CN106878947B - Indoor positioning method and device - Google Patents
Indoor positioning method and device Download PDFInfo
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- CN106878947B CN106878947B CN201710091958.XA CN201710091958A CN106878947B CN 106878947 B CN106878947 B CN 106878947B CN 201710091958 A CN201710091958 A CN 201710091958A CN 106878947 B CN106878947 B CN 106878947B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The embodiment of the invention provides an indoor positioning method and device, which are applied to the technical field of positioning, and the method comprises the following steps: determining a first virtual coordinate of a positioning end in a pre-established virtual grid through a geometric resolving positioning method according to the time of a synchronous transmitting signal of M cellular network base stations in a three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations, wherein M is an integer greater than or equal to 4; and determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the position corresponding relation between the virtual grid and the reference grid which is established in advance. The embodiment of the invention solves the problem of how to process the multipath error to obtain a positioning result with higher precision in an indoor complex environment. Compared with the existing indoor positioning method, the method has better environment universality and system robustness.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an indoor positioning method and device.
Background
With the rapid development of wireless networks, people have more and more demands on location-based location services. Satellite navigation systems such as GPS (Global Positioning System), beidou, GLONASS (Global satellite navigation System in russia), Galileo (Galileo satellite Positioning System in europe) and the like can provide all-weather outdoor Positioning services for us. In an indoor environment, due to shielding of buildings and the like, GNSS (Global Navigation satellite system) satellite signals are greatly attenuated, and the demand for indoor location services cannot be met. And TC-OFDM (Time & Code Division-Orthogonal Frequency Division Multiplexing, CDMA-OFDM superimposed signal system based on Time Division) is a new positioning method based on the fusion of a mobile broadcast network, a communication network and a Beidou navigation system, can combine various available ubiquitous wireless signals in an urban environment, and provides signals meeting position services in an indoor environment. However, the complexity of the indoor environment may greatly affect the transmission band of the TC-OFDM signal, wherein the greatest effect is multipath propagation of the TC-OFDM signal caused by the narrowness of the indoor space, and solving the multipath effect is the key to achieve accurate indoor positioning.
The current method for solving the influence of multipath effect on indoor positioning result comprises: estimating the indoor multipath propagation model and the multipath distribution, thereby obtaining the multipath error of the to-be-positioned point and adopting a corresponding algorithm to compensate or eliminate the error. The technology based on multipath parameter estimation and compensation is mainly divided into two aspects of estimation of multipath channel propagation model parameters and compensation of multipath errors. The estimation technology of the multipath channel parameters comprises the following steps: classical model estimation methods such as an S-V (Saleh-Valenzuela) model, a random tapped delay line channel model, an ieee802.15.3a model, and the like; deterministic model estimation methods, such as Maxwell equation solutions, ray tracing, and the like; random analysis methods such as an impact response method based on experimental measurement, a brownian bridge model method based on a random analysis theory; a probabilistic method, typically a channel impulse response estimation method based on recursive bayesian filtering, or the like; a statistical model method, a multipath parameter estimation method based on TOA (time of arrival) feature and AOA (angle of arrival) feature statistics, and the like. The techniques for suppressing and compensating for multipath errors mainly include: a multipath error correction technique based on channel impulse response estimation; a compensation technique that estimates multipath TOA based on multiple signal classifications; a multipath mitigation technique based on delay-superposition beamforming; multipath error rejection techniques, and the like. However, the estimation of the multipath parameters mostly depends on a deterministic model or a classical model, the universality is poor, and the requirement of TC-OFDM wide-area indoor positioning is difficult to meet.
Disclosure of Invention
The embodiment of the invention aims to provide an indoor positioning method and device so as to improve the environment universality. The specific technical scheme is as follows:
the embodiment of the invention discloses an indoor positioning method, which comprises the following steps:
determining a first virtual coordinate of a positioning end in a pre-established virtual grid through a geometric resolving positioning method according to the time of a synchronous transmitting signal of M cellular network base stations in a three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations, wherein M is an integer greater than or equal to 4;
and determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the position corresponding relation between the virtual grid and the reference grid which is established in advance.
Optionally, before the time when the synchronization transmission signal of the M cellular network base stations in the three-dimensional positioning reference network reaches the positioning end and the actual position coordinates of the M cellular network base stations, the method further includes:
determining the grid size of the reference grid according to the positioning precision requirement;
establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network;
and determining the virtual position coordinates of each receiving end positioned in the reference grid to obtain the virtual grid, and establishing the position corresponding relation between the virtual grid and the reference grid.
Optionally, the step of establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network includes:
and determining the horizontal direction coordinate and the vertical direction coordinate of a cellular network base station forming the three-dimensional positioning reference network according to the size of the grid, and establishing the reference grid.
Optionally, the step of determining the virtual position coordinates of each receiving end located in the reference grid to obtain a virtual grid includes:
acquiring receiving time of synchronous transmitting signals of N cellular network base stations in the three-dimensional positioning reference network reaching each receiving end, wherein N is an integer greater than or equal to 4;
determining the virtual position coordinates of each receiving end by the geometric solution positioning method according to the receiving time and the actual position coordinates of the N cellular network base stations;
and establishing a virtual grid according to the virtual position coordinates of each receiving end.
Optionally, the step of establishing a position corresponding relationship between the virtual grid and the reference grid includes:
and forming the position corresponding relation between the virtual grid and the reference grid according to the corresponding relation between the actual position coordinate and the virtual position coordinate of the same receiving end positioned on the reference grid.
The embodiment of the invention also discloses an indoor positioning device, which comprises:
the virtual position determining module is used for determining a first virtual coordinate of the positioning end in a pre-established virtual grid through a geometric solution positioning method according to the time of a synchronous transmitting signal of M cellular network base stations in a three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations, wherein M is an integer greater than or equal to 4;
and the actual position determining module is used for determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the position corresponding relation between the virtual grid and the reference grid which is established in advance.
Optionally, the indoor positioning device in the embodiment of the present invention further includes:
the grid size determining module is used for determining the grid size of the reference grid according to the positioning precision requirement;
the reference grid establishing module is used for establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network;
and the position corresponding relation establishing module is used for determining the virtual position coordinates of each receiving end positioned in the reference grid to obtain the virtual grid and establishing the position corresponding relation between the virtual grid and the reference grid.
Optionally, the reference grid establishing module is specifically configured to determine, according to the size of the grid, a horizontal coordinate and a vertical coordinate of a cellular network base station that forms the three-dimensional positioning reference network, and establish the reference grid.
Optionally, the position corresponding relationship establishing module includes:
a receiving time obtaining submodule, configured to obtain receiving times when synchronous transmission signals of N cellular network base stations in the three-dimensional positioning reference network reach each receiving end, where N is an integer greater than or equal to 4;
a virtual position coordinate determination submodule, configured to determine a virtual position coordinate of each receiving end by the geometric solution positioning method according to the receiving time and the actual position coordinates of the N cellular network base stations;
and the virtual grid establishing submodule is used for establishing a virtual grid according to the virtual position coordinate of each receiving end.
Optionally, the module for establishing a location correspondence further includes:
and the corresponding relation submodule is used for forming the position corresponding relation between the virtual grid and the reference grid according to the corresponding relation between the actual position coordinate and the virtual position coordinate of the same receiving end positioned on the reference grid.
According to the indoor positioning method and device, the first virtual coordinate of the positioning end in the pre-established virtual grid is determined through a geometric resolving positioning method according to the time of the synchronous transmitting signals of the M cellular network base stations in the three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations; and determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the pre-established position corresponding relation between the virtual grid and the reference grid. The embodiment of the invention can be suitable for more scenes, has better environment universality and system robustness, and can meet the requirement of TC-OFDM on wide area indoor positioning. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an indoor positioning method according to an embodiment of the present invention;
fig. 2 is another flowchart of an indoor positioning method according to an embodiment of the present invention;
FIG. 3 is a block diagram of an indoor positioning apparatus according to an embodiment of the present invention;
fig. 4 is another structural diagram of an indoor positioning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of an indoor positioning method according to an embodiment of the present invention, including the following steps:
s101, determining a first virtual coordinate of a positioning end in a pre-established virtual grid through a geometric calculation positioning method according to the time of a synchronous transmitting signal of M cellular network base stations in a three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations, wherein M is an integer greater than or equal to 4.
It should be noted that the cellular network base stations in the embodiments of the present invention are improved base stations having a TC-OFDM positioning function, and the cellular network base stations are distributed in a three-dimensional space according to practical applications to form a three-dimensional positioning reference network. In the positioning process, the positioning end receives synchronous transmission signals of 4 or more than 4 cellular network base stations, and obtains the arrival time of the synchronous transmission signals of the 4 or more than 4 cellular network base stations, wherein the arrival time is the arrival time after the effects of multipath size, direction and the like are included. And determining a first virtual coordinate of the positioning end in a pre-established virtual grid by a geometric solution positioning method according to the arrival time and the actual position coordinates of the M cellular network base stations. The virtual grid is corresponding to a reference grid, the reference grid is a grid formed by actual position coordinates of a cellular network base station in the three-dimensional positioning reference network, the virtual grid is established on the basis of the reference grid, the reference grid and the virtual grid are described in detail below, and details are not repeated here.
The geometric calculation positioning method adopts a distance measurement principle in the measurement to calculate the position of a terminal, namely, positioning calculation is carried out through the geometric relation between a measurement terminal and a known coordinate positioning node. Typical techniques include location techniques based on TOA, TDOA (time difference of Arrival), AOA, and TDOA/AOA mixture. The geometric solution positioning method belongs to the prior art and is not described in detail here.
S102, determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the pre-established position corresponding relation between the virtual grid and the reference grid.
In the embodiment of the invention, only the vertex of the reference grid has the actual position coordinate, and the actual position coordinate is unknown in the reference grid. Likewise, in the virtual mesh, there are only virtual position coordinates at the vertices of the virtual mesh, and there are no virtual position coordinates inside the virtual mesh. In the actual calculation process, the first virtual coordinates obtained by S101 may not be at the vertices of the virtual mesh but inside the virtual mesh. When the existing data can not completely cover the required area range, the interpolation method in the space analysis can interpolate discrete sampling point data into a continuous data surface, and can better reflect the continuously distributed space phenomenon. Therefore, it is necessary to determine the corresponding second virtual coordinate of the first virtual coordinate in the virtual grid by an interpolation method, and the interpolation method in the spatial analysis includes: a common kriging interpolation method, a cubic spline function method and a distance weight reciprocal method.
More specifically, in the virtual grid, the position information of all points in the virtual grid is calculated by using an interpolation method, and simultaneously the position information of all points in the reference grid is obtained by using a reference grid corresponding to the virtual grid also by using the interpolation method, wherein the virtual grid and all points in the reference grid can be selected according to the positioning accuracy. And matching each point in the virtual grid according to the first virtual coordinate, and obtaining the actual position coordinate of the positioning end in the reference grid from the matching point after the point in the virtual grid is matched. Of course, if the first virtual coordinate obtained by S101 is at the vertex of the virtual grid, the correspondence relationship between the virtual position coordinate of the vertex and the actual position coordinate in the reference grid is known, and the actual position coordinate in the corresponding reference grid can be obtained directly from the first virtual coordinate.
Therefore, according to the indoor positioning method provided by the embodiment of the invention, the first virtual coordinate of the positioning end in the pre-established virtual grid is determined by a geometric solution positioning method according to the time of the synchronous transmitting signals of the M cellular network base stations in the three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations; and determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the pre-established position corresponding relation between the virtual grid and the reference grid. The embodiment of the invention can obtain the actual position coordinates of the positioning end without depending on a deterministic model or a classical model, is suitable for more scenes, has better environment universality and system robustness, and can meet the requirement of TC-OFDM on wide-area indoor positioning.
Referring to fig. 2, fig. 2 is another flowchart of an indoor positioning method according to an embodiment of the present invention, and further includes, based on the embodiment of fig. 1:
s201, determining the grid size of the reference grid according to the positioning precision requirement.
In practical applications, the positioning accuracy is different, and the grid size of the reference grid is also different. Obviously, the larger the grid, the lower the positioning accuracy, and the smaller the grid, the higher the positioning accuracy. The positioning accuracy may be a product of the mesh size and a positioning coefficient, wherein the positioning coefficient may be adjusted according to an actual positioning scenario. For example, in a campus, the positioning accuracy requirement is 1 meter, and the coefficient may be 1, i.e. the grid size of the reference grid is 1 meter.
And S202, establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network.
Generally, the size of the mesh is greater than or equal to the distance between adjacent cellular network base stations in the three-dimensional positioning reference network, and the distance between the cellular network base stations can be obtained through actual position coordinates of the cellular network base stations. When the grid size is larger than the distance of the cellular network base stations in the three-dimensional positioning reference network, selecting a part of cellular network base stations in the three-dimensional positioning reference network to enable the grid size of the established reference grid to meet the requirement. For example, the size of the grid is 2 meters, the distance between adjacent cellular network base stations in the three-dimensional positioning reference network is 1 meter, then, when the reference network is established, when the actual position coordinate of one cellular network base station is selected as the reference point of the reference network, one cellular network base station may be spaced, the actual position coordinate of the next cellular network base station is selected as the reference point of the reference network, and so on, and finally the reference grid is obtained.
S203, determining the virtual position coordinates of each receiving end positioned in the reference grid to obtain the virtual grid, and establishing the position corresponding relation between the virtual grid and the reference grid.
It should be noted that the receiving end located in the reference grid refers to a receiving end located at the vertex of the reference grid, and then the actual position coordinates of the receiving end are known, and the receiving end receives the arrival time of the synchronous transmission signal of the cellular network base station of the three-dimensional positioning reference network, and calculates the virtual position coordinates of the receiving end according to the arrival time. Since the arrival time includes the effects of multipath size and direction, and the virtual position coordinate calculated by the arrival time is different from the actual position coordinate, the position corresponding relationship between the virtual grid and the reference grid needs to be established, so that the actual position coordinate of the positioning end can be obtained according to the position corresponding relationship in the actual positioning process.
In one embodiment of the present invention, the step of establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network includes:
and determining the horizontal direction coordinate and the vertical direction coordinate of a cellular network base station forming the three-dimensional positioning reference network according to the size of the grid, and establishing the reference grid.
Specifically, after the mesh size of the reference mesh is set, 4 vertices of each mesh are taken as reference points RPi nWherein the superscript n represents the mesh sequence number, i is the four vertices of the mesh, and 1, 2, 3 and 4 are respectively taken. Reference point RP for each gridi nThe existing laser ranging dynamic positioning system and the total station are utilized to measure and obtain the corresponding horizontal coordinateObtaining vertical coordinates by elevation measurements relative to the groundAnd obtaining a reference grid according to the horizontal direction coordinate and the vertical direction coordinate of each reference point.
In an embodiment of the present invention, the step of determining the virtual position coordinates of each receiving end located in the reference grid to obtain the virtual grid includes:
and acquiring the receiving time of a synchronous transmitting signal of N cellular network base stations in the three-dimensional positioning reference network reaching each receiving end, wherein N is an integer greater than or equal to 4.
And determining the virtual position coordinates of each receiving end by a geometric solution positioning method according to the receiving time and the actual position coordinates of the N cellular network base stations.
And establishing a virtual grid according to the virtual position coordinates of each receiving end.
The virtual grid is obtained by measuring a plurality of receiving ends located at different positions of the reference grid, and the actual position coordinates of the plurality of receiving ends are known. More specifically, the arrival time of the synchronous transmission signals of 4 or more than 4 cellular network base stations received by each receiving terminal is obtained, the virtual position coordinates of each receiving terminal are determined by a geometric solution positioning method, and the virtual position coordinates of a plurality of receiving terminals are integrated to form a virtual grid. It is emphasized that the cellular base station transmitting the synchronization transmission signal is the cellular base station forming the reference grid, and the synchronization transmission signal received at each receiving end may be transmitted by a different cellular base station.
In an embodiment of the present invention, the step of establishing a position correspondence between the virtual grid and the reference grid includes:
and forming the position corresponding relation between the virtual grid and the reference grid according to the corresponding relation between the actual position coordinate and the virtual position coordinate of the same receiving end positioned on the reference grid.
It should be noted that the position corresponding relationship between the virtual grid and the reference grid refers to a corresponding relationship between actual position coordinates of the same receiving end and virtual position coordinates obtained by the receiving end through measurement, and the receiving ends at a plurality of different positions form a corresponding relationship between a plurality of actual position coordinates and virtual position coordinates, that is, form a position corresponding relationship between the virtual grid and the reference grid.
Corresponding to the above method embodiment, the embodiment of the present invention further discloses an indoor positioning device, referring to fig. 3, where fig. 3 is a structural diagram of the indoor positioning device of the embodiment of the present invention, including:
the virtual position determining module 301 is configured to determine, according to the time when the synchronous transmission signals of the M cellular network base stations in the three-dimensional positioning reference network reach the positioning end and the actual position coordinates of the M cellular network base stations, a first virtual coordinate of the positioning end in a pre-established virtual grid by using a geometric solution positioning method, where M is an integer greater than or equal to 4.
The actual position determining module 302 is configured to determine a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid by using an interpolation method, and determine an actual position coordinate of the positioning end according to the second virtual coordinate and a pre-established position corresponding relationship between the virtual grid and the reference grid.
Therefore, according to the indoor positioning device provided by the embodiment of the invention, the first virtual coordinate of the positioning end in the pre-established virtual grid is determined by a geometric solution positioning method according to the time of the synchronous transmitting signals of the M cellular network base stations in the three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations; and determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the pre-established position corresponding relation between the virtual grid and the reference grid. The embodiment of the invention can be suitable for more scenes, has better environment universality and system robustness, and meets the requirement of TC-OFDM on wide area indoor positioning.
It should be noted that, the apparatus according to the embodiment of the present invention is an apparatus applying the indoor positioning method, and all embodiments of the indoor positioning method are applicable to the apparatus and can achieve the same or similar beneficial effects.
Referring to fig. 4, fig. 4 is another structural diagram of an indoor positioning device according to an embodiment of the present invention, and on the basis of the embodiment of fig. 3, the indoor positioning device further includes:
the grid size determining module 401 is configured to determine a grid size of the reference grid according to the positioning accuracy requirement.
A reference grid establishing module 402, configured to establish a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network.
A position corresponding relationship establishing module 403, configured to determine a virtual position coordinate of each receiving end located in the reference grid, obtain the virtual grid, and establish a position corresponding relationship between the virtual grid and the reference grid.
Optionally, in the indoor positioning device according to the embodiment of the present invention, the reference grid establishing module is specifically configured to determine, according to the size of the grid, a horizontal coordinate and a vertical coordinate of a cellular network base station that forms the three-dimensional positioning reference network, and establish the reference grid.
Optionally, in the indoor positioning device according to the embodiment of the present invention, the position correspondence establishing module includes:
and the receiving time acquisition submodule is used for acquiring the receiving time of the synchronous transmitting signals of N cellular network base stations in the three-dimensional positioning reference network reaching each receiving end, wherein N is an integer greater than or equal to 4.
And the virtual position coordinate determination submodule is used for determining the virtual position coordinate of each receiving end by a geometric solution positioning method according to the receiving time and the actual position coordinates of the N cellular network base stations.
And the virtual grid establishing submodule is used for establishing a virtual grid according to the virtual position coordinate of each receiving end.
Optionally, in the indoor positioning device according to the embodiment of the present invention, the module for establishing a position correspondence further includes:
and the corresponding relation submodule is used for forming the position corresponding relation between the virtual grid and the reference grid according to the corresponding relation between the actual position coordinate and the virtual position coordinate of the same receiving end positioned on the reference grid.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An indoor positioning method, comprising:
determining a first virtual coordinate of a positioning end in a pre-established virtual grid through a geometric resolving positioning method according to the time of a synchronous transmitting signal of M cellular network base stations in a three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations, wherein M is an integer greater than or equal to 4;
determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining an actual position coordinate of the positioning end according to the second virtual coordinate and a pre-established position corresponding relation between the virtual grid and a reference grid;
the cellular network base station is a base station with a time division-based superposed signal system TC-OFDM positioning function;
the second virtual coordinate is a coordinate of a vertex in the virtual network.
2. The indoor positioning method according to claim 1, wherein before the time when the synchronous transmission signals of M cellular network base stations arrive at the positioning end and the actual position coordinates of the M cellular network base stations in the three-dimensional positioning reference network, the method further comprises:
determining the grid size of the reference grid according to the positioning precision requirement;
establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network;
and determining the virtual position coordinates of each receiving end positioned in the reference grid to obtain the virtual grid, and establishing the position corresponding relation between the virtual grid and the reference grid.
3. The indoor positioning method of claim 2, wherein the step of establishing the reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network comprises:
and determining the horizontal direction coordinate and the vertical direction coordinate of a cellular network base station forming the three-dimensional positioning reference network according to the size of the grid, and establishing the reference grid.
4. The indoor positioning method of claim 2, wherein the step of determining the virtual position coordinates at each receiving end of the reference grid to obtain a virtual grid comprises:
acquiring receiving time of synchronous transmitting signals of N cellular network base stations in the three-dimensional positioning reference network reaching each receiving end, wherein N is an integer greater than or equal to 4;
determining the virtual position coordinates of each receiving end by the geometric solution positioning method according to the receiving time and the actual position coordinates of the N cellular network base stations;
and establishing a virtual grid according to the virtual position coordinates of each receiving end.
5. The indoor positioning method according to claim 2, wherein the step of establishing the position correspondence relationship between the virtual grid and the reference grid includes:
and forming the position corresponding relation between the virtual grid and the reference grid according to the corresponding relation between the actual position coordinate and the virtual position coordinate of the same receiving end positioned on the reference grid.
6. An indoor positioning device, comprising:
the virtual position determining module is used for determining a first virtual coordinate of the positioning end in a pre-established virtual grid through a geometric solution positioning method according to the time of a synchronous transmitting signal of M cellular network base stations in a three-dimensional positioning reference network reaching the positioning end and the actual position coordinates of the M cellular network base stations, wherein M is an integer greater than or equal to 4;
the actual position determining module is used for determining a second virtual coordinate corresponding to the first virtual coordinate in the virtual grid through an interpolation method, and determining the actual position coordinate of the positioning end according to the second virtual coordinate and the position corresponding relation between the virtual grid and a reference grid which is established in advance;
the cellular network base station is a base station with a time division-based superposed signal system TC-OFDM positioning function;
the second virtual coordinate is a coordinate of a vertex in the virtual network.
7. The indoor positioning device of claim 6, further comprising:
the grid size determining module is used for determining the grid size of the reference grid according to the positioning precision requirement;
the reference grid establishing module is used for establishing a reference grid corresponding to the three-dimensional positioning reference network according to the grid size and the actual position coordinates of the cellular network base station in the three-dimensional positioning reference network;
and the position corresponding relation establishing module is used for determining the virtual position coordinates of each receiving end positioned in the reference grid to obtain the virtual grid and establishing the position corresponding relation between the virtual grid and the reference grid.
8. The indoor positioning device of claim 7, wherein the reference grid establishing module is specifically configured to determine horizontal coordinates and vertical coordinates of a cellular network base station forming the three-dimensional positioning reference network according to the size of the grid, and establish the reference grid.
9. The indoor positioning device of claim 7, wherein the position correspondence establishing module includes:
a receiving time obtaining submodule, configured to obtain receiving times when synchronous transmission signals of N cellular network base stations in the three-dimensional positioning reference network reach each receiving end, where N is an integer greater than or equal to 4;
a virtual position coordinate determination submodule, configured to determine a virtual position coordinate of each receiving end by the geometric solution positioning method according to the receiving time and the actual position coordinates of the N cellular network base stations;
and the virtual grid establishing submodule is used for establishing a virtual grid according to the virtual position coordinate of each receiving end.
10. The indoor positioning device according to claim 7, wherein the position correspondence establishing module further includes:
and the corresponding relation submodule is used for forming the position corresponding relation between the virtual grid and the reference grid according to the corresponding relation between the actual position coordinate and the virtual position coordinate of the same receiving end positioned on the reference grid.
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| CN108490389B (en) * | 2018-03-14 | 2020-06-19 | 北京邮电大学 | Positioning method and device based on multipath reflection, electronic equipment and storage medium |
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