CN107153171A - Indoor orientation method, device and system - Google Patents
Indoor orientation method, device and system Download PDFInfo
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- CN107153171A CN107153171A CN201610124815.XA CN201610124815A CN107153171A CN 107153171 A CN107153171 A CN 107153171A CN 201610124815 A CN201610124815 A CN 201610124815A CN 107153171 A CN107153171 A CN 107153171A
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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
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Abstract
This application provides a kind of indoor orientation method, device and system, it is sent out carrying the wireless transmission signal of beacon message by smart machine, the beacon message that the signal intensity and wireless transmission signal of the wireless transmission signal received according to terminal are carried, terminal is positioned, so as to can also realize the positioning of terminal in the environment that can not receive gps signal.
Description
Technical field
The application is related to field of locating technology, more particularly to a kind of indoor orientation method, device and is
System.
Background technology
With the development and popularization of wireless communication technology, the application based on location-based service is increasingly becoming society
The important component that can be lived.In open spaces such as outdoors, terminal can utilize global positioning system
System (GPS, Global Positioning System) is positioned.But in some complex environments
In, e.g., indoor environment or there is the environment that building is blocked, terminal can not receive GPS letters
Number, thus can not full terminal positioning.Therefore, how gps signal can not be received in terminal
In the case of, the positioning for realizing terminal is those skilled in the art's technical problem in the urgent need to address.
The content of the invention
This application provides a kind of indoor orientation method, device and system, to wait complicated indoors
The positioning of terminal is realized in environment.
In order to solve the above problems, this application provides following technical scheme：
The embodiment of the present application provides a kind of indoor orientation method, including：
Receiving terminal send Location Request, the Location Request carry at least three beacon messages with
And at least three ranging parameters, wherein, at least three beacon message be the terminal from
In at least three wireless transmission signals that at least three smart machines in signal range of receiving are sent
Get, at least three ranging parameters are based at least three wireless transmission signal
What signal intensity was determined, and for determining between at least three smart machine and the terminal
The parameter of distance；
Based at least three beacon message and at least three ranging parameters, the end is determined
The positional information at end；
The positional information of the terminal is returned into the terminal.
The embodiment of the present application additionally provides another indoor orientation method, including：
Determine current time be in signal range of receiving in smart machine sent be wirelessly transferred letter
Number；
The signal parameter of the wireless transmission signal is obtained, the signal parameter includes：The wireless biography
The beacon message that the signal intensity of defeated signal and the wireless transmission signal are carried；
Based on the signal parameter of wireless transmission signal described at least three, terminal is positioned.
The embodiment of the present application additionally provides a kind of indoor locating system, including：
Multiple smart machines for being built-in with wireless chip, it is described wireless for sending wireless transmission signal
Transmission signal carries the beacon message of the smart machine；
The terminal of wireless chip is built-in with, for determining institute of the current time in signal range of receiving
State the wireless transmission signal that smart machine is sent；The signal parameter of the wireless transmission signal is obtained,
The signal parameter includes：The signal intensity of the wireless transmission signal and described it is wirelessly transferred letter
Number carry beacon message；Based on the signal parameter of wireless transmission signal described at least three, to end
End is positioned.
The embodiment of the present application additionally provides another indoor positioning device, including：
Signal receiving unit, for determining smart machine institute of the current time in signal range of receiving
The wireless transmission signal sent；
Signal resolution unit, the signal parameter for obtaining the wireless transmission signal, the signal ginseng
Number includes：The letter that the signal intensity of the wireless transmission signal and the wireless transmission signal are carried
Mark information；
Positioning unit, for the signal parameter based on wireless transmission signal described at least three, to terminal
Positioned.
The embodiment of the present application additionally provides another indoor positioning device, it is characterised in that including：
Request reception unit, the Location Request sent for receiving terminal, the Location Request is carried
At least three beacon messages and at least three ranging parameters, wherein, at least three beacons letter
Cease and sent at least from least three smart machines in signal range of receiving by the terminal
Got in three wireless transmission signals, at least three ranging parameters be based on it is described at least
What the signal intensity of three wireless transmission signals was determined, and for determining that at least three intelligence is set
The standby parameter with the distance between the terminal；
Position determination unit, for being surveyed based at least three beacon message and described at least three
Away from parameter, the positional information of the terminal is determined；
Position returning unit, for the positional information of the terminal to be returned into the terminal.
Based on above-mentioned technical proposal, the beaconing nodes needed for smart machine as terminal positioning are based on
The signal for the wireless transmission signal that at least three smart machines in signal range of receiving are sent
Parameter, just can orient the position of the terminal, even if so that indoors or due to building
Block and cause in the environment that terminal can not receive gps signal, can still realize the positioning of terminal,
Improve the flexibility of terminal positioning.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the present application, embodiment will be described below
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only
Only it is some embodiments of the present application, for those of ordinary skill in the art, is not paying wound
On the premise of the property made is laborious, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of schematic flow sheet of indoor orientation method one embodiment of the application；
Fig. 2 shows a kind of schematic flow sheet of another embodiment of indoor orientation method of the application；
Fig. 3 shows a kind of schematic flow sheet of the another embodiment of indoor orientation method of the application；
Fig. 4 shows the schematic flow sheet of another indoor orientation method one embodiment of the application；
Fig. 5 shows the composition structural representation of another indoor locating system one embodiment of the application
Figure；
Fig. 6 shows a kind of schematic flow sheet of indoor positioning device one embodiment of the application；
Fig. 7 shows the flow signal of another embodiment of another indoor positioning device of the application
Figure；
Fig. 8 shows a kind of hardware architecture diagram of terminal of the application；
Fig. 9 shows a kind of hardware architecture diagram of server of the application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, to the technical scheme in the embodiment of the present application
It is clearly and completely described, it is clear that described embodiment is only that the application part is real
Apply example, rather than whole embodiments.Based on the embodiment in the application, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to this
Apply for the scope of protection.
Referring to Fig. 1, it illustrates a kind of signal of the flow of indoor orientation method one embodiment of the application
Figure, the method for the present embodiment can apply in the terminals such as mobile phone, tablet personal computer, and the present embodiment can
With including：
101, determine the wireless biography that smart machine of the current time in signal range of receiving is sent
Defeated signal.
Wherein, the smart machine of the application can send wireless arbitrarily to possess wireless chip
The equipment for transmitting signal.Wherein, the wireless transmission signal can be with Bluetooth signal, radio frequency identification
(RFID, Radio Frequency Identification) signal etc..Optionally, the smart machine
Can the built-in bluetooth core using Bluetooth Low Energy (BLE, Bluetooth Low Energy) technology
Piece, to reduce the power consumption produced by outside transmission signal, for example, smart machine can be with embedded with bluetooth
4.0 chip.
It is understood that terminal is positioned in order to the position based on the smart machine,
The smart machine can determine either position more fixed smart machine for position.
Such as, in a kind of possible implementation, the smart machine can be in intelligent illuminating system
Arbitrary equipment, and intelligent illuminating system be using computer, wireless communication data transmission and save
The distributed wireless remote control of the technologies such as type electrical equipment control composition, distant news control system, the system have
The function such as the strong and weak regulation of lamplight brightness, light soft start, timing controlled, scene setting.Such as,
Smart machine can be the intelligent electric lamp either intelligent lighting controls equipment in intelligent illuminating system
Deng.
From unlike existing Intelligent illumination device, no core is built-in with the Intelligent illumination device
Piece, smart machine, which is based on the wireless chip, can constantly be sent out wireless transmission signal.And by
The position of each Intelligent illumination device is pre-designed, each intelligence in intelligent illuminating system
The position of energy lighting apparatus is known, and therefore, Intelligent illumination device just can be used as other in itself
The reference point of equipment positioning, is referred to as beaconing nodes.Certainly, in the Intelligent illumination device
The wireless chip put equally can be Bluetooth signal, for example, the Bluetooth chip based on BLE technologies.
102, obtain the signal parameter of the wireless transmission signal.
Wherein, the signal parameter includes：The signal intensity of the wireless transmission signal and the wireless biography
The beacon message that defeated signal is carried.
Wherein, the signal intensity of wireless transmission signal, which can reflect, sends the wireless transmission signal
The distance of smart machine and terminal., just can be true and terminal is while receive wireless transmission signal
The signal intensity of wireless transmission signal is made, the side of the specific signal intensity for determining wireless transmission signal
Formula uses existing any-mode, is not limited herein.
And beacon message can be understood as the related information of the smart machine itself of radio node.
Such as, beacon message can include the unique mark of the smart machine as beaconing nodes, and the intelligence is set
One or more in the information such as standby positional information.
103, based on the signal parameter of at least three wireless transmission signals, terminal is positioned.
It is understood that by known to point known at least three positions and at least three position
Point and the point to be determined between position relationship just can determine the position of the point to be determined, because
This, needs what is sent from the smart machine in the signal range of receiving in the embodiment of the present application
The wireless transmission signal that at least three smart machines are sent, and base are selected in wireless transmission signal
The signal parameter of the wireless transmission signal sent at least three smart machine, enters to the terminal
Row positioning.
In the embodiment of the present application, using the beaconing nodes needed for smart machine as terminal positioning, it is based on
The signal for the wireless transmission signal that at least three smart machines in signal range of receiving are sent
Parameter, just can orient the position of the terminal, even if so that indoors or due to building
Block and cause in the environment that terminal can not receive gps signal, terminal can still realize positioning, carry
The high flexibility of terminal positioning.
Particularly, terminal is carried out when the smart machines such as Intelligent illumination device are multiplexed with into beaconing nodes
Positioning, without being separately provided beaconing nodes, advantageously reduces the consuming of physical resource.Moreover, setting
While the smart machine such as meter and deployment indoor intelligent lighting apparatus, also it is equivalent to complete letter
The design and construction of node are marked, without individually designed again and deployment beaconing nodes, is saved
Substantial amounts of human resources.
It should be noted that the signal parameter based at least three wireless transmission signals is determined terminal
Position, can be the signal parameter by terminal according at least three wireless transmission signal, to determine
The terminal position of itself；Can also be signal of the terminal according at least three wireless transmission signal
Parameter, sends Location Request, with true by the given server to the given server for positioning
Make the positional information of terminal.
Regardless of whether being that the positional information of itself is calculated by terminal, or calculated by given server
The positional information of the terminal, during the positional information of the terminal is calculated, at least three nothing
The effect of beacon message entrained by line transmission signal is provided to determination, and to send this at least three wireless
Transmit the positional information of at least three smart machines of signal.Certainly, when beacon message is different,
Determine that the mode of the positional information of smart machine would also vary from.
Such as, then can be directly by wireless transmission signal when beacon message is the positional information of smart machine
The positional information of middle carrying is defined as sending the positional information of the smart machine of the wireless transmission signal.
And for example, when beacon message is the unique mark of smart machine, then need according to the unique mark,
The positional information of smart machine corresponding with the unique mark is inquired from the given server.
In the case of this kind, given server needs to prestore the intelligence that different unique marks are characterized and set
Standby positional information.For example, after deployment smart machine, the position of smart machine can be oriented
Information, then by smart machine by the positional information oriented and the unique mark of the smart machine
Given server is sent to, so that given server stores the positional information corresponding to the unique mark.
Or, after the positional information of smart machine is determined, each can be inputted into given server
The unique mark of smart machine and the corresponding relation of positional information.
Accordingly, in the signal parameter using at least three wireless transmission signal, the position of terminal is determined
During confidence breath, the effect of the signal intensity of at least three wireless transmission signal is provided to really
Surely at least three smart machines of at least three wireless transmission signal and the distance of the terminal are sent.
Wherein, the signal intensity based on wireless transmission signal, it is determined that sending the intelligence of wireless transmission signal
The distance of equipment and terminal can be performed by end side or held by given server
OK.
In order to make it easy to understand, determining terminal for end side and given server side separately below
The situation of positional information is introduced.
Referring to Fig. 2, it illustrates a kind of signal of the flow of indoor orientation method one embodiment of the application
Figure, the method for the present embodiment is with after terminal gets the signal parameter of wireless transmission signal, by referring to
It is introduced exemplified by the positional information for determining server to position the terminal.The method of the present embodiment can be with
Including：
201, determine current time in being wirelessly transferred that smart machine in signal range of receiving is sent
Signal.
Wherein, smart machine is sent out wireless transmission signal as beaconing nodes.
202, obtain the signal parameter of the wireless transmission signal.
Wherein, the signal parameter includes：The signal intensity of the wireless transmission signal and this be wirelessly transferred
The beacon message that signal is carried.
203, send Location Request to given server.
Wherein, the Location Request carries the signal parameter of the wireless transmission signal described at least three.
204, receive the positional information of the terminal of given server return.
Wherein, server, can be according at least three wireless biography after the Location Request is received
The beacon message that defeated signal is carried, it is determined that sending at least three of at least three wireless transmission signal
The positional information of smart machine, particularly, when the beacon message is the unique mark of intelligent terminal,
Given server can inquire about the corresponding relation of the unique mark prestored and positional information, it is determined that
The positional information of intelligent terminal corresponding to the unique mark.Meanwhile, given server is according at least
The signal intensity of three wireless transmission signals, it is determined that sending at least three wireless transmission signal extremely
Few three smart machines and the distance of the terminal, and then according to the position of at least three smart machine
Information and at least three smart machine and the distance of the terminal, determine the position letter of the terminal
Breath.
Wherein, the positional information and at least three smart machine for obtaining at least three smart machines are each
From after the distance with terminal, the position of computing terminal can be come according to existing location algorithm.
Such as, location algorithm is used as using trilateration.
In order to make it easy to understand, below with the positional information and these three intelligence according to three smart machines
It is introduced exemplified by the distance of equipment and terminal, and position according to trilateration computing terminal.
Assuming that the position coordinates of known three smart machines be respectively (x1, y1), (x2, y2), (x3,
Y3), it is assumed that the position coordinates of terminal to be positioned is (x0, y0), the terminal to these three intelligence
The distance of equipment is respectively d3, d3And d3, then respectively with d3, d3And d3Make three circles for radius, then
The intersection point of these three circles is exactly unknown point (x0, y0).Meanwhile, according to Pythagorean theorem,
It can obtain that formula is calculated as below：
(x1-x0)2+(y1-y0)2=d1 2；
(x2-x0)2+(y2-y0)2=d2 2；
(x3-x0)2+(y3-y0)2=d3 2
As above formula is solved, the coordinate value corresponding to terminal (x0, y0) just can be obtained.Certainly,
Solving the mode of as above formula can equally have a variety of, not limit herein.
It should be noted that when the given server receives the signal of at least three wireless transmission signals
After parameter, the signal parameter of at least three wireless transmission signal can be divided into by given server
Multigroup, every group includes the signal parameter that three different radios transmit signal.Given server can be with
Signal parameter according to three wireless transmission signals in every group respectively, the positional information of computing terminal,
Then, according to the positional information that obtained terminal is calculated by each group signal parameter, terminal is finally determined
Positional information.
If it is understood that three smart machines are on same straight line, utilizing these three intelligence
The positional information and terminal of equipment possibly can not then be counted to the positional information of these three smart machines
The positional information of terminal is calculated, therefore, is transmitted in given server using any three different radios
, can also be according to sending these three nothings before the signal parameter of signal, the positional information of computing terminal
The positional information of three smart machines of line transmission signal, judges whether these three smart machines are in
On same straight line, if it is, the signal parameter of these three wireless transmission signals can be abandoned；Or
Person, the positional information based on smart machine redefines three intelligence being not on same straight line
Equipment, and the letter of the wireless transmission signal sent using these three smart machines redefined out
Number parameter, calculates the position of the terminal.
It is understood that Fig. 2 embodiment is the letter according to wireless transmission signal by given server
Number intensity, it is determined that sending the smart machine of wireless transmission signal and the distance of terminal, and is specified by this
The introduction that server is carried out exemplified by the position to determine terminal.
In actual applications, smart machine and terminal are determined according to the signal intensity of wireless transmission signal
Distance can also be performed by end side, i.e. terminal at least three wireless can be passed according to this
The signal intensity of defeated signal, determines to send the wireless transmission signal described at least three at least respectively
Three smart machines and the distance of the terminal.
Accordingly, carrying out positioning to terminal can be：Carried based at least three wireless transmission signal
Beacon message and at least three smart machine and terminal distance, the terminal is positioned.
Specifically, in a kind of possible implementation, terminal can send to given server and position
Request, the Location Request carry at least three wireless transmission signals carrying beacon message and
Send at least three smart machines of at least three wireless transmission signal and the distance of the terminal；Then,
Given server is after the Location Request is received, it is thus only necessary to according at least three wireless biography
The beacon message that defeated signal is carried, it is determined that the intelligence for sending at least three wireless transmission signal is set
Standby positional information, then just can be according to the positional information of at least three smart machine and should
The distance of at least three smart machines and the terminal, determines the positional information of terminal, and by determination
Positional information returns to the terminal.
In alternatively possible implementation, at least three smart machine and terminal are being determined
After distance, the position of the terminal is determined by terminal.It is a kind of it illustrates the application such as referring to Fig. 3
The schematic flow sheet of the another embodiment of indoor orientation method, the present embodiment with by the terminal be based at least
It is introduced exemplified by the signal parameter of three wireless transmission signals, the position for calculating the terminal.This
The method of embodiment can include：
301, determine that current time is in signal range of receiving and as the smart machine of beaconing nodes
The wireless transmission signal sent.
302, obtain the signal parameter of the wireless transmission signal.
Wherein, the signal parameter includes：The signal intensity of the wireless transmission signal and this be wirelessly transferred
The beacon message that signal is carried.
303, according to the signal intensity of at least three wireless transmission signal, determine to send this extremely respectively
At least three smart machines of few three wireless transmission signals and the distance of terminal.
Based on the signal intensity of the wireless transmission signal received, it is determined that sending the wireless transmission signal
Smart machine and terminal distance mode can be existing any-mode, do not limited herein
It is fixed.
304, according at least three wireless transmission signal carry beacon message, it is determined that this at least three
The positional information of individual smart machine.
For example, when beacon message is the unique mark of smart machine, can be stored from given server
Mark and positional information corresponding relation in, obtain at least three wireless transmission signal carrying
The positional information at least three smart machines that unique mark is characterized.
305, according to the positional information of at least three smart machine and at least three smart machine
With the distance of the terminal, the position of the terminal is determined.
In step 305 obtain the positional information of at least three smart machines and this at least three
After the distance of smart machine and terminal, existing any location algorithm can be equally used, to count
Calculate the position of terminal.Such as, location algorithm can be with trilateration algorithm, and specific calculating process can be with
Referring to the related introduction in Fig. 2 embodiments, it will not be repeated here.
It is understood that in any of the above one embodiment, determining the position of terminal can be
Obtain the positional information of the terminal, such as geographical position coordinates.Can not be according to geographical position in view of user
Put the positional informations such as coordinate and determine terminal location, it is determined that the position of terminal can also be on map
The position of terminal is indicated, to determine the map for including terminal present position.For example, referring to
Server is determined after Location Request is received, and can call preset map, and please using the positioning
The parameter of carrying is sought, position of the terminal in map is determined, accordingly, given server can be by
The map for being labeled with terminal position returns to terminal.And for example, terminal can determine signal
After wireless transmission signal in range of receiving, invocation map, and the letter based on wireless transmission signal
Information is marked, the position of smart machine is determined in map, and at least three smart machine is on ground
Position and terminal in figure determine terminal at this apart from the distance of at least three smart machine
Position in map.
It is understood that in any of the above one embodiment, in order to determine to receive in signal
In the range of the wireless transmission signal that is sent of smart machine, it is determined that in signal range of receiving
The wireless transmission signal that is sent of smart machine before, terminal can open wireless chip or dimension
Hold wireless opening.For example, opening bluetooth or maintaining bluetooth opening.
After terminal is opened wirelessly, determine that intelligence of the current time in signal range of receiving is set
The mode of the standby wireless transmission signal sent can have a variety of：
In a kind of possible implementation, terminal can be received in the signal range of receiving of the terminal
All wireless transmission signals, then according to the transmitting side marking of wireless transmission signal received,
It is determined that the wireless transmission signal sent by smart machine.Such as, transmitting side marking can be sender
Designated character in title or file header.By taking sender's title as an example, smart machine can be set
Title in have special symbol or mark, if identifying sender's title of wireless transmission signal
In include the special symbol or mark, it is determined that the wireless transmission signal is by as beaconing nodes
Smart machine send.
In alternatively possible implementation, terminal can be detected in signal range of receiving
Wireless transmission signal when, according to the transmitting side marking of wireless transmission signal, it is determined that belong to intelligence set
The standby wireless transmission signal sent, then only receives and belongs to intelligence in the signal range of receiving and set
The standby wireless transmission signal sent.
It is understood that in any of the above one embodiment, determining that current time connects in signal
Can be real in the range of receipts and as the wireless transmission signal that is sent of smart machine of beaconing nodes
When monitor and determine or only when meeting preparatory condition, it is determined that receiving model in signal
Enclose the wireless transmission signal that interior and as beaconing nodes smart machines are sent.
Wherein, the preparatory condition can be set as needed.
Such as, the preparatory condition can be：Gps signal can not currently be received.If current time
Terminal can not receive gps signal, then can not be positioned using gps signal, now can be by
Terminal is switched to the mode positioned based on beaconing nodes, and then determines that current time receives in signal
In the range of and as the wireless transmission signal that is sent of smart machine of beaconing nodes, with based on wireless
The signal parameter of transmission signal is positioned to terminal.
And for example, the preparatory condition can be：Detect the instruction opened and specify application.When user opens
When some is applied, then it may need to start positioning function, for example, user opens the map in terminal
Using when, then terminal detect open map application instruction, open map application while,
It is determined that the wireless transmission signal that the smart machine in signal range of receiving is sent.
And for example, the preparatory condition can be：User is detected by specifying application to give out information.For example,
When user is published the news using wechat or QQ etc. or left a message under message, user can wish to publish the news
Or while message, show the positional information of the user, now, then can trigger determination and be in
In signal range of receiving and as the wireless transmission signal that is sent of smart machine of beaconing nodes, with
Just the positioning of user terminal is carried out.
Corresponding with a kind of above embodiment of indoor orientation method, the embodiment of the present application is additionally provided should
Another indoor orientation method for server side.
Referring to Fig. 4, show it illustrates the flow of another indoor orientation method one embodiment of the application
It is intended to, applied to server, the schematic flow sheet of the present embodiment can include：
401, the Location Request that receiving terminal is sent.
Wherein, Location Request carries at least three beacon messages and at least three ranging parameters.
Wherein, at least three beacon message is the terminal from least three in signal range of receiving
Got at least three wireless transmission signals that individual smart machine is sent.Such as, beacon message
Can include one kind in the information such as unique mark, the positional information of smart machine of smart machine or
It is several.
The ranging parameters are used to determine the distance between smart machine and the terminal.Such as, at least three survey
It can include away from parameter：The signal intensity of at least three wireless transmission signal；Or, this is at least
Three smart machines and the distance of the terminal.Wherein, at least three intelligent terminal and the end
The distance at end is the terminal according to the wireless transmission signal of at least three smart machine received
What signal intensity was determined.
402, based at least three beacon message and at least three ranging parameters, determine the end
The positional information at end.Specifically, according at least three beacon message, it is determined that send this at least three
The positional information of at least three smart machines of individual beacon message.Meanwhile, according at least three survey
Away from parameter, the distance of at least three smart machine and terminal is determined.Then, according to this at least three
The positional information of individual smart machine, and at least three smart machine and the distance of the terminal, really
The positional information of the fixed terminal.Server in a kind of above localization method can be specifically referred to determine eventually
The detailed process of the positional information at end, will not be repeated here.
Optionally, when the unique mark of beacon message including the smart machine, then server can be with
Based on the unique mark of at least three smart machine, from the mark and positional information prestored
In corresponding relation, the positional information of at least three smart machine is inquired about.
Wherein, the position that the smart machine is transmitted in advance according to the corresponding relation of the mark and positional information
Confidence ceases and identifies what is determined.Certainly, the corresponding relation can also be the administrative staff by server
Pre-enter and store.
Optionally, when the ranging parameters include the signal intensity of at least three wireless transmission signal,
Signal intensity that then can be according at least three wireless transmission signal, determines at least three intelligence
The distance of equipment and the terminal.
403, the positional information of the terminal is returned into the terminal.
The present embodiment is using the beaconing nodes needed for smart machine as terminal positioning, based on being connect in signal
The signal parameter for the wireless transmission signal that at least three smart machines in the range of receipts are sent, just may be used
To orient the position of the terminal, even if so as to cause indoors or being blocked due to building
Terminal can not be received in the environment of gps signal, and terminal can still realize positioning, improved terminal and determined
The flexibility of position.
Meanwhile, the position of terminal is determined in the present embodiment by server, due to the operation speed of server
Degree is much larger than the speed of service of terminal, and the position of terminal is determined by server to be conducive to
Improve the speed of terminal positioning.
It should be noted that the wireless transmission signal that smart machine is sent in the present embodiment can be indigo plant
Tooth signal, or the wireless signal such as RFID signal, it is without restriction herein.
The smart machine of the present embodiment can be identical with the smart machine mentioned in preceding embodiment, such as should
Smart machine can be Intelligent illumination device.
It is similar to preceding embodiment, optionally, the tool of the positional information of terminal is determined in the present embodiment
Body process can be：Call preset map, and based at least three beacon message and this extremely
Few three ranging parameters, determine position of the terminal in the map.Accordingly, it will can mark
The map for being shown with the terminal position returns to the terminal.
On the other hand, the embodiment of the present application additionally provides a kind of indoor locating system, referring to Fig. 5, its
A kind of structural representation of indoor locating system one embodiment of the application is shown, the present embodiment
Alignment system can include：
Multiple smart machines 501 as beaconing nodes, the smart machine is built-in with wireless chip,
For sending wireless transmission signal, the wireless transmission signal carries the beacon of the smart machine
Information；
The terminal 502 of wireless chip is built-in with, for determining that current time is in signal range of receiving
The wireless transmission signal that is sent of the smart machine；Obtain the signal of the wireless transmission signal
Parameter, the signal parameter includes：The signal intensity of the wireless transmission signal and described wireless
Transmit the beacon message that signal is carried；Based on the signal parameter of wireless transmission signal described at least three,
Terminal is positioned.
Optionally, the smart machine can be Intelligent illumination device.
Optionally, wireless chip built-in in the smart machine and the terminal can be Bluetooth chip,
Such as Bluetooth Low Energy chip.
Optionally, the indoor locating system can also include：The clothes being connected by network with the terminal
Business device 503；
Wherein, the terminal 502, is additionally operable to the signal based at least three wireless transmission signal strong
Degree, determines at least three ranging parameters, wherein, at least three ranging parameters, for determining
The distance between at least three smart machine and the terminal；
The server 503, for receiving at least three ranging parameters and at least three wireless biographies
At least three beacon messages entrained by defeated signal；Based at least three beacon message and institute
At least three ranging parameters are stated, the positional information of the terminal is determined；The position of the terminal is believed
Breath returns to the terminal.
Wherein, in a kind of possible implementation, because the signal intensity of wireless transmission signal can be with
For determining to send the smart machine of wireless transmission signal and the distance of terminal, therefore, terminal can be with
Using the signal intensity of wireless transmission signal as at least three wireless transmission signal ranging parameters,
And the signal intensity of at least three wireless transmission signal is sent to server, so as to server according to
According to signal intensity, the distance of smart machine and terminal is determined.
In alternatively possible implementation, terminal can be wirelessly transferred letter based on described at least three
Number signal intensity, determine the distance of at least three smart machine and terminal.Then, terminal can
So that the distance of at least three smart machine and terminal is sent into given server.
Optionally, in the indoor locating system of the present embodiment the beacon message include it is following a kind of or several
Kind：
The unique mark of the smart machine；
The positional information of the smart machine.
Wherein, when the unique mark of the beacon message including the smart machine, then server base
In at least three beacon message and at least three ranging parameters, the position of the terminal is determined
Information, Ke Yiwei：
Based on the unique mark of at least three smart machine, from the mark and positional information prestored
Corresponding relation in, inquire about the positional information of at least three smart machine；Using this at least three
The positional information of smart machine and at least three ranging parameters, determine the positional information of the terminal.
Further, the server can be connected by network with smart machine.
Then the smart machine is additionally operable to before the wireless transmission signal is sent, the position according to reference point
And the smart machine calculates the position of the smart machine to the direction of reference point and the angle of ground magnet-wire
Confidence ceases；The mark of the positional information of the smart machine and the smart machine is sent to server.
Wherein, reference point may be considered terminal known to position
Accordingly, server is additionally operable to store position letter of the mark with the smart machine of the smart machine
Corresponding relation between breath.
Further, server is additionally operable to the position based on the mark of the smart machine and the smart machine
Confidence ceases, and builds the map of the mark and positional information that are labeled with the smart machine；Will be described
Figure returns to the terminal.
It is understood that the positional information for the smart machine that intelligent terminal goes out self poisoning is sent
After server, server just directly can be built using the positional information of this smart machine
Mould, so as to construct the map for the position for including the smart machine.With inputting intelligence by user
The positional information of energy equipment is compared, and the positional information that self poisoning goes out is sent into clothes by smart machine
Be engaged in device after, server can Direct Recognition go out the positional information that smart machine is oriented so that quickly
Modeling, is conducive to rapid build to go out the map for including smart machine position.
It should be noted that in actual applications when a fairly large number of situation of smart machine to be positioned
Under, can the first positional information based on the reference point, and smart machine as described above determines
Position process, first determines the positional information of part smart machine.And position is not determined for other
Smart machine, then can come using the part smart machine for having determined position as beacon equipment
Orient the position of itself.For example, it is assumed that have 100 smart machines, then can be first according to reference
The positional information of point, determines the positional information of 5 smart machines, and remaining 95 intelligence is set
It is standby then can be using this 5 smart machines as beacon equipment, and sent according to this 5 smart machines
Wireless transmission signal signal parameter, to determine the positional information of this 95 smart machines respectively.
Optionally, smart machine it is self-positioning go out the positional information of itself after, can also be according to preset
Design drawing position data, and whether calibrate smart machine in applying using digital gradienter
At position designed by work design drawing；If it is not, then output prompt message, so that user adjusts intelligence
Can equipment installation site, and by smart machine reposition and adjust after smart machine position believe
Breath.
A kind of indoor positioning device provided in an embodiment of the present invention is introduced below, it is described below fixed
Position device can be with a kind of above-described indoor orientation method mutually to should refer to.
Fig. 6 is a kind of structured flowchart of indoor positioning device provided in an embodiment of the present invention, and the device can be answered
For terminals such as smart mobile phone, tablet personal computers；The device can include：
Signal receiving unit 601, for determining that the intelligence that current time is in signal range of receiving is set
The standby wireless transmission signal sent；
Signal resolution unit 602, the signal parameter for obtaining the wireless transmission signal, the letter
Number parameter includes：The signal intensity of the wireless transmission signal and the wireless transmission signal are carried
Beacon message；
Positioning unit 603, it is right for the signal parameter based on wireless transmission signal described at least three
Terminal is positioned.
Optionally, the smart machine being previously mentioned in the indoor positioning device can be Intelligent illumination device.
Optionally, in the indoor positioning device, the wireless transmission signal that the signal receiving unit is received
It can be Bluetooth signal.
Optionally, the beacon message includes one or more of：
The unique mark of the smart machine；
The positional information of the smart machine.
Optionally, the positioning unit, including：
Location Request unit, for sending Location Request to given server, the Location Request is carried
There is the signal parameter of wireless transmission signal described in described at least three；
Position receiving subelement, the position letter for receiving the terminal that the given server is returned
Breath, wherein, the positional information of the terminal is the given server according to described at least three
The beacon message that the wireless transmission signal is carried, is wirelessly passed it is determined that sending described in described at least three
The positional information of at least three smart machines of defeated signal, and it is wireless according to described at least three
Transmit the signal intensity of signal, determine at least three smart machine and the terminal distance it
Afterwards, according to the positional information of at least three smart machine and at least three smart machine
Determined with the distance of the terminal.
Optionally, the positioner can also include：Distance determining unit, for single in the positioning
Before member is positioned to the terminal, the letter according to wireless transmission signal described in described at least three
Number intensity, determines to send at least three intelligence of wireless transmission signal described in described at least three respectively
The distance of equipment and the terminal；
Then, the positioning unit, including：
Locator unit, for the beacon message that is carried based at least three wireless transmission signal with
And at least three smart machine and the distance of the terminal, the terminal is positioned.
On the other hand, another indoor orientation method with the application is corresponding, and the embodiment of the present application is also
There is provided another indoor positioning device, the positioner can apply to server.Referring to Fig. 7,
The positioner can include：
Request reception unit 701, the Location Request sent for receiving terminal, the Location Request is taken
With at least three beacon messages and at least three ranging parameters, wherein, at least three letter
Mark information is sent by the terminal from least three smart machines in signal range of receiving
Got at least three wireless transmission signals, at least three ranging parameters are based on described
What the signal intensity of at least three wireless transmission signals was determined, and for determining at least three intelligence
The parameter of energy equipment and the distance between the terminal；
Position determination unit 702, for based at least three beacon message and described at least three
Individual ranging parameters, determine the positional information of the terminal；
Position returning unit 703, for the positional information of the terminal to be returned into the terminal.
Optionally, the wireless transmission signal can be Bluetooth signal.
Optionally, the smart machine can be Intelligent illumination device.
Optionally, the beacon message includes following one or more：
The unique mark of the smart machine；
The positional information of the smart machine.
Wherein, when the unique mark of the beacon message including the smart machine, then the position
Determining unit, including：
Subelement is inquired about, for the unique mark based at least three smart machine, is deposited from advance
In the mark of storage and the corresponding relation of positional information, the position of at least three smart machine is inquired about
Information；
First determination subelement, for the positional information using at least three smart machine and institute
At least three ranging parameters are stated, the positional information of the terminal is determined.
Optionally, the ranging parameters include：
The signal intensity of at least three wireless transmission signal；
Or, at least three smart machine and the distance of the terminal, wherein, the distance is
What the signal intensity for the wireless transmission signal that the terminal is sent according to the smart machine was determined.
Wherein, when the ranging parameters include the signal intensity of at least three wireless transmission signal
When, then the position determination unit, including：
Apart from determination subelement, for the signal intensity according at least three wireless transmission signal,
Determine the distance of at least three smart machine and the terminal；
Second determination subelement, for utilizing at least three beacon message and described at least three
Smart machine and the distance of the terminal, determine the positional information of the terminal.
Optionally, the position determination unit, including：
Orientation on map subelement, the preset map for calling, and based at least three beacon letter
Breath and at least three ranging parameters, determine position of the terminal in the map；
It is then described by position returning unit, including：
Map returns to subelement, described for the map for being labeled with the terminal position to be returned to
Terminal.
The embodiment of the present invention additionally provides a kind of terminal, and the terminal can include one kind described above and determine
Position device.
Fig. 8 shows a kind of hardware block diagram of terminal, and reference picture 8, the terminal 800 can be wrapped
Include：Processor 801, communication interface 802, memory 803 and communication bus 804；
Wherein processor 801, communication interface 802, memory 803 are completed by communication bus 804
Mutual communication；
Optionally, communication interface 802 can be the interface of communication module, the interface of such as gsm module；
Processor 801, for configuration processor；
Memory 803, for depositing program；
Program can include program code, and described program code includes computer-managed instruction.
Processor 801 is probably a central processor CPU, or specific integrated circuit ASIC
(Application Specific Integrated Circuit), or be arranged to implement of the invention real
Apply one or more integrated circuits of example.
Memory 803 may include high-speed RAM memory, it is also possible to also including non-volatile memories
Device (non-volatile memory), for example, at least one magnetic disk storage.
Wherein, program can be specifically for：
Determine current time be in signal range of receiving in smart machine sent be wirelessly transferred letter
Number；
The signal parameter of the wireless transmission signal is obtained, the signal parameter includes：It is described to be wirelessly transferred letter
Number signal intensity and the wireless transmission signal carry beacon message；
Based on the signal parameter of at least three wireless transmission signals, terminal is positioned.
The embodiment of the present invention additionally provides a kind of server, and the server can include described above another
A kind of positioner.
Fig. 9 shows a kind of hardware block diagram of server, reference picture 9, and the server 900 can
With including：Processor 901, communication interface 902, memory 903 and communication bus 904；
Wherein processor 901, communication interface 902, memory 903 are completed by communication bus 904
Mutual communication；
Optionally, communication interface 902 can be the interface of communication module, the interface of such as gsm module；
Processor 901, for configuration processor；
Memory 903, for depositing program；
Program can include program code, and described program code includes computer-managed instruction.
Processor 901 is probably a central processor CPU, or specific integrated circuit ASIC
(Application Specific Integrated Circuit), or be arranged to implement of the invention real
Apply one or more integrated circuits of example.
Memory 903 may include high-speed RAM memory, it is also possible to also including non-volatile memories
Device (non-volatile memory), for example, at least one magnetic disk storage.
Wherein, program can be specifically for：
Receiving terminal send Location Request, the Location Request carry at least three beacon messages and
At least three ranging parameters, wherein, at least three beacon message is the terminal from signal
Obtained at least three wireless transmission signals that at least three smart machines in range of receiving are sent
Arrive, at least three ranging parameters are the signal intensity based at least three wireless transmission signal
Determine, and for determining at least three smart machine and the parameter of the distance between the terminal；
Based at least three beacon message and at least three ranging parameters, the position of the terminal is determined
Confidence ceases；
The positional information of the terminal is returned into the terminal.
The embodiment of each in this specification is described by the way of progressive, what each embodiment was stressed
All be between the difference with other embodiment, each embodiment identical similar portion mutually referring to
.For device disclosed in embodiment, because it is corresponded to the method disclosed in Example,
So description is fairly simple, related part is referring to method part illustration.
Professional further appreciates that, with reference to each of the embodiments described herein description
The unit and algorithm steps of example, can be with electronic hardware, computer software or the combination of the two
To realize, in order to clearly demonstrate the interchangeability of hardware and software, press in the above description
The composition and step of each example are generally described according to function.These functions actually with hardware still
Software mode is performed, depending on the application-specific and design constraint of technical scheme.Professional skill
Art personnel can realize described function to each specific application using distinct methods, but
It is this realization it is not considered that beyond the scope of this invention.
The step of method or algorithm for being described with reference to the embodiments described herein, can be directly with hard
The software module of part, computing device, or the two combination are implemented.Software module can be put
In random access memory (RAM), internal memory, read-only storage (ROM), electrically programmable ROM,
Electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or make
With the present invention.A variety of modifications to these embodiments will be for those skilled in the art
It will be apparent that generic principles defined herein can not depart from the spirit or model of the present invention
In the case of enclosing, realize in other embodiments.Therefore, the present invention is not intended to be limited to herein
These shown embodiments, and be to fit to consistent with principles disclosed herein and features of novelty
Most wide scope.
Claims (25)
1. a kind of indoor orientation method, it is characterised in that including：
Receiving terminal send Location Request, the Location Request carry at least three beacon messages with
And at least three ranging parameters, wherein, at least three beacon message be the terminal from
In at least three wireless transmission signals that at least three smart machines in signal range of receiving are sent
Get, at least three ranging parameters are based at least three wireless transmission signal
What signal intensity was determined, and for determining between at least three smart machine and the terminal
The parameter of distance；
Based at least three beacon message and at least three ranging parameters, the end is determined
The positional information at end；
The positional information of the terminal is returned into the terminal.
2. indoor orientation method according to claim 1, it is characterised in that the beacon letter
Breath includes following one or more：
The unique mark of the smart machine；
The positional information of the smart machine.
3. indoor orientation method according to claim 2, it is characterised in that when the beacon
It is when information includes the unique mark of the smart machine, then described based at least three beacon letter
Breath and at least three ranging parameters, determine the positional information of the terminal, including：
Based on the unique mark of at least three smart machine, believe from the mark prestored with position
In the corresponding relation of breath, the positional information of at least three smart machine is inquired about；
Using the positional information and at least three ranging parameters of at least three smart machine,
Determine the positional information of the terminal.
4. indoor orientation method according to claim 1 or 2, it is characterised in that the survey
Include away from parameter：
The signal intensity of at least three wireless transmission signal；
Or, at least three smart machine and the distance of the terminal, wherein, the distance is
What the signal intensity for the wireless transmission signal that the terminal is sent according to the smart machine was determined.
5. indoor orientation method according to claim 4, it is characterised in that when the ranging
During the signal intensity of parameter including at least three wireless transmission signal, then it is described based on it is described extremely
Few three beacon messages and at least three ranging parameters, determine the positional information of the terminal,
Including：
According to the signal intensity of at least three wireless transmission signal, at least three intelligence is determined
The distance of equipment and the terminal；
Utilize at least three beacon message and at least three smart machine and the terminal
Distance, determine the positional information of the terminal.
6. indoor orientation method according to claim 1 or 2, it is characterised in that the base
In at least three beacon message and at least three ranging parameters, the terminal is determined
Positional information, including：
Preset map is called, and is surveyed based at least three beacon message and described at least three
Away from parameter, position of the terminal in the map is determined；
Then the positional information by the terminal returns to the terminal, including：
The map for being labeled with the terminal position is returned into the terminal.
7. indoor orientation method according to claim 1 or 2, it is characterised in that the intelligence
Energy equipment includes：
Intelligent illumination device.
8. a kind of indoor orientation method, it is characterised in that including：
Determine current time be in signal range of receiving in smart machine sent be wirelessly transferred letter
Number；
The signal parameter of the wireless transmission signal is obtained, the signal parameter includes：The wireless biography
The beacon message that the signal intensity of defeated signal and the wireless transmission signal are carried；
Based on the signal parameter of wireless transmission signal described at least three, terminal is positioned.
9. indoor orientation method according to claim 8, it is characterised in that the beacon letter
Breath includes one or more of：
The unique mark of the smart machine；
The positional information of the smart machine.
10. indoor orientation method according to claim 8 or claim 9, it is characterised in that the base
In the signal parameter of wireless transmission signal described at least three, terminal is positioned, including：
Location Request is sent to given server, the Location Request is carried described in described at least three
The signal parameter of wireless transmission signal；
The positional information for the terminal that the given server is returned is received, wherein, the terminal
Positional information is that the given server is carried in the wireless transmission signal according to described at least three
Beacon message, it is determined that send wireless transmission signal described in described at least three at least three intelligence
The positional information of equipment, and according to described at least three wireless transmission signal signal intensity,
After the distance for determining at least three smart machine and the terminal, according to described at least three
The positional information of smart machine and at least three smart machine and the distance of the terminal are determined
's.
11. indoor orientation method according to claim 8 or claim 9, it is characterised in that described
Based on the signal parameter of wireless transmission signal described at least three, before being positioned to terminal, also
Including：
According to the signal intensity of wireless transmission signal described in described at least three, determine to send described respectively
At least three smart machines of wireless transmission signal described at least three and the distance of the terminal；
Then, the signal parameter based on wireless transmission signal described at least three, is determined terminal
Position, including：
The beacon message and described at least three carried based at least three wireless transmission signal
Smart machine and the distance of the terminal, are positioned to the terminal.
12. indoor orientation method according to claim 11, it is characterised in that described to be based on
Beacon message and at least three intelligence that wireless transmission signal described in described at least three is carried
The distance of equipment and the terminal, is positioned to the terminal, including：
Location Request is sent to given server, the Location Request is carried described in described at least three
The beacon message and at least three smart machine that wireless transmission signal is carried and the terminal
Distance；
The positional information for the terminal that the given server is returned is received, wherein, the terminal
Positional information is that the given server is carried in the wireless transmission signal according to described at least three
Beacon message, after the positional information for determining at least three smart machine, according to described
The positional information of at least three smart machines and at least three smart machine and the terminal
What distance was determined.
13. indoor orientation method according to claim 11, it is characterised in that described to be based on
Beacon message and at least three smart machine that at least three wireless transmission signal is carried
With the distance of the terminal, the terminal is positioned, including：
The beacon message carried according at least three wireless transmission signal, determines described at least three
The positional information of smart machine；
According to the positional information of at least three smart machine, and at least three smart machine
With the distance of the terminal, the position of the terminal is determined.
14. indoor orientation method according to claim 13, it is characterised in that when the letter
It is described to be wirelessly transferred according to described at least three when marking the unique mark that information is the smart machine
The beacon message that signal is carried, determines the positional information of at least three smart machine, including：
According to the unique mark of at least three wireless transmission signal, from the mark of server storage with
In the corresponding relation of positional information, the positional information of at least three smart machine is obtained.
15. indoor orientation method according to claim 10, it is characterised in that the determination
The wireless transmission signal that the smart machine that current time is in signal range of receiving is sent, including：
If currently meeting preparatory condition, it is determined that current time is in the intelligence in signal range of receiving
The wireless transmission signal that equipment is sent.
16. indoor orientation method according to claim 8 or claim 9, it is characterised in that the intelligence
Energy equipment is Intelligent illumination device.
17. a kind of indoor locating system, it is characterised in that including：
Multiple smart machines for being built-in with wireless chip, it is described wireless for sending wireless transmission signal
Transmission signal carries the beacon message of the smart machine；
The terminal of wireless chip is built-in with, for determining institute of the current time in signal range of receiving
State the wireless transmission signal that smart machine is sent；The signal parameter of the wireless transmission signal is obtained,
The signal parameter includes：The signal intensity of the wireless transmission signal and described it is wirelessly transferred letter
Number carry beacon message；Based on the signal parameter of wireless transmission signal described at least three, to institute
Terminal is stated to be positioned.
18. indoor locating system according to claim 17, it is characterised in that the interior
Alignment system also includes：The server being connected by network with the terminal；
The terminal, is additionally operable to the signal intensity based at least three wireless transmission signal, it is determined that
At least three ranging parameters, wherein, at least three ranging parameters, for determine it is described at least
The distance between three smart machines and the terminal；
The server, for receiving at least three ranging parameters and the institute that the terminal is sent
State at least three beacon messages entrained by least three wireless transmission signals；Based on described at least three
Individual beacon message and at least three ranging parameters, determine the positional information of the terminal；Will
The positional information of the terminal returns to the terminal.
19. indoor locating system according to claim 18, it is characterised in that the beacon
Information includes：The mark of the smart machine；
Then, the server is connected by network with the smart machine；
The smart machine, is additionally operable to before the wireless transmission signal is sent, according to reference point
Position and the smart machine calculate described to the direction of the reference point and the angle of ground magnet-wire
The positional information of smart machine；By the positional information of the smart machine and the smart machine
Mark is sent to the server；
The server is additionally operable to store mark and the position of the smart machine of the smart machine
Corresponding relation between information.
20. indoor locating system according to claim 19, it is characterised in that the service
Device, is additionally operable to the mark based on the smart machine and the positional information of the smart machine, structure
Build the map of the mark and positional information that are labeled with the smart machine；
Then the positional information of the terminal is returned to the terminal by the server, including：Will be described
Map returns to the terminal.
21. a kind of indoor positioning device, it is characterised in that including：
Signal receiving unit, for determining smart machine institute of the current time in signal range of receiving
The wireless transmission signal sent；
Signal resolution unit, the signal parameter for obtaining the wireless transmission signal, the signal ginseng
Number includes：The letter that the signal intensity of the wireless transmission signal and the wireless transmission signal are carried
Mark information；
Positioning unit, for the signal parameter based on wireless transmission signal described at least three, to terminal
Positioned.
22. indoor positioning device according to claim 21, it is characterised in that the positioning
Unit, including：
Location Request unit, for sending Location Request to given server, the Location Request is carried
There is the signal parameter of wireless transmission signal described in described at least three；
Position receiving subelement, the position letter for receiving the terminal that the given server is returned
Breath, wherein, the positional information of the terminal is the given server according to described at least three
The beacon message that the wireless transmission signal is carried, is wirelessly passed it is determined that sending described in described at least three
The positional information of at least three smart machines of defeated signal, and it is wireless according to described at least three
Transmit the signal intensity of signal, determine at least three smart machine and the terminal distance it
Afterwards, according to the positional information of at least three smart machine and at least three smart machine
Determined with the distance of the terminal.
23. indoor positioning device according to claim 21, it is characterised in that also include：
Distance determining unit, for before the positioning unit is positioned to the terminal, foundation
The signal intensity of wireless transmission signal described in described at least three, determines to send described at least three respectively
At least three smart machines of the individual wireless transmission signal and the distance of the terminal；
Then, the positioning unit, including：
Locator unit, for the beacon message that is carried based at least three wireless transmission signal with
And at least three smart machine and the distance of the terminal, the terminal is positioned.
24. a kind of indoor positioning device, it is characterised in that including：
Request reception unit, the Location Request sent for receiving terminal, the Location Request is carried
At least three beacon messages and at least three ranging parameters, wherein, at least three beacons letter
Cease and sent at least from least three smart machines in signal range of receiving by the terminal
Got in three wireless transmission signals, at least three ranging parameters be based on it is described at least
What the signal intensity of three wireless transmission signals was determined, and for determining that at least three intelligence is set
The standby parameter with the distance between the terminal；
Position determination unit, for being surveyed based at least three beacon message and described at least three
Away from parameter, the positional information of the terminal is determined；
Position returning unit, for the positional information of the terminal to be returned into the terminal.
25. indoor positioning device according to claim 24, it is characterised in that the position
Determining unit, including：
Orientation on map subelement, the preset map for calling, and based at least three beacon letter
Breath and at least three ranging parameters, determine position of the terminal in the map；
Then, it is described by position returning unit, including：
Map returns to subelement, described for the map for being labeled with the terminal position to be returned to
Terminal.
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| CN201610124815.XA CN107153171B (en) | 2016-03-04 | 2016-03-04 | Indoor positioning method, device and system |
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|---|---|---|---|
| CN201610124815.XA CN107153171B (en) | 2016-03-04 | 2016-03-04 | Indoor positioning method, device and system |
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| CN107835490A (en) * | 2017-10-10 | 2018-03-23 | 深圳数位传媒科技有限公司 | Floor position localization method, system, server and computer-readable recording medium |
| CN109246597A (en) * | 2018-08-14 | 2019-01-18 | 北京云迹科技有限公司 | Location determining method and device |
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| CN109633535A (en) * | 2019-01-21 | 2019-04-16 | 上海美迪索科电子科技有限公司 | A kind of positioning system, method, apparatus and storage medium |
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