kind of method for indoor positioning, and the method includes:
According to the information of at least one framing signal that mobile device receives, determine the position scene of mobile device；
Position scene determined by based on, determines the station-keeping mode that mobile device is to be applied；
Select with determined by station-keeping mode mate at least one can use framing signal mobile device is positioned.
In a kind of alternative embodiment, the framing signal of location node includes: radio frequency identification signal, Bluetooth signal, infrared letter
Number, at least one in optical signal.
In a kind of alternative embodiment, include after mobile device is positioned:
If finding when mobile device is positioned at prohibited area, then sending alarm command to mobile device, operation mobile device is sent out
Speak/light report to the police.
Second aspect, the embodiment of the present invention provides a kind of system for indoor positioning, and this system includes:
Position scene determines module, the information of at least one framing signal for receiving according to mobile device, determines
The position scene of mobile device；
Station-keeping mode determines module, for based on determined by position scene, determine the location mould that mobile device is to be applied
Formula；
Location perform module, for select with determined by station-keeping mode mate at least one can use framing signal pair
Mobile device positions.
The third aspect, the embodiment of the present invention additionally provides a kind of nonvolatile computer storage media, and storage has computer
Executable instruction, described computer executable instructions is for performing the present invention any of the above-described item method for indoor positioning.
Fourth aspect, the embodiment of the present invention additionally provides a kind of electronic equipment, including: at least one processor；And deposit
Reservoir；Wherein, described memorizer storage have can by least one processor described perform program, described instruction by described at least
One processor performs, so that at least one processor described is able to carry out any of the above-described item of the present invention for the side of indoor positioning
Method.
The method and system that the embodiment of the present invention is provided, can apply to the location navigation field in building place
Scape, such as airport, museum.By making full use of the feature of multiple location technology, abandon conventional single wireless indoor location
Technology, arranges corresponding location mode according to different scene areas and magnetic field environment, it is achieved be accurately positioned mobile device,
Avoid the signal interference problem between multiple positioning modes simultaneously.Shown in method and system can effectively save production cost,
Reduce the electromagnetic pollution that too much location node causes, improve the operating flexibility of mobile device simultaneously, meet large complicated room
Interior pinpoint demand, improves user and positions experience, have broad application prospects.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, required one, the accompanying drawing work used is introduced simply, it should be apparent that, the accompanying drawing in describing below is this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
The flow chart of a kind of method for indoor positioning that Fig. 1 provides for the embodiment of the present invention；
The location mode of the setting regions that Fig. 2 provides for the embodiment of the present invention implements schematic diagram；
The flow chart of a kind of optional method for indoor positioning that Fig. 3 provides for the embodiment of the present invention；
The flow chart of the method for indoor positioning that another kind that Fig. 4 provides for the embodiment of the present invention is optional；
The flow chart of another optional method for indoor positioning that Fig. 5 provides for the embodiment of the present invention；
The structural representation of a kind of system for indoor positioning that Fig. 6 provides for the embodiment of the present invention；
The structural representation of a kind of specific embodiment that Fig. 7 provides for the embodiment of the present invention；
The structural representation of the mobile device for indoor positioning that Fig. 8 provides for the embodiment of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
See the flow chart of a kind of method for indoor positioning that Fig. 1 is illustrated that the embodiment of the present invention provides, including
Following steps:
S11: according to the information of at least one framing signal that mobile device receives, determine the position field of mobile device
Scape；
S12: position scene determined by based on, determines the station-keeping mode that mobile device is to be applied；
S13: select with determined by station-keeping mode mate at least one can use framing signal mobile device is carried out
Location.
In illustrated embodiment, framing signal can be multiple, such as satellite fix (GPS/BDS), radio frequency identification signal/red
External signal (RFID/IRID location), WLAN location (WLAN-AP), BLE Beacon location, LED white light location, earth magnetism
Location, field and vision localization signal, wherein WLAN location can be selected for WiFi-AP or LTE-AP and positions mode.Mobile device
(such as smart cart) can carry multiple locating module corresponding with shown multiple framing signal, and according to locating module
Receive corresponding framing signal, satellite positioning module such as can be utilized to receive satellite positioning signal.
The method that illustrated embodiment provides, can apply to the location navigation in the building place such as airport, museum
Scene.Determine the position scene of mobile device first with framing signal, determine corresponding station-keeping mode according to position scene,
Choose at least one available location mode corresponding with position scene eventually mobile device is positioned.Shown method is the most sharp
By the feature of multiple positioning modes, abandon conventional single wireless indoor location technology, set up not according to different scene areas
Same location node, realizes being accurately positioned mobile device with this；Avoid the signal disturbing feelings of multiple positioning modes simultaneously
Condition, meets the demand of large complicated indoor accurate position, has broad application prospects.
In a kind of alternative embodiment, at least one framing signal in method shown in Fig. 1 is included: from indoor building
The framing signal of the location node of layer and/or the framing signal of the location node from setting regions.
In illustrated embodiment, according to the concrete scene setting corresponding localizing emission node of Indoor environment, and these
The position coordinates penetrating node is known.When mobile device moves near some location node location of stair layer, can connect
Receive the framing signal of this location node, thus learn the approximate location scene of mobile device.When mobile device is at moving process
In receive a certain setting regions (such as information desk) location node launch framing signal time, it can be determined that go out mobile device
The regional location being currently located.If mobile device is simultaneously received multiple framing signal, now can be chosen at least one fixed
Position signal determines the position scene being currently located.
Further, unique mark coding of each transmitting node and the data of position coordinates corresponding relation are pre-build
Storehouse.Such as select positioning precision high location node (such as RFID/IRID localizing emission is installed on each floor gate inhibition
Node), and the identifier number of gate inhibition is with floor identification (such as 26 layers).Mobile device is receiving on a certain floor gate inhibition
After the mark coding that transmitting node sends, in data base, inquiry can encode corresponding floor position letter with received mark
Breath, this positional information is the floor position at mobile device place, and record display in its location navigation path.The method pair
Equally applicable in specific region.
Further, the location node of floor can be installed on upper end or the ground of gate inhibition.When on floor gate inhibition
Location node when being arranged at ground, can install with the form of wide light belt, this mode can be when the number of trampling be too much
Light beam will not be blocked completely, thus does not interferes with the reception of framing signal.When positioning node and being arranged on gate inhibition upper end, now
The signal that location node is launched is perpendicular to terrestrial reference face.
In a kind of embodiment, the framing signal for the location node in above-described embodiment includes: radio frequency identification signal, indigo plant
At least one in tooth signal, infrared signal, optical signal.
In illustrated embodiment, for the satellite fix in polychrome location technology, earth's magnetic field location and vision localization without
Set up and position node accordingly, and these three location technology is not suitable for positioning the particular location scene at mobile device place, on
The framing signal stating the set scene region for determining mobile device in implementation is mainly radio frequency identification signal, bluetooth
Signal, infrared signal and optical signal, these framing signals all produce (seeing Fig. 2), wherein setting regions according to location node
At least include: at least one in information desk, stair, footpath, gateway, shop.Such as can set for information desk
BLEBeacon positions node, airport retail shop preferred LED white light location node, gateway, footpath then preferably RFID/IRID
Location node.
See a kind of alternative embodiment in method shown in the Fig. 1 shown in Fig. 3, for step S12 in method shown in Fig. 1
Specific implementation process include:
S21: when the position scene determining mobile device is building overlay, determine the station-keeping mode that mobile device is to be applied
For satellite fix > location, earth's magnetic field and vision localization > WLAN location > radio frequency identification signal/Bluetooth signal/infrared letter
Number/the location mode priority of optical signal；
S22: when the position scene determining mobile device is indoor non-top layer, determine the location mould that mobile device is to be applied
Formula is: WLAN positions > the location mode priority of radio frequency identification signal/Bluetooth signal/infrared signal/optical signal.
In illustrated embodiment, it is corresponding fixed to determine according to position scene after determining the position scene at mobile device place
Bit pattern, wherein position scene is broadly divided into building overlay and indoor bottom (indoor non-top layer) two parts.For top, indoor
Layer can be the building structure that satellite positioning signal can penetrate, and specifically refers to a kind of skylight structure or a kind of grid skeleton
Structure；Can be the fabric structure that satellite-signal cannot penetrate and work for indoor non-top layer, now may select other rooms
Inner position signal, such as wireless lan signal (WLAN).
Further, for building overlay, field range is relatively big, it is therefore highly preferred that the location letter that coverage is bigger and stable
Number, such as satellite positioning signal, when receiving satellite positioning signal, selectively Magnetic oriented is combined with vision localization
Mode mobile device is positioned.When mobile device is positioned at these signal shieldings, it is possible to select WLAN fixed
Position or other indoor positioning modes.Satellite positioning signal cannot be received for indoor non-top layer regions, mainly compare
Received signal strength values carries out regioselective, and main has WLAN location and radio frequency identification signal, bluetooth
Signal, infrared signal, optical signal position.Owing to wireless lan signal covers indoor bottom, can first-selected WLAN letter
Number.
See the another kind of alternative embodiment in method shown in the Fig. 1 shown in Fig. 4, for the step in method shown in Fig. 1
The specific implementation process of S12 includes:
S31: when determining the setting regions that position scene is building overlay of mobile device, determine that mobile device is to be applied
Station-keeping mode be: satellite fix > location, earth's magnetic field and vision localization > the location mode priority of WLAN location combines
The location mode of at least one in radio frequency identification signal, Bluetooth signal, infrared signal, optical signal；
S32: when the setting regions that the position scene determining mobile device is indoor non-top layer, determines that mobile device is waited to answer
Station-keeping mode be: in WLAN positioning combination radio frequency identification signal, Bluetooth signal, infrared signal, optical signal extremely
Few a kind of location mode.
In illustrated embodiment, the volume of the flow of passengers in building is relatively big, therefore can there is denser population and cause being received
The positioning signal strength arrived is more weak, positions inaccurate situation.Therefore when mobile device is positioned at non-setting regions, can be according to
Location mode priority selects corresponding location mode to position.When mobile device is positioned at setting regions, then can select
Select and combine the location mode in concrete region and position.By the positional information of obtained mobile device is unified with whole
Close so that positioning result is more accurate.Such as in the setting regions of indoor bottom, can select a kind of framing signal is main letter
Mark, other framing signals are that auxiliary beacon positions, and can position mode, airport business with preferred BLE Beacon for information desk
Spread preferred LED white light location mode, at gateway, stair, footpath then preferably RFID/IRID position mode.Set when mobile
Standby be positioned at building overlay information desk time, can position in the way of merging with BLE Beacon location to select satellite fix.
In illustrated embodiment, obtain more specific location information mobile device being carried out location according to selected framing signal
After, mobile device can send weak BLE or WiFi signal for surrounding user handheld terminal (such as mobile phone or flat board electricity
Brain) it is attached, now the position at user place is the positional information of mobile device.Building divides in each scene
Not being provided with corresponding mobile device, user can be attached location in the process of walking from different mobile devices, thus realizes
Real-time positioning.
Further, the focus Open control mechanism of mobile device is pre-set.The signal that each mobile device sends
Having certain coverage (such as 5m), therefore mobile device has many in being likely to cause a certain scope in moving process
Individual mobile device.The transmission of its particular location, after to positioning of mobile equipment, can be shown by shown method to background server.
Background server receives and adds up the positional information of multiple mobile device, it is determined that the quantity of mobile device and each in a certain region
Standoff distance between individual equipment.(such as 5), meeting when there being multiple mobile device in background server counts on a certain region
Mobile device is carried out focus AP (Access Point) Open control with only one of which mobile device energy in guarantee preset range
Enough send weak BLE or WiFi signal.It addition, by the disturbed condition preventing signal frequency from unanimously being caused, the movement used
The signal frequency of equipment arranges inconsistent with the operating frequency of other networks of building.
See Fig. 5 and be illustrated that a kind of alternative embodiment of the embodiment of the present invention, for the step in method shown in Fig. 1
The operating process that is embodied as after S13 includes:
S41: if finding when mobile device is positioned at prohibited area, then send alarm command to mobile device, operation is mobile to be set
Preparation speaks/and light reports to the police.
In illustrated embodiment, can apply to the place of the upper and lower floor of forbidden moves equipment, such as mobile device is by passenger
When carrying is in the disengaging state of ground by force, can sound the alarm prompting passenger, and ground-based administrators is receiving alarm simultaneously
Can also quickly reach the spot after sound and prevent this unlawful practice.Equally, mobile device is to self positioning complete and sending
Positional information is to after background server, and background server also can detect that mobile device is positioned at prohibited area, now can be to shifting
Dynamic equipment sends alarm command.It addition, when mobile device detects that self is positioned at prohibited area, it is also possible to send alarm command
Operation mobile device sends alarm, and alarm can be sound, it is also possible to be light beam.
The method that the embodiment of the present invention is provided, it is possible to be applied to the location in the building place such as airport, museum
Navigation scenarios.First pass through setting means and determine the position scene at mobile device place；Afterwards according to the position at mobile device place
Put scene and determine corresponding station-keeping mode, and mobile device is entered by the location mode choosing at least one under corresponding modes available
Row location.Shown method makes full use of the feature of multiple positioning modes, abandons conventional single wireless indoor location technology, foundation
Different scene areas arranges corresponding location mode, realizes being accurately positioned mobile device with this；Avoid multiple simultaneously
The disturbed condition of framing signal, meets the demand of large complicated indoor accurate position, improves user and positions experience, has wide
Application prospect.
The embodiment of the present invention additionally provides a kind of algorithm for indoor positioning, and (rapid screening based on polychromatic sets is calculated
Method, PS-based Fast Screening Algorithm), specifically include:
1, it is a by the simple target node definition in polychrome location technology, then the collection being made up of a series of destination nodes
It is combined into A={a1,…,ai,…,an}.For having the destination node a of potential mobile attributei, at t continuous time1～tmInterior every
This destination node when the Δ t time is expressed as Ai={ ait1,…,aitm}.At a time tmAll destination nodes be expressed as
Atm={ a1tm,…,aitm,…,antm}.At t continuous time1～tmIn be expressed as at interval of all destination nodes during Δ t time
A={a1t1,…,a1tm,…,ait1,…,aitm,…,ant1,…,antm}={ A1,…,Ai,…,An}。
2, as a example by the polychrome location technology of the composition of seven kinds of location technologies in shown method, respectively definition GPS location,
RFID/IRID location, WLAN-AP (WiFi-AP or LTE-AP) location, BLE Beacon location, LED white light location, earth's magnetic field
Location and vision localization are G1～G7, the final position of destination node is defined as G0, as shown in table 1.
Defining the destination node location information format obtained by a certain single mode is G={F1,…,Fx,Fx+1,…,
Fy,Fy+1,…,Fz}.Wherein, F1,…,FxIt is X-axis discrete coordinates, Fx+1,…,FyIt is Y-axis discrete coordinates, Fy+1,…,FzIt it is Z axis
Discrete coordinates.
The polychrome of table 1. multiple positioning modes describes
3, individual coloring: for certain simple target node ai, its positional information obtained by seven kinds of location modes is permissible
It is integrated into row Boolean matrix:
Wherein,It is seven kinds of location modes G1…G7The order arrangement of corresponding positional information form.If this mesh
Mark node location information is identical with corresponding coordinate axes discrete coordinates position, then the c that this discrete coordinates position is correspondingjIt is 1,
It is otherwise 0.F(ai) it is referred to as the individual coloring of this node.
So, in destination node set A, the individual coloring of all nodes can be expressed as with Boolean matrix:
4, unified coloring: several location of selected part mode uses.Several location mode being so selected is defined
For g1～gk, k≤7, its respectively with corresponding G1～G7Of the same name.By g1～gkCorresponding positional information format sequential is arranged asThe positional information that destination node set A interior joint is obtained by these location modes can use cloth
You are shown as by matrix table:
It is referred to as the unified coloring of these nodes.
5, the positional information of the destination node obtained by polychrome location mode is unified and integrated, and according to presetting
Location mode priority choose optimal positional information as the final destination node location information obtained.
Location mode preferentially collects: various location mode uses priority, by it with set expression is:
Corresponding location mode is selected to obtain optimum position information according to the priority positioning mode in set O.
The algorithm that illustrated embodiment is provided, it is possible to be applied to the location navigation scene in building place, such as machine
Field, museum.Utilize polychrome location technology that the position of mobile device to be positioned is unified and integrate, and according to default
Location mode priority chooses optimal positional information as the final destination node location information obtained.Shown algorithm foundation
Different application scenarios sets and positions mode accordingly, has abandoned conventional single wireless indoor location technology, has avoided simultaneously
The disturbed condition of multiple framing signal, it is achieved that mobile device is accurately positioned.
See a kind of system for indoor positioning that Fig. 6 is illustrated that the embodiment of the present invention provides, including:
Position scene determines module, the information of at least one framing signal for receiving according to mobile device, determines
The position scene of mobile device；
Station-keeping mode determines module, for based on determined by position scene, determine the location mould that mobile device is to be applied
Formula；
Location perform module, for select with determined by station-keeping mode mate at least one can use framing signal pair
Mobile device positions.
In illustrated embodiment, framing signal can be multiple, such as satellite fix, RFID/IRID location, WLAN-AP
(WiFi-AP or LTE-AP) location, BLE Beacon location, LED white light location, location, earth's magnetic field and vision localization.Move and set
Standby be configured with multiple positioning signal reception module corresponding with multiple framing signal, respectively satellite positioning module (GPS/BDS),
RFID/IRID, WLAN-AP (WiFi-AP or LTE-AP), BLE Beacon, LED white light, earth's magnetic field, vision localization sensor.
Specifically, the satellite positioning module that model can be selected to be ARGBD47NYSMA-1973, this module is fixed than other conventional satellites
Position module has the advantage that antenna power is big, signal reception is strong.
Seeing Fig. 7 and be illustrated that a specific embodiment of the embodiment of the present invention, wherein mobile device can select intelligence
Handbarrow (design patent: CN303082064S；Utility model patent: CN203126901U), the storage of this smart cart
Battery has the overlength flying power more than 45 hours, and can realize charging in batches, provides stable power supply for location navigation
Ensure.This smart cart is built-in with multiple locating module, moves in the buildings such as airport when people pushes smart cart
Time dynamic, based on received framing signal, self can be positioned, it is achieved self poisoning navigates；It is simultaneously emitted by weak
BLE or WiFi signal, surrounding user can connect, by hand-held mobile phone or panel computer, the letter that smart cart sends
Number it is attached, it is achieved the real-time positioning navigation Service of customer location.
In a kind of alternative embodiment, at least one framing signal includes: from the location of the location node of indoor floor
Signal and/or the framing signal of the location node from setting regions.
In a kind of alternative embodiment, setting regions at least includes: in information desk, stair, footpath, gateway, shop
At least one.
In a kind of alternative embodiment, station-keeping mode determine module for:
When the position scene determining mobile device is building overlay, determine that mobile device station-keeping mode to be applied is:
Satellite fix > earth's magnetic field location and vision localization > WLAN location > radio frequency identification signal/Bluetooth signal/infrared signal/
The location mode priority of optical signal；
When the position scene determining mobile device is indoor non-top layer, determine the station-keeping mode that mobile device is to be applied
Position for: WLAN the location mode priority of radio frequency identification signal/Bluetooth signal/infrared signal/optical signal.
In a kind of alternative embodiment, station-keeping mode determine module for:
When determining the setting regions that position scene is building overlay of mobile device, determine to be applied the determining of mobile device
Bit pattern is: satellite fix > earth's magnetic field location and vision localization > WLAN location location mode priority combine radio frequency
Identify the location mode of at least one in signal, Bluetooth signal, infrared signal, optical signal；
When the setting regions that the position scene determining mobile device is indoor non-top layer, determine that mobile device is to be applied
Station-keeping mode is: at least in WLAN positioning combination radio frequency identification signal, Bluetooth signal, infrared signal, optical signal
The location mode planted.
The system that the embodiment of the present invention is provided, it is possible to be applied to the location in the building place such as airport, museum
Navigation scenarios.The position scene at mobile device place is determined by setting means；Position scene according to mobile device place is true
Determine corresponding station-keeping mode, and mobile device is positioned by the location mode choosing at least one under corresponding modes available.
Shown system makes full use of the feature of multiple positioning modes, abandons conventional single wireless indoor location technology, according to different
Scene areas arranges corresponding location mode, it is to avoid the disturbed condition of multiple framing signal, realizes mobile device with this
It is accurately positioned；Meet the demand of large complicated indoor accurate position simultaneously, improve user and position experience, before there is wide application
Scape.
Embodiments providing a kind of nonvolatile computer storage media, described computer-readable storage medium storage has
Computer executable instructions, this computer executable instructions can perform in above-mentioned any means embodiment for indoor positioning
Method:
According to the information of at least one framing signal that mobile device receives, determine the position scene of mobile device；
Position scene determined by based on, determines the station-keeping mode that mobile device is to be applied；
Select with determined by station-keeping mode mate at least one can use framing signal mobile device is positioned.
As a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software program, non-volatile
Property computer executable program and module, program as corresponding in the method for indoor positioning in the embodiment of the present invention refers to
Order/module (such as, the position scene shown in accompanying drawing 6 determines that module, station-keeping mode determine that module and location perform module).Institute
State one or more module stores in described non-volatile computer readable storage medium storing program for executing, when being executed by a processor, hold
The method for indoor positioning in the above-mentioned any means embodiment of row.
Non-volatile computer readable storage medium storing program for executing can include storing program area and storage data field, wherein, stores journey
Sequence district can store the application program required for operating system, at least one function；Storage data field can store according to memorizer
Store the mark coding corresponding with multiple localizing emission node and positional information etc..Deposit additionally, non-volatile computer is readable
Storage media can include high-speed random access memory, it is also possible to includes nonvolatile memory, and for example, at least one disk is deposited
Memory device, flush memory device or other non-volatile solid state memory parts.In certain embodiments, non-volatile computer is readable
Storage medium is optional includes the memorizer remotely located relative to processor, and these remote memories can be connected to by network
Background service processor.The example of above-mentioned network includes but not limited to the Internet, intranet, LAN, mobile radio communication
And combinations thereof.
Fig. 8 is the structural representation of the mobile device for indoor positioning that the embodiment of the present invention provides, as shown in Figure 8,
This equipment includes:
One or more processors 510 and memorizer 520, in Fig. 8 as a example by a processor 510.
The equipment of the storage optimization method of memorizer can also include: input equipment 530 and output device 540.
Processor 510, memorizer 520, input equipment 530 and output device 540 can be by bus or other modes
Connect, in Fig. 8 as a example by being connected by bus.
Memorizer 520 is above-mentioned non-volatile computer readable storage medium storing program for executing.Processor 510 is stored in by operation
Non-volatile software program, instruction and module in reservoir 520, thus perform the application of various functions and the data of server
Process, i.e. realize the method for indoor positioning of said method embodiment memorizer.
Input equipment 530 can receive the framing signal of mobile device place scene areas, or receives what transmitting node was launched
Mark coding.Output device 540 can include exporting BLE signal or WiFi signal is attached for user's mobile terminal.
One or more module stores is in described memorizer 520, when being held by least one processor 510 described
During row, perform the method for indoor positioning in above-mentioned any means embodiment.
The said goods can perform the method that the embodiment of the present invention is provided, and possesses the corresponding functional module of execution method and has
Benefit effect.The ins and outs of the most detailed description, can be found in the method that the embodiment of the present invention is provided.
As a kind of embodiment, above-mentioned mobile device includes:
At least one processor, and
For storing the memorizer of the executable operational order of at least one processor；Wherein,
Memorizer storage has the instruction that can be performed by least one processor, and shown instruction is by least one processor described
Perform so that at least one processor described can:
According to the information of at least one framing signal that mobile device receives, determine the position scene of mobile device；
Position scene determined by based on, determines the station-keeping mode that mobile device is to be applied；
Select with determined by station-keeping mode mate at least one can use framing signal mobile device is positioned.
A kind of mobile device, processor configuration with:
Determining of framing signal according to the location node from indoor floor and/or the location node from setting regions
Position signal, determines the scene areas at mobile device place.
A kind of mobile device, processor configuration with:
When the position scene determining mobile device is building overlay, determine that mobile device station-keeping mode to be applied is:
Satellite fix > earth's magnetic field location and vision localization > WLAN location > radio frequency identification signal/Bluetooth signal/infrared signal/
The location mode priority of optical signal；
When the position scene determining mobile device is indoor non-top layer, determine the station-keeping mode that mobile device is to be applied
Position for: WLAN the location mode priority of radio frequency identification signal/Bluetooth signal/infrared signal/optical signal.
A kind of mobile device, processor configuration with:
When determining the setting regions that position scene is building overlay of mobile device, determine to be applied the determining of mobile device
Bit pattern is: satellite fix > earth's magnetic field location and vision localization > WLAN location location mode priority combine radio frequency
Identify the location mode of at least one in signal, Bluetooth signal, infrared signal, optical signal；
When the setting regions that the position scene determining mobile device is indoor non-top layer, determine that mobile device is to be applied
Station-keeping mode is: at least in WLAN positioning combination radio frequency identification signal, Bluetooth signal, infrared signal, optical signal
The location mode planted.
The said goods can perform the method that the embodiment of the present invention is provided, and possesses the corresponding functional module of execution method and has
Benefit effect.The ins and outs of the most detailed description, can be found in the method that the embodiment of the present invention is provided.
The mobile device of the embodiment of the present invention exists in a variety of forms, includes but not limited to:
(1) mobile communication equipment: the feature of this kind equipment is to possess mobile communication function, and with offer data communication be
Main target.This Terminal Type includes: smart mobile phone (such as iPhone), functional mobile phone etc..
(2) super mobile personal computer equipment: this kind equipment belongs to the category of personal computer, has calculating and processes merit
Can, the most also possess mobile Internet access characteristic.This Terminal Type includes: PDA, MID and UMPC equipment etc., such as iPad.
(3) portable set: this kind equipment can show the positional information being currently located.This kind equipment includes: intelligence is played
Tool, portable car-mounted navigator etc..
(4) server: providing the equipment of the service of calculating, the composition of server includes that processor, hard disk, internal memory, system are total
Lines etc., server is similar with general computer architecture, but owing to needing to provide highly reliable service, is therefore processing energy
The aspects such as power, stability, reliability, safety, extensibility, manageability require higher.
(5) other have the mobile device of data interaction function.
Device embodiment described above is only schematically, and the wherein said unit illustrated as separating component can
To be or to may not be physically separate, the parts shown as unit can be or may not be physics list
Unit, i.e. may be located at a place, or can also be distributed on multiple NE.Can be selected it according to the actual needs
In some or all of module realize the purpose of the present embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, be i.e. appreciated that and implement.
Through the above description of the embodiments, those skilled in the art it can be understood that to each embodiment can
The mode adding required general hardware platform by software realizes, naturally it is also possible to pass through hardware.Based on such understanding, on
State the part that prior art contributes by technical scheme the most in other words to embody with the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Make with so that a computer equipment (can be personal computer, server, or the network equipment etc.) performs each and implements
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit；Although
With reference to previous embodiment, the present invention is described in detail, it will be understood by those within the art that: it still may be used
So that the technical scheme described in foregoing embodiments to be modified, or wherein portion of techniques feature is carried out equivalent；
And these amendment or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. for a method for indoor positioning, including:
According to the information of at least one framing signal that mobile device receives, determine the position scene of described mobile device；
Position scene determined by based on, determines the station-keeping mode that described mobile device is to be applied；
Select with determined by station-keeping mode mate at least one can use framing signal described mobile device is positioned.
Method the most according to claim 1, wherein, at least one framing signal described includes: from the building of described indoor
The framing signal of the location node of layer and/or the framing signal of the location node from setting regions.
3. the method stated according to claim 2, wherein, described setting regions at least includes: information desk, stair, footpath, discrepancy
At least one in mouth, shop.
Method the most according to claim 2, wherein, described based on determined by position scene, determine described mobile device
Station-keeping mode to be applied includes:
When the position scene determining described mobile device is building overlay, determine the station-keeping mode that described mobile device is to be applied
For satellite fix > location, earth's magnetic field and vision localization > WLAN location > radio frequency identification signal/Bluetooth signal/infrared letter
Number/the location mode priority of optical signal；Or
When the position scene determining described mobile device is indoor non-top layer, determine the location mould that described mobile device is to be applied
Formula is: WLAN positions > the location mode priority of radio frequency identification signal/Bluetooth signal/infrared signal/optical signal.
Method the most according to claim 4, wherein, described based on determined by position scene, determine described mobile device
Station-keeping mode to be applied includes:
When determining the setting regions that position scene is building overlay of described mobile device, determine that described mobile device is to be applied
Station-keeping mode be: satellite fix > location, earth's magnetic field and vision localization > the location mode priority of WLAN location combines
The location mode of at least one in radio frequency identification signal, Bluetooth signal, infrared signal, optical signal；Or
When the setting regions that the position scene determining described mobile device is indoor non-top layer, determine that described mobile device is waited to answer
Station-keeping mode be: in WLAN positioning combination radio frequency identification signal, Bluetooth signal, infrared signal, optical signal extremely
Few a kind of location mode.
6. for a system for indoor positioning, including:
Position scene determines module, the information of at least one framing signal for receiving according to mobile device, determines described
The position scene of mobile device；
Station-keeping mode determines module, for based on determined by position scene, determine the location mould that described mobile device is to be applied
Formula；
Location perform module, for select with determined by station-keeping mode mate at least one can use framing signal to described
Mobile device positions.
System the most according to claim 6, wherein, at least one framing signal described includes: from the building of described indoor
The framing signal of the location node of layer and/or the framing signal of the location node from setting regions.
8. the system stated according to claim 7, wherein, described setting regions at least includes: information desk, stair, footpath, discrepancy
At least one in mouth, shop.
System the most according to claim 7, wherein, described station-keeping mode determine module for:
When the position scene determining described mobile device is building overlay, determine the station-keeping mode that described mobile device is to be applied
For satellite fix > location, earth's magnetic field and vision localization > WLAN location > radio frequency identification signal/Bluetooth signal/infrared letter
Number/the location mode priority of optical signal；Or
When the position scene determining described mobile device is indoor non-top layer, determine the location mould that described mobile device is to be applied
Formula is: WLAN positions > the location mode priority of radio frequency identification signal/Bluetooth signal/infrared signal/optical signal.
System the most according to claim 9, wherein, described station-keeping mode determine module for:
When determining the setting regions that position scene is building overlay of described mobile device, determine that described mobile device is to be applied
Station-keeping mode be: satellite fix > location, earth's magnetic field and vision localization > the location mode priority of WLAN location combines
The location mode of at least one in radio frequency identification signal, Bluetooth signal, infrared signal, optical signal；Or
When the setting regions that the position scene determining described mobile device is indoor non-top layer, determine that described mobile device is waited to answer
Station-keeping mode be: in WLAN positioning combination radio frequency identification signal, Bluetooth signal, infrared signal, optical signal extremely
Few a kind of location mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610591099.6A CN106291635A (en) | 2016-07-25 | 2016-07-25 | Method and system for indoor positioning |
| PCT/CN2017/070236 WO2018018854A1 (en) | 2016-07-25 | 2017-01-05 | Method and system for indoor positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610591099.6A CN106291635A (en) | 2016-07-25 | 2016-07-25 | Method and system for indoor positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106291635A true CN106291635A (en) | 2017-01-04 |
Family
ID=57652800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610591099.6A Pending CN106291635A (en) | 2016-07-25 | 2016-07-25 | Method and system for indoor positioning |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106291635A (en) |
| WO (1) | WO2018018854A1 (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842270A (en) * | 2017-02-07 | 2017-06-13 | 惠州Tcl移动通信有限公司 | A kind of method and system for improving indoor positioning accuracy |
| CN107437393A (en) * | 2017-08-17 | 2017-12-05 | 重庆红村网络信息技术有限公司 | The method and device of self-help guide |
| WO2018018854A1 (en) * | 2016-07-25 | 2018-02-01 | 无锡知谷网络科技有限公司 | Method and system for indoor positioning |
| CN107728133A (en) * | 2017-08-31 | 2018-02-23 | 广州市驴迹科技有限责任公司 | A kind of indoor orientation method, electronic equipment, storage medium and device |
| CN107816983A (en) * | 2017-08-28 | 2018-03-20 | 深圳市赛亿科技开发有限公司 | A kind of shopping guide method and system based on AR glasses |
| CN109115211A (en) * | 2018-08-01 | 2019-01-01 | 南京科远自动化集团股份有限公司 | A kind of plant area's high-precision personnel positioning method and positioning system |
| CN109471140A (en) * | 2018-11-01 | 2019-03-15 | 武汉理工大学 | A kind of ship-positioning system and method |
| CN109579830A (en) * | 2017-09-29 | 2019-04-05 | 长沙理工大学 | The air navigation aid and navigation system of intelligent robot |
| CN109597110A (en) * | 2018-11-08 | 2019-04-09 | 昂科信息技术（上海）股份有限公司 | Trans-regional equipment localization method, system, device and medium |
| CN111537954A (en) * | 2020-04-20 | 2020-08-14 | 孙剑 | Real-time high-dynamic fusion positioning method and device |
| CN111885499A (en) * | 2020-07-16 | 2020-11-03 | 北京字节跳动网络技术有限公司 | Positioning method and device of mobile equipment, electronic equipment and storage medium |
| CN112810488A (en) * | 2021-04-21 | 2021-05-18 | 北京有感科技有限责任公司 | Wireless charging system alignment method and wireless charging system alignment device |
| CN112866897A (en) * | 2019-11-08 | 2021-05-28 | 大唐移动通信设备有限公司 | Positioning measurement method, terminal and network node |
| CN114390437A (en) * | 2021-12-27 | 2022-04-22 | 广西交控智维科技发展有限公司 | Positioning signal processing method and device |
| CN116258314A (en) * | 2022-11-23 | 2023-06-13 | 东土科技(宜昌)有限公司 | Scene management method and system for production workshop, electronic equipment and storage medium |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112884834A (en) * | 2019-11-30 | 2021-06-01 | 华为技术有限公司 | Visual positioning method and system |
| CN111679304B (en) * | 2020-05-20 | 2023-05-16 | 广州小鹏自动驾驶科技有限公司 | Method for determining and updating entrance and exit positions and device thereof |
| CN114079693A (en) * | 2020-08-14 | 2022-02-22 | 北京金坤科创技术有限公司 | Positioning scene perception method based on mobile carrier identification |
| CN112312308B (en) * | 2020-10-29 | 2023-12-22 | 广东小天才科技有限公司 | Indoor positioning method and terminal equipment |
| CN112880689A (en) * | 2021-01-29 | 2021-06-01 | 北京百度网讯科技有限公司 | Method and device for leading position, electronic equipment and storage medium |
| CN113965878A (en) * | 2021-09-17 | 2022-01-21 | 中通服网盈科技有限公司 | Multipoint indoor positioning system of Bluetooth beacon |
| CN114885284B (en) * | 2022-07-12 | 2022-09-20 | 南通飞旋智能科技有限公司 | Intelligent positioning method and system based on computer vision and wireless communication |
| CN115203812B (en) * | 2022-09-15 | 2023-01-06 | 深圳小库科技有限公司 | Method and device for generating room arrangement scheme |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1785741A1 (en) * | 2005-11-15 | 2007-05-16 | O2Micro, Inc. | Novas hybrid positioning technology using terrestrial digital broadcasting signal (DBS) and global positioning system (GPS) satellite signal |
| CN103529465A (en) * | 2013-09-28 | 2014-01-22 | 曹元� | Indoor and outdoor person seamless positioning device |
| CN104185225A (en) * | 2014-09-11 | 2014-12-03 | 南京大学 | Indoor and outdoor seamless positioning switching method based on scene classification |
| CN105393139A (en) * | 2013-05-09 | 2016-03-09 | 马维尔国际贸易有限公司 | GPS and WLAN hybrid position determination |
| CN105445776A (en) * | 2015-12-28 | 2016-03-30 | 天津大学 | Indoor and outdoor seamless positioning system |
| CN105682022A (en) * | 2015-12-30 | 2016-06-15 | 华东师范大学 | Indoor and outdoor seamless positioning system based on Android device and positioning method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986600A (en) * | 2009-07-29 | 2011-03-16 | 中兴通讯股份有限公司 | Multimedia conference authentication joining method and device |
| CN104302000B (en) * | 2014-10-15 | 2018-08-03 | 上海交通大学 | The indoor orientation method of correlation is indicated based on signal receiving strength |
| CN104574386B (en) * | 2014-12-26 | 2017-05-17 | 速感科技（北京）有限公司 | Indoor positioning method based on three-dimensional environment model matching |
| CN104677351A (en) * | 2015-01-26 | 2015-06-03 | 泰科智慧科技（北京）有限公司 | Personnel positioning system and method based on multiple signal fusion |
| CN106291635A (en) * | 2016-07-25 | 2017-01-04 | 无锡知谷网络科技有限公司 | Method and system for indoor positioning |
-
2016
- 2016-07-25 CN CN201610591099.6A patent/CN106291635A/en active Pending
-
2017
- 2017-01-05 WO PCT/CN2017/070236 patent/WO2018018854A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1785741A1 (en) * | 2005-11-15 | 2007-05-16 | O2Micro, Inc. | Novas hybrid positioning technology using terrestrial digital broadcasting signal (DBS) and global positioning system (GPS) satellite signal |
| CN105393139A (en) * | 2013-05-09 | 2016-03-09 | 马维尔国际贸易有限公司 | GPS and WLAN hybrid position determination |
| CN103529465A (en) * | 2013-09-28 | 2014-01-22 | 曹元� | Indoor and outdoor person seamless positioning device |
| CN104185225A (en) * | 2014-09-11 | 2014-12-03 | 南京大学 | Indoor and outdoor seamless positioning switching method based on scene classification |
| CN105445776A (en) * | 2015-12-28 | 2016-03-30 | 天津大学 | Indoor and outdoor seamless positioning system |
| CN105682022A (en) * | 2015-12-30 | 2016-06-15 | 华东师范大学 | Indoor and outdoor seamless positioning system based on Android device and positioning method thereof |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018018854A1 (en) * | 2016-07-25 | 2018-02-01 | 无锡知谷网络科技有限公司 | Method and system for indoor positioning |
| CN106842270A (en) * | 2017-02-07 | 2017-06-13 | 惠州Tcl移动通信有限公司 | A kind of method and system for improving indoor positioning accuracy |
| CN107437393A (en) * | 2017-08-17 | 2017-12-05 | 重庆红村网络信息技术有限公司 | The method and device of self-help guide |
| CN107816983A (en) * | 2017-08-28 | 2018-03-20 | 深圳市赛亿科技开发有限公司 | A kind of shopping guide method and system based on AR glasses |
| CN107728133A (en) * | 2017-08-31 | 2018-02-23 | 广州市驴迹科技有限责任公司 | A kind of indoor orientation method, electronic equipment, storage medium and device |
| CN109579830A (en) * | 2017-09-29 | 2019-04-05 | 长沙理工大学 | The air navigation aid and navigation system of intelligent robot |
| CN109115211A (en) * | 2018-08-01 | 2019-01-01 | 南京科远自动化集团股份有限公司 | A kind of plant area's high-precision personnel positioning method and positioning system |
| CN109471140A (en) * | 2018-11-01 | 2019-03-15 | 武汉理工大学 | A kind of ship-positioning system and method |
| CN109597110A (en) * | 2018-11-08 | 2019-04-09 | 昂科信息技术（上海）股份有限公司 | Trans-regional equipment localization method, system, device and medium |
| CN112866897A (en) * | 2019-11-08 | 2021-05-28 | 大唐移动通信设备有限公司 | Positioning measurement method, terminal and network node |
| CN112866897B (en) * | 2019-11-08 | 2022-11-11 | 大唐移动通信设备有限公司 | Positioning measurement method, terminal and network node |
| CN111537954A (en) * | 2020-04-20 | 2020-08-14 | 孙剑 | Real-time high-dynamic fusion positioning method and device |
| CN111885499A (en) * | 2020-07-16 | 2020-11-03 | 北京字节跳动网络技术有限公司 | Positioning method and device of mobile equipment, electronic equipment and storage medium |
| CN112810488A (en) * | 2021-04-21 | 2021-05-18 | 北京有感科技有限责任公司 | Wireless charging system alignment method and wireless charging system alignment device |
| CN112810488B (en) * | 2021-04-21 | 2021-07-02 | 北京有感科技有限责任公司 | Wireless charging system alignment method and wireless charging system alignment device |
| CN114390437A (en) * | 2021-12-27 | 2022-04-22 | 广西交控智维科技发展有限公司 | Positioning signal processing method and device |
| CN116258314A (en) * | 2022-11-23 | 2023-06-13 | 东土科技(宜昌)有限公司 | Scene management method and system for production workshop, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018018854A1 (en) | 2018-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106291635A (en) | Method and system for indoor positioning | |
| Li et al. | Toward location-enabled IoT (LE-IoT): IoT positioning techniques, error sources, and error mitigation | |
| CN107864007B (en) | Multi-satellite multi-ground station resource collaborative allocation management method for regional targets | |
| CN107094319B (en) | High-precision indoor and outdoor fusion positioning system and method | |
| Zhang et al. | A combined GPS UWB and MARG locationing algorithm for indoor and outdoor mixed scenario | |
| CN104483658B (en) | Based on Wi-Fi and the indoor orientation method in earth's magnetic field | |
| CN106716062A (en) | Flight route planning method of agricultural unmanned aerial vehicle and ground control terminal | |
| Behzadan et al. | Ubiquitous location tracking for context-specific information delivery on construction sites | |
| CN204681599U (en) | A kind of indoor fusion navigation system based on WiFi and bluetooth | |
| CN203745655U (en) | Multifunctional environment monitoring unmanned aerial vehicle system | |
| CN106054920A (en) | Unmanned aerial vehicle flight path planning method and device | |
| CN100578253C (en) | The location of radio transmitting apparatus and search index | |
| CN102791025A (en) | Wireless fidelity (WIFI) based layered positioning system and implementing method | |
| CN105372628A (en) | Wi-Fi-based indoor positioning navigation method | |
| CN107179524A (en) | Fire-fighting equipment localization method, device, system and computer-readable recording medium | |
| CN107271951A (en) | UAV Navigation System and its air navigation aid based on WiFi fingerprint locations | |
| CN108445520A (en) | A kind of indoor and outdoor based on high in the clouds builds drawing method, device, electronic equipment and computer program product | |
| Di Giampaolo | A passive-RFID based indoor navigation system for visually impaired people | |
| CN108828643A (en) | A kind of indoor and outdoor seamless positioning system and method based on grey forecasting model | |
| CN107172592A (en) | Indoor orientation method and mobile device | |
| CN208569055U (en) | A kind of positioning system merging Beidou or GPS and sensor | |
| CN111698774A (en) | Indoor positioning method and device based on multi-source information fusion | |
| Chao et al. | Beidou compatible indoor positioning system architecture design and research on geometry of pseudolite | |
| CN107659918B (en) | Intelligent following method and system | |
| Raja et al. | High accuracy indoor localization for robot-based fine-grain inspection of smart buildings |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1227110 Country of ref document: HK |
|
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20190910 |
|
| AD01 | Patent right deemed abandoned | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: WD Ref document number: 1227110 Country of ref document: HK |