CN107270911A - Method of locating terminal, equipment, system and computer-readable recording medium - Google Patents

Abstract

The invention discloses a kind of method of locating terminal, equipment, system and computer-readable recording medium, terminal positioning device is changed using the induction of signal intensity of terminal-pair hotspot with the change of its distance between hotspot, at least three hotspot that can sense of selection terminal are as referring to focus, general principle based on three-point fix, determine that terminal respectively refers to the relative position of focus relatively, and then position of the terminal in the building is determined according to position distribution of each reference focus in building.In building without gps signal when, realize the terminal positioning in building, allow the user to enjoy terminal positioning and the service based on terminal positioning in the same old way, it is to avoid the problem of user can not determine self-position in building, improve Consumer's Experience.

Description

Method of locating terminal, equipment, system and computer-readable recording medium

Technical field

The present invention relates to communication technical field, more specifically to a kind of method of locating terminal, equipment, system and meter Calculation machine readable storage medium storing program for executing.

Background technology

With developing rapidly for mobile communication, terminal of today, such as mobile phone, PAD (tablet personal computer), PDA (personal Digital assistant, personal digital assistant), PC etc. has become can not in many user's routine works lives Or scarce instrument.By taking mobile phone as an example, except providing, there is provided location information service in addition to common voice call and Short Message Service Also become more and more important.

Mobile phone positioning function design commonly used at present, is that special GPS (Global are configured in mobile phone Positioning System, global positioning system) hardware chip, by receiving, aerial gps satellite signal realizes mobile phone Positioning.But GPS, as a kind of satellite fix means, when satellite-signal not strong or no signal, mobile phone can not just make Positioned with GPS.For example, high buildings and large mansions stand in great numbers in city, particularly in building, substantially without gps signal.Therefore large-scale Realize that the positioning of the terminals such as mobile phone is extremely difficult by GPS in building, cause user to utilize mobile phone substantially in building Come clear and definite orientation or carry out destination navigation etc., this causes great inconvenience to user, for example, being laid out in megastore multiple Miscellaneous, businessman is numerous, if so user wants to find a certain businessman in a market oneself being not familiar with, must spend big The time of amount carries out destination and sought, and causes Consumer's Experience extremely bad.

Therefore, the present invention continues to provide a kind of terminal positioning scheme, to solve in building not entering in the prior art The problem of being accurately positioned in row building.

The content of the invention

The technical problem to be solved in the present invention is：Solve not being accurately positioned in terminal building in the prior art The problem of, for the technical problem, there is provided a kind of method of locating terminal, equipment, system and computer-readable recording medium.

In order to solve the above technical problems, the present invention provides a kind of method of locating terminal, the method for locating terminal includes：

The identification information of building where obtaining terminal；

Each hotspot space in the building can be characterized by being obtained according to the identification information from information repository Each hotspot location information stored in the hotspot location information of position, described information thesaurus and the identification information pair of each building Should；

In the building selection at least three can by the terminal induction to hotspot as referring to focus；

Calculated and determined according to the induction of signal intensity of each reference focus of the terminal-pair and the hotspot location information The physical location of the terminal.

Alternatively, the induction of signal intensity according to each reference focus of the terminal-pair is believed with the hotspot location Breath, which is calculated, determines that the physical location of the terminal includes：

Using the position of each reference focus as the spheroid centre of sphere, by relation of the basis signal induction with distance of reaction The terminal and the distance of reaction of each reference focus determined are that the terminal sets up position mistake as radius of sphericity It is the current possibility position of the terminal to filter the point that any one sphere intersects with another sphere on model, the location filtering model Put；

The current physical location of the terminal is determined based on the position relationship between each possible position.

Alternatively, the position relationship based between each possible position determines the current physical location of the terminal Including：

Upright projection is carried out in two orthogonal planes to the location filtering model, obtains including the of circle One filtering model and the second filtering model, first filtering model are able to characterize the end with second filtering model The current possible position in the first plane and the second plane in end；

Respectively according to the position relationship between each possible position of the terminal in the first plane and the second plane with it is default Rule calculate the terminal in the first plane the first relative coordinate (x1, z) and the terminal in the second face second Relative coordinate (x2, y)；

(x1, z) (x2 y) is calculated and is obtained institute the first relative coordinate with second relative coordinate according to the terminal State actual position coordinate (x, y, z) of the terminal in solid space.

Alternatively, the number of the reference focus is n, described respectively according to the terminal in the first plane and the second plane Position relationship between interior each possible position calculates first relative coordinate of the terminal in the first plane with preset rules (x1, z) (x2 y) includes with second relative coordinate of the terminal in the second face：Distinguish for the first plane and the second plane Calculate in such a way the first relative coordinate (x1, z) and the second relative coordinate (x2, y)：

By each reference thermal point according toIt is combined；

It is determined that the available point of correspondence filtering model：The group of two is less than for three circular possible position numbers existed Close, select the triangle center of gravity in three centers of circle as the first kind available point of the combination；Deposited for three circles In two possible positions and two combinations commonly occured simultaneously, the midpoint of described two possible position lines is selected to be used as the combination Equations of The Second Kind available point, the common common factor is the circular intersection area of any two；There are four possible positions for three circles Put and combination that two are commonly occured simultaneously, select four possible positions to constitute the midpoint conduct of the length of side most short side in quadrangle The Equations of The Second Kind available point of the combination；There are six possible positions and a shared combination occured simultaneously for three circles, selection is enclosed Close and form three possible positions of the shared common factor and constitute the center of gravity of figure as the 3rd class available point of the combination, it is described It is shared to occur simultaneously for the common intersection area of three circles；There are four focuses and three groups commonly occured simultaneously for three circles Close, select three circular common intersection points as the 3rd class available point of the combination；

Calculated respectively in the type using line arbitrarily two-by-two between available point as diagonal for different types of available point The density of the type available point in the square of line；

Two available points of the density value maximum for constituting square are chosen in all types, and calculate two available points Relative coordinate of the position coordinates at line midpoint as the terminal in the plane.

Alternatively, the first relative coordinate (x1, z) with second relative coordinate (x2, y) calculating according to the terminal Obtaining actual position coordinate (x, y, z) of the terminal in solid space includes：

By first relative coordinate, (x1, z) (x2 y) is combined and obtains the first space with second relative coordinate Point (x1, y, z) and second space point (x2, y, z)；

According to the aimed at precision of terminal positioning by the first spatial point (x1, y, z) and the line m of second space point (x2, y, z) Decile, obtains m+1 spatial point, described

Reality between each spatial point and each reference focus is calculated according to the coordinate position of each spatial point Distance；

For each spatial point calculate respectively actual range and the terminal be directed between each reference focus sense away from From error, and the minimum spatial point of Select Error is as the physical location of the terminal, by the coordinate for the spatial point selected It is worth the actual position coordinate as the terminal.

Alternatively, the induction of signal intensity according to each reference focus of the terminal-pair is believed with the hotspot location Breath is calculated after the physical location for determining the terminal, in addition to：According to the physical location of the terminal with from described information storehouse In the building structure information of the building that gets determine the particular location of the relatively described building of the terminal.

Alternatively, the physical location according to the terminal and the building that is got from described information storehouse Building structure information determined after the particular location of the relatively described building of the terminal, in addition to：It is relative according to the terminal The particular location of the building provides at least one of following several location information services to the terminal user：

Position display is carried out to user according to the building structure information of the particular location of the terminal and the building；

According to destination locations, the particular location of the terminal and the building of the terminal in the building The building structure information of thing is that the terminal is navigated；

According to the information of each hotspot supplier near the particular location of the terminal and the terminal to the terminal Carry out Push Service；

The particular location of the terminal is carried out by network sharing according to the instruction of sharing of user.

Further, the invention provides a kind of terminal positioning device, the terminal positioning device includes processor, storage Device and communication bus；

The communication bus is used to realize the connection communication between processor and memory；

The processor is used to perform the terminal positioning program stored in memory, to realize following steps：

The identification information of building where obtaining terminal；

Each hotspot space in the building can be characterized by being obtained according to the identification information from information repository Each hotspot location information stored in the hotspot location information of position, described information thesaurus and the identification information pair of each building Should；

In the building selection at least three can by the terminal induction to hotspot as referring to focus；

Calculated and determined according to the induction of signal intensity of each reference focus of the terminal-pair and the hotspot location information The physical location of the terminal.

Further, present invention also offers a kind of Terminal Position Location System, the Terminal Position Location System includes terminal and clothes Business device；

The identification information of building of the server for being sent according to the terminal is obtained from information bank being capable of table Levy in the building hotspot location information of each hotspot locus and return to the terminal, described information thesaurus Each hotspot location information of middle storage is corresponding with the identification information of each building；

The terminal is used for the identification information of building where obtaining itself, and the identification information is sent into the clothes Business device；And in the building hotspot that itself can sense of selection at least three as referring to focus, and root Calculated according to itself the induction of signal intensity to each reference focus and the hotspot location information and determine the physical location of itself.

Further, present invention also offers a kind of computer-readable recording medium, the computer-readable recording medium Be stored with one or more program, and one or more of programs can be by one or more computing device, to realize Following steps：

The identification information of building where obtaining terminal；

Each hotspot space in the building can be characterized by being obtained according to the identification information from information repository Each hotspot location information stored in the hotspot location information of position, described information thesaurus and the identification information pair of each building Should；

In the building selection at least three can by the terminal induction to hotspot as referring to focus；

Calculated and determined according to the induction of signal intensity of each reference focus of the terminal-pair and the hotspot location information The physical location of the terminal.

Beneficial effect

The present invention provides a kind of method of locating terminal, equipment, system and computer-readable recording medium, terminal positioning device The identification information of building where by obtaining terminal, building where terminal is obtained according to the identification information from information repository The hotspot location information of each hotspot in thing, and the wireless heat that selection at least three can be arrived by terminal induction in building Point is used as and refers to focus；Calculate the reality for determining terminal with hotspot location information with reference to the induction of signal intensity of focus according to terminal-pair Border position.In the solution of the present invention, terminal positioning device is using the induction of signal intensity of terminal-pair hotspot with itself and nothing The change of distance between line focus and change, at least three hotspot that can sense of selection terminal are as referring to focus, base In the general principle of three-point fix, determine that terminal respectively refers to the relative position of focus relatively, and then exist according to each reference focus Position distribution in building determines position of the terminal in the building.In building without gps signal when, it is real Show the terminal positioning in building so that user can enjoy terminal positioning and the service based on terminal positioning in the same old way, The problem of user can not determine self-position in building is avoided, Consumer's Experience is improved.

Brief description of the drawings

Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：

Fig. 1 is a kind of flow chart of the method for locating terminal provided in first embodiment of the invention；

Fig. 2 is a kind of schematic perspective view of the induction of signal of one hotspot of terminal-pair in various embodiments of the present invention；

Fig. 3 is the two-dimensional representation of the induction of signal situation of two hotspot of terminal-pair in various embodiments of the present invention；

Fig. 4 is the two-dimensional representation of the induction of signal situation of three hotspot of terminal-pair in various embodiments of the present invention；

Fig. 5 senses undesirable situation schematic diagram for three hotspot of terminal-pair in various embodiments of the present invention；

Fig. 6 is a kind of schematic diagram based on three location filtering models set up with reference to focus in various embodiments of the present invention；

Fig. 7 is a kind of schematic diagram based on six location filtering models set up with reference to focus in various embodiments of the present invention；

Fig. 8 be according to location filtering model a certain plane filtering model computing terminal in the plane relative coordinate Flow chart；

Fig. 9 is the distribution schematic diagram of the first filtering model available point of position filtering model in Fig. 7；

Figure 10 is that the flow chart for obtaining terminal physical location is calculated according to the first relative coordinate and the second relative coordinate；

Figure 11 is the first spatial point and the relation schematic diagram of second space point in the direction of the x axis；

Figure 12 is a kind of schematic diagram of the Terminal Position Location System provided in second embodiment of the invention；

Figure 13 is a kind of flow chart of the method for locating terminal provided in second embodiment of the invention；

Figure 14 is a kind of structural representation of the Terminal Position Location System provided in third embodiment of the invention；

Figure 15 is a kind of flow chart of the method for locating terminal provided in third embodiment of the invention；

Figure 16 is a kind of hardware architecture diagram of the terminal positioning device provided in fourth embodiment of the invention；

Figure 17 is a kind of hardware architecture diagram of the mobile terminal provided in fifth embodiment of the invention；

Figure 18 is a kind of hardware architecture diagram of the server provided in fifth embodiment of the invention；

Figure 19 is a kind of User Interface schematic diagram of terminal in various embodiments of the present invention；

Figure 20 is a kind of display interface schematic diagram of terminal in various embodiments of the present invention；

Figure 21 is another display interface schematic diagram of terminal in various embodiments of the present invention.

Embodiment

It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.

First embodiment：

Accurate terminal positioning can not be realized in building in order to solve GPS positioning technology, is caused inconvenience to the user Problem, the present embodiment provides a kind of new terminal positioning scheme, and one kind of the method for locating terminal shown in Fig. 1 is referred to below Flow chart：

S12, the identification information for obtaining terminal place building.

The identification information of building is can uniquely to characterize the information of the building, that is, the mark letter of a solitary building Breath is uniquely corresponding with the building.When the title of building is unique, directly it can be referred to as using the name of the building The identification information of the building, such as " XX mansions ".And if the title of building is not uniquely to belong to the building, then can be with Building name is combined the other information of the building to uniquely determine the building, for example, passes through " the rough position of building Put+building name " form come uniquely characterize a solitary building, " such as XX mansions in B areas of A cities "；In another example, pass through building Other information be used as the identification information of the building, such as " construction time+building name of building ".In addition, For example one can also be distributed using the other information of building as the identification information of the building to each solitary building Unique ID, for unique ID of a certain building, it is ensured that it only belongs to the building.

The mode of building identification information has following several where terminal positioning device obtains terminal：

The first, is inputted from terminal user oneself to terminal positioning device.When user needs to use Terminal location services, Can the building that is currently located of oneself input terminal, it is beyond all doubt, user and terminal should in same position, so with The identification information of building actually namely inputs the identification information for oneself being currently located building where the input terminal of family.

Second, terminal positioning device control terminal gets what terminal was currently located by modes such as architecture technologies Rough position, then the building according to where rough position determines terminal be which, and then obtain the mark of building Information.

S14, obtained according to identification information from information repository and can characterize each hotspot space bit in the building The hotspot location information put.

After the identification information of building where terminal is got, terminal positioning device is according to the identification information from information The hotspot location information of each hotspot in the building is obtained in thesaurus.Hotspot location information can be characterized in the building Each hotspot locus, such as the coordinate value of some hotspot in three dimensions.

In information repository, the hotspot location information for multiple buildings that are stored with, each hotspot location information and each building The identification information of thing is corresponded.For the ease of search, can allow each hotspot location information title in include correspondence building The identification information of thing, so, when needing to obtain the hotspot location information of X buildings, it is only necessary to searched in information repository Title includes the hotspot location information of X building identification informations.Information repository can be deployed in terminal positioning device sheet In the storage location on ground, in the storage location that outside can also be arranged on, wired or wireless side is passed through with terminal positioning device Formula is attached, and hotspot location information is obtained for its lookup.

In the present embodiment, in information repository in addition to the hotspot location information that is stored with, each building can also be stored The building structure information of thing, can determine the structure of each building by building structure information, include the number of floor levels, each of building Corridor corridor information of the height of floor, the area of each floor, the channel information inside each floor and floor gap etc..

S16, in building selection at least three can by terminal induction to hotspot as referring to focus.

The terminal positioning scheme provided in the present embodiment is mainly based upon the sense of hotspot in terminal-pair building Intensity is answered to determine position that terminal is current, mainly make use of had when distance is different between terminal and each hotspot it is different This feature of induction of signal intensity, so according to the induction of signal intensity of one hotspot of terminal-pair, terminal positioning device can Think that terminal determines many possible positions.For the ease of description, in the present embodiment by terminal apart from hotspot distance Referred to as " distance of reaction " of the terminal with hotspot.In theory, in solid space, if hotspot A is regarded as into a point, Then its meeting court radiates wireless signal from all directions.When terminal-pair hotspot A induction of signal intensity be q when, its sense away from From being d with a distance from hotspot, but because hotspot A signal radiates no specific direction, therefore, terminal is with respect to the nothing The position of line focus is probably that radius is the optional position on d sphere, such as Fig. 2 using hotspot position as the centre of sphere It is shown.Any point on Fig. 2 sphere is all the possible position of terminal.

And in a solitary building, it will usually multiple hotspot are deployed with, so simultaneously according to terminal-pair different radio The induction of signal intensity of focus can be screened to the possible position of terminal, until a position is determined, on the position, Distance of reaction induction of signal strength matching all with the terminal-pair each hotspot of the terminal with each hotspot.Continuing with referring to Fig. 3 and Fig. 4：In the two-dimensional representation of the induction of signal situation of terminal-pair two hotspot shown by Fig. 3, terminal is a certain Two hotspot A and the signal of beta radiation are sensed simultaneously on position, according to the respective induction of signal to two hotspot Intensity, it may be determined that it is respectively d1 and d2 to go out terminal and the distance of reaction of the two hotspot.With hotspot A and wireless heat Position where point B is the center of circle, and circle is may be constructed using d1 and d2 as radius, and the two circles have two intersection points, the two Intersection point is exactly possible position of the terminal in the plane.It should be appreciated that in 3 dimensional drawing, composition should be ball Body, and any point on the lines of two spheroid intersections is all the possible position of terminal.

Figure 4 illustrates the two-dimensional representation of the induction of signal situation of three hotspot of terminal-pair, in Fig. 4, pass through Terminal-pair three hotspot A, B, C induction of signal intensity, can be in multiple possibility illustrated in fig. 3 according to same principle Further screened in position, obtain an accurate location point as the physical location of the terminal.

It can be seen from above-mentioned introduction, in order to determine the current physical location in building of terminal, terminal positioning device should When the hotspot that can be arrived by terminal induction of selection at least three, will selection in the present embodiment as reference in the building The hotspot at place is referred to as " referring to focus ".All it is ideal situation due to what is shown in Fig. 2-Fig. 4, among actual building, nothing The signal of the radiation of line focus can be because be decayed by the stop of construction wall etc., the same distance of reaction of induction of signal intensity Between relation be not simple linear relationship.Meanwhile, each hotspot transmission power of oneself is also possible to become Change, so that the induction of signal intensity of terminal changes.So, even only selecting three hotspot to be based at " 3 points Positioning principle " determines the physical location of terminal, except the ideal situation shown in Fig. 4 also in addition to, also it is also possible to occurring shown in Fig. 5 Several undesirable situations：

Three hotspot A, B, C's that for example in situation 1 three circles are sensed without intersection point, this explanation terminal Signal have received the influence of the factors such as wall stop.Three circular only one of which intersection points in situation 2.Three circles in situation 3 In with the presence of two it is circular occur simultaneously, in order to which two circular three circular common factors together that occur simultaneously are made a distinction, in the present embodiment Common factor between two circles is referred to as " common to occur simultaneously ", intersection area common between three circles is referred to as " shared to hand over Collection ".So, among situation 3, there is common a common factor and two intersection points in three circles.Appearance situation 3 is probably because ginseng The wireless signal for examining focus A radiation receives the interference of the factors such as wall.In situation 4 three circles exist two it is common occur simultaneously and Four intersection points.Three circles include a shared common factor, three common common factors and six intersection points in situation 5.

When above-mentioned various undesirable, reference focus of the number more than three can be selected to assist in terminal Physical location.

S18, the reality that determination terminal is calculated according to terminal-pair with reference to induction of signal intensity and the hotspot location information of focus Position.

Induction of signal Strength co-mputation terminal and reference thermal according to terminal-pair with reference to focus are above being described roughly The principle of point relative position.Refer to the induction of signal intensity and hotspot location of focus according to terminal-pair to terminal positioning device below The process that information calculates the physical location for determining terminal is described further：

First, using the position of each reference focus as the spheroid centre of sphere, by pass of the basis signal induction with distance of reaction The distance of reaction of the determined terminal of system and each reference focus is that terminal sets up location filtering model as radius of sphericity.

As shown in fig. 6, ball of the terminal positioning device using three reference focus A, B, C present positions as three spheroids The heart, using according to terminal-pair these three with reference to focus the distance of reaction that is conversed of induction of signal intensity as three spheroids Radius, and then set up location filtering model for terminal.On the location filtering model, any one sphere and another sphere phase The point of friendship is all probably the current possible position of terminal.

Then, the current physical location of terminal is determined based on the position relationship between each possible position.Terminal positioning device It is that terminal determines that the mode of current actual positions has a variety of based on the position relationship between each possible position, is set forth below wherein several Plant and be introduced：

The first, centered on each possible position, determines around each possible position the close of possible position number in certain limit Degree, the possible position for selecting possible position density value maximum in peripheral extent is used as the physical location of terminal.

Second, terminal positioning device carries out upright projection to position filtering model in two orthogonal planes, Obtain including the first filtering model and the second filtering model of circle, the first filtering model is able to table with the second filtering model Levy the current possible position in the first plane and the second plane of terminal.Here the first plane can be respectively with the second plane Horizontal plane and perpendicular or the orthogonal plane of other any twos.Then, terminal positioning device basis respectively Position relationship between each possible position of the terminal in the first plane and the second plane calculates terminal first with preset rules In plane the first relative coordinate (x1, z) and terminal in the second face the second relative coordinate (x2, y), finally, terminal positioning According to the relative coordinate of terminal first, (x1, z) (x2 y) is calculated and is obtained terminal in solid space equipment with the second relative coordinate Actual position coordinate (x, y, z).

First the process that terminal positioning device calculates the first relative coordinate and the second relative coordinate is introduced below, due to It is similar with process with the principle of the second relative coordinate with calculating the first relative coordinate in the second plane in the first plane, so, under The process of introducing in face does not make a distinction to plane.It is assumed that the reference thermal that terminal positioning device is terminal selection is counted out as 6, by this First filtering model schematic diagram of the location filtering model upright projection of terminal to gained after the first plane is as shown in Figure 7：

In the figure 7, the intersection point between each circle is all probably the upright projection point of terminal physical location on the first plane.Under Request in person and sat relatively in the plane referring to the filtering model computing terminal according to location filtering model in a certain plane shown in Fig. 8 Target flow chart：

S82, terminal positioning device by each reference thermal point according toIt is combined.

Terminal positioning device by each reference thermal point according toIt is combined primarily to being determined pair according to preset rules Answer the available point of filtering model.Due to above having assumed that (x1 z) is in the first relative coordinate of the first plane with computing terminal Example, then " correspondence filtering model " mentioned here refers to the first filtering model.But if terminal positioning device is currently needed for calculating Be that (x2, y), then " correspondence filtering model " refers to the second filtering model to the second relative coordinate of the terminal in the second plane.

S84, terminal positioning device determine the available point of correspondence filtering model.

Terminal positioning device by each reference thermal point according toMay be the preferable feelings shown in Fig. 4 after being combined Condition, it is also possible to be any one in 5 kinds of undesirable situations illustrated in fig. 5.First against how in undesirable feelings The combination of condition determines that the process of available point is introduced：

The combination of two, namely the feelings in Fig. 5 are less than for three circular possible position (i.e. intersection point) numbers existed The combination of condition 1 or situation 2, terminal positioning device selects the triangle center of gravity in three centers of circle as the first kind of combination Available point.

There are two possible positions and two combinations commonly occured simultaneously for three circles, similar to the group of situation in Fig. 53 Close, terminal positioning device selects the midpoint of two possible position lines as the Equations of The Second Kind available point of the combination；For three circles There is the combination of situation 4 in four possible positions and two combinations commonly occured simultaneously, such as Fig. 5, terminal positioning device selection four in shape The midpoint that individual possible position constitutes the length of side most short side in quadrangle is used as the Equations of The Second Kind available point of the combination.

Exist for three circles in six possible positions, three common common factors and a shared combination occured simultaneously, such as Fig. 5 The combination of situation 5, terminal positioning device selection encloses to form the center of gravity work that shared three possible positions occured simultaneously constitute figure For the 3rd class available point of the combination.Simultaneously for similar to the ideal situation in Fig. 4, the friendship that three circles can be selected common Put the 3rd class available point as the combination.

S86, for different types of available point, terminal positioning device is calculated in the type with arbitrarily available point two-by-two respectively Between line as the type available point in cornerwise square density.

Terminal positioning device is determined for the first filtering model after the available point of three types, can be obtained such as Fig. 9 institutes The the first filtering model available point distribution schematic diagram shown.First kind available point is represented using circular stain in fig .9, using circle White point represents Equations of The Second Kind available point, and the 3rd class available point is represented using dashed diamond.Hereafter, terminal positioning device is not respectively for The available point of same type does following processing：

For a certain class available point, calculate using line between any two available point in the type available point as cornerwise The density of the type available point in square.If the available point of a certain type has a, b, c tri-, then terminal positioning device is distinguished The density e1 that the type available point in square is constituted during using a, b point-to-point transmission line as diagonal is calculated, also to be calculated The density value e2 of the type available point in the square constituted during using a, c point-to-point transmission line as diagonal, and with b, c two When line is as diagonal between point in the square that is constituted the type available point density value e3.

S88, terminal positioning device choose two available points of the density value maximum for constituting square in all types, And calculate relative coordinate of the position coordinates at two available point line midpoints as terminal in the plane.

It is assumed that for the 3rd class available point, terminal positioning device has calculated three density values, e1-e3；For Equations of The Second Kind Available point, terminal positioning device has calculated five density value e4-e8；For first kind available point, terminal positioning device is calculated Three density value e9-e11 are gone out, then final terminal positioning device needs to select the maximum in this 11 density values.Should It is realized that, terminal positioning device first can also select maximum density values for all types of available points respectively, then again by three The maximum of type is compared.The mode of maximum density values is determined for selection, the present embodiment is without specific restriction.

It is assumed that maximum is e2, then to calculate terminal at 2 points according to a, c coordinate value flat first for terminal positioning device Relative coordinate in face.Alternatively, terminal positioning device calculates the middle point coordinates of 2 lines of a, c as the first relative coordinate (x1,z).Certain terminal positioning device can also using other modes come coordinate the first relative coordinate of calculating according to 2 points of a, c, For example, terminal positioning device be intended on 2 points of a, c line choose a point coordinate as the first relative coordinate.Or eventually Hold location equipment arbitrarily one point of selection, and the coordinate value of the point is set to the first relative coordinate directly from a, c at 2 points.

With first relative coordinate of the terminal positioning device computing terminal in the first plane, (x1 z) is in example above Example, but it will be appreciated by those skilled in the art that, terminal positioning device computing terminal is second relative in the second plane (x2, process y) is identical with aforementioned exemplary with principle, so repeating no more here for coordinate.

If terminal positioning device will calculate gained first after location filtering model projection to the first plane and the second plane Relative coordinate (x1, z) and the second relative coordinate (x2, y) in x1 it is equal with x2, then terminal positioning device can be directly by the first phase Coordinate is combined with the second relative coordinate, the 3 D stereo coordinate (x1, y, z) of terminal physical location is obtained.But more In many situations, terminal positioning device is that the x1 and x2 obtained by calculating of the terminal in two planes is unequal, in this case, Terminal positioning device can directly take average to x1 and x2, and using average as 3 D stereo coordinate x values.In the present embodiment Among another example, terminal, which is come to be calculated according to the first relative coordinate and the second relative coordinate in the following way, obtains the three of terminal Spatial coordinate is tieed up, Figure 10 is referred to：

S102, by the first relative coordinate, (x1, z) (x2 y) is combined and obtains the first spatial point with the second relative coordinate (x1, y, z) and second space point (x2, y, z).

Coordinate of two points that terminal positioning device combination is obtained in y-axis and z-axis is identical, is only in x-axis It is distinct, so illustrate only the first spatial point and the relation of second space point in the direction of the x axis in fig. 11.

S104, according to the aimed at precision of terminal positioning by the first spatial point (x1, y, z) and second space point (x2, y, z) Line m deciles.

Then, terminal positioning device according to the aimed at precision of positioning to the first spatial point (x1, y, z) and second space point Line between (x2, y, z) carries out m deciles.The magnitude relationship of aimed at precision is to the order of accuarcy of terminal positioning result, required precision Higher, then the terminal physical location finally determined and the actual position of terminal are closer to but simultaneously, aimed at precision requirement is got over Height, then the amount of calculation of terminal positioning device is also bigger.Generally, in GPS positioning technology, it is believed that positioning precision all may be used in 3m or so Think that user is received, because in the visual field more open outdoor, 3m or so scope is all that user is visible.But the present embodiment In terminal positioning mainly in building, moreover, in places such as markets, flow of the people is larger, and architectural composition is also more complicated, So requiring that meeting is little higher to the aimed at precision of positioning.In the present embodiment, aimed at precision is set to 1m.It is appreciated that , target location accuracy can by terminal positioning device production designer production the design phase according to engineering experience value It is configured, can also be made by oneself by user in service stage according to the actual demand for oneself being presently in environment and oneself Justice.

Terminal positioning device can be arrived to the line m deciles of the first spatial point (x1, y, z) and second space point (x2, y, z) M+1 spatial point is obtained,Currently assume the distance between the first spatial point P and second space point Q in Figure 11 For 3m, then according to target location accuracy 1m, can by the line trisection between P, Q, obtain four point P including P, Q, Q and P ', Q '.

S106, calculate according to the coordinate position of each spatial point each spatial point and each actual range with reference between focus.

Because the first spatial point P and second space point Q D coordinates value are what is calculated, so, P ', Q ' 2 points of D coordinates value can also be determined.So far, terminal positioning device can calculate this four points and each reference thermal Actual range between point.It is assumed that being respectively A, B, C with reference to focus, then need to calculate spatial point P, Q and P respectively ', Q ' and A, Actual range between B, C, it is assumed that three actual ranges with reference to focus of point P distances are respectively d1, d2, d3；Q points and three ginsengs The actual range for examining focus is respectively d4, d5, d6；P ', 2 points of corresponding actual ranges of Q ' be respectively d7, d8, d9 and d10, d11、d12。

S108, actual range is calculated for each spatial point respectively and terminal is directed to the mistake of distance of reaction between each reference focus Difference, and the minimum spatial point of Select Error regard the coordinate value for the spatial point selected as terminal as the physical location of terminal Actual position coordinate.

When location filtering model is created for terminal, terminal positioning device has calculated terminal and each reference thermal Distance of reaction between point, it is assumed that be respectively d_A、d_B、d_C.In order to determine P, Q and P ', in four spatial points of Q ' which be terminal Current physical location, terminal positioning device can calculate the mistake between the actual range and distance of reaction of each spatial point respectively Difference, and a spatial point of wherein error minimum is selected as the physical location of terminal.

The process for calculating spatial point P with reference to terminal positioning device is introduced：

Terminal positioning device calculates spatial point PSpatial point P is to ginseng The error for examining focus B isSpatial point P to being with reference to focus C errorFinal spatial point Overall error Δ=(Δ 1+ Δ 2+ Δ 3)/3 of the P to each reference focus.

The method of locating terminal that the present embodiment is provided, using the induction of signal intensity of terminal-pair hotspot with itself and nothing The change of distance between line focus and change, at least three hotspot that can sense of selection terminal are as referring to focus, base In the general principle of three-point fix, determine that terminal respectively refers to the relative position of focus relatively, and then exist according to each reference focus Position distribution in building determines position of the terminal in the building.In building without gps signal when, it is real Show the terminal positioning in building, improve Consumer's Experience.

Further, the method for locating terminal that the present embodiment is provided, the induction of signal of focus is respectively referred to based on terminal-pair Intensity, is the location filtering model that terminal sets up 3 D stereo, is then based on the position of the last possible position of location filtering model Relation, determines the physical location of terminal.The location filtering model of 3 D stereo particularly is respectively mapped into two mutually to hang down In straight plane, the first filtering model and the second filtering model of two dimension are converted into, the positioning of terminal physical location is more simplified Calculating process.

Second embodiment：

The present embodiment continues that the method for locating terminal that provides of the present invention is introduced, due in the first embodiment In considerable detail describes Computing Principle and the process that terminal positioning device is positioned to terminal, so the present embodiment will no longer The details of positioning principle and position fixing process is repeated, and the application scenarios of aforementioned terminals localization method are introduced emphatically：

First it is noted that " terminal positioning device " can be deployed in same physical entity in various embodiments of the present invention On an equipment, can also include be deployed in respectively on different physical entities.That is, the terminal positioning that first embodiment is provided Method can perform completion by an independent physical equipment, can also be cooperated by two or more physical equipments Realize.The present embodiment mainly to being introduced by the latter, it is shown in Figure 12 go out Terminal Position Location System：Terminal Position Location System 1 includes terminal 10 and server 20, and wherein terminal 10 is communicated to connect with server 20.

Figure 13 shows that Terminal Position Location System is carrying out the interaction figure of terminal positioning in Figure 12：

The identification information of building where S130, terminal are obtained.

When user's carried terminal 10 is entered in a certain building, and user is needed to oneself position in the building When being positioned, terminal 10 needs to obtain the identification information for oneself being currently located building.Terminal 10 can be inputted by user Unit receives the input of user, and the title for being currently located building is specified by user.Or terminal 10 can pass through architecture Technology, determines oneself to be currently in the coverage of which base station, it is which is deployed in then to further determine that the base station In one building, it is possible thereby to obtain the identification information of building.In addition, due to hotspot in each solitary building Relevant information be substantially different, so terminal 10 can also obtain multiple nothings that oneself can be sensed in the building Line hot information, then in hotspot information, can wrap these hotspot information as the identification information of building Include information of hotspot supplier etc..If the unique identification information of building is in advance for the unique of building distribution Unique ID, then can be stored in one or more hotspot in the building by ID, when terminal enters hotspot After signal coverage areas, unique ID of building is transferred to terminal by hotspot.In addition, can be received in terminal 10 In the case of gps signal, terminal 10 can roughly orient the two-dimensional position of oneself by GPS technology, and then according to oneself Two-dimensional position determine the building of oneself position be which.

The building identification information got is transferred to server by S132, terminal.

In the present embodiment, building identification information is transferred to server 20 by terminal 10, mainly due to building The hotspot location information of identification information associated storage is stored in the information repository of the side of server 20.It should be appreciated that If information repository directly can be believed in the side of terminal 10, or terminal 10 in the hotspot location for locally getting a certain building Breath, then terminal 10 can be without the identification information to the transmission building of server 20.

S134, server return to hotspot location information according to building identification information to terminal.

In the information repository of the side of server 20, the hotspot location information of the identification information of each building and each building Associated storage, so server 20 can find the hotspot location information of the building according to the identification information of building.Focus Positional information can at least be characterized in the three-dimensional position for each hotspot being deployed in the building.

In addition, the building structure for each building that is also stored among a kind of example of the present embodiment, in information repository Information.As its name suggests, building structure information can show the overall structure of building, include the overall height of building, each layer Floor height, layout, passage (such as stair, elevator, escalator) information between area, and floor and floor.Respectively build Build the identification information associated storage of the building structure information of thing also with the building.Among the example, server 20 is to terminal While 10 transmission hotspot location information, building structure information also can be together sent to terminal 10.

S136, terminal determine oneself according to hotspot location information and oneself induction of signal intensity to each reference focus Physical location.

Terminal 10 is received after hotspot location information, can be according to oneself each signal sense with reference to focus to selecting Intensity is answered, the physical location of oneself is calculated with reference to the scheme in first embodiment, specific calculating process is repeated no more here.

By the physical location that terminal 10 is calculated can only characterize its coordinate position in three dimensions, because, heat Also all simply characterizing each hotspot in dot position information substantially, (D coordinates value of such as reference point is equivalent to reference point (0,0,0)).So, after terminal 10 obtains the physical location of oneself, preferably the physical location is converted into relative to building Build the particular location of thing, allow user can be visually known oneself in building which position (such as which layer which One point).So, at this time, the building structure information that server 20 is sent to terminal 10 can just play a role：Terminal 10 The physical location of itself can be converted into the particular location of the relative building according to building structure information.Obtaining terminal 10 After particular location in building, terminal 10 can show current position by display unit to user, for example, show Unit can be known in the building structure image acceptance of the bid of 3 D stereo the current particular location of user.

In addition to showing current particular location to user, terminal 10 can also send the current particular location of user To server 20, other users are shared with by server 20.It is assumed that currently thering is user's first and user's second to be about scheduled in building X Meet, but because building X is laid out complexity, cause user's first and user's second to can not find each other, then user's first and user's second can After the particular location for going out oneself with the terminal positioning by oneself, server is sent to, then server is by user's second and use The particular location of family first is transferred to user's first and user's second respectively so that the two understands current what in building X of other side Position, is so known that oneself ensuing direction of advance.In addition to this particular location towards special object is shared, use Family carries oneself current particular location in building when can also share the dynamic of oneself in social networks.

It is understood that terminal 10 can not arbitrarily obtain the positional information of other users, the only identity when terminal 10 When legal, the positional information of other users could be obtained.So, among a kind of example of the present embodiment, when terminal 10 needs During positioning, the identity that server 20 can be first to terminal is authenticated, and it is validated user to determine terminal 10.Only when terminal 10 passes through After the checking of server 20, server can just allow terminal 10 to proceed positioning, equally also only have authentication to pass through, and service The position of other users can just be sent to the terminal 10 by device 20.

It is assumed that the building that user is currently located is market, server 20 then can also be according to the current particular location of user The Discount Promotion information of certain businessman near the Merchant sales information near user, such as user is pushed to terminal 10.Or combine The activity that the current time is currently needed for carrying out to user recommended user, such as current time is 11:30, then illustrate user can It can need to have lunch, it is possible to push the dining room information in market, including dining room type, position, price etc. to user.Such as Fruit is currently 20:00 or so, then it is probably public place of entertainment to be found to illustrate user, therefore, and server 20 can be pushed away to terminal 10 Send movie theatre information in market etc..

If user has clear and definite destination, do not know how currently only to go to, then terminal 10 can receive user The destination information of input, and it is user's navigation to combine the building structure information of building.Prompt the user on how to find floor it Between stair, escalator or elevator, and prompting user which floor etc. should be arrived.

Method of locating terminal and system that the present embodiment is provided, can not only position the reality for obtaining terminal in three dimensions Position, the building structure information that can also combine building obtains particular location of the user with respect to building so that user can be more Plus it is visually known the position oneself being currently located.Meanwhile, after the particular location of terminal is obtained, the tool of user can be combined Body position provides a user location information service, facilitates action of the user in building, improves Consumer's Experience.

On the other hand, information repository is arranged on server side, the memory space of terminal, Er Qiefang can not only be saved Just hotspot location information and building structure information to each building is managed renewal etc..And positioned by terminal oneself Calculate, can largely reduce the burden of server, lift terminal positioning speed.

3rd embodiment：

The present embodiment will provide a kind of terminal positioning scheme different from method of locating terminal in second embodiment, refer to A kind of structural representation of Terminal Position Location System illustrated in fig. 14, also includes terminal and service in the Terminal Position Location System 3 Device.Please further combined with the Terminal Position Location System shown in Figure 15 positioning when interaction figure：

The identification information of building where S150, terminal are obtained.

The process of building identification information, is referred to the introduction of foregoing embodiments where being obtained for terminal 30, this In repeat no more.

S152, terminal are by the identification information of building and oneself are sent to service to the induction of signal intensity with reference to focus Device.

In the present embodiment, the calculating that terminal 30 is positioned is completed by server 40, therefore, terminal 30 not only needs to build The identification information of thing is sent to server 40, the service that also oneself will should be also sent to the induction of signal intensity of each reference focus Device 40, the foundation to carry out location Calculation as server 40.

It should be appreciated that each induction of signal intensity that terminal 30 is sent to server 40 can should clearly indicate the letter Number intensity is for which hotspot, that is to say, that induction of signal intensity should be with the unique mark one with reference to focus One correspondence.In addition, terminal 30 can distinguish the identification information of oneself induction of signal intensity and building to each reference focus Server 40 is sent to, can also be transmitted together.

S154, server search corresponding hotspot location information according to building identification information.

The building identification information that server 40 is sent according to terminal 30 finds correspondence building in information repository Hotspot location information, the locus of each hotspot in the building can be obtained from hotspot location information.

In the present embodiment, server 40 can also be found and building identification information associated storage from information repository Building structure information, building structure information is identical with what is introduced in previous embodiment, can characterize the structure of the building.

Information repository can be arranged on the local memory of server 40, can also be deployed on external memory storage. When outside information repository is deployed in server 40, it should can carry out wired or wireless communication with server.

S156, server respectively determine terminal according to hotspot location information and terminal-pair with reference to the induction of signal intensity of focus Physical location.

Server 40 is according to 30 pairs of each induction of signal intensity and hotspot location information computing terminal 30 with reference to focus of terminal The Computing Principle of physical location refer to the introduction of first embodiment with calculating process, repeat no more here.

S158, server determine the particular location of terminal according to the physical location of building structure information and terminal.

It is user due to need the positioning of terminal 30, so, it is current in building in order to allow user intuitively to understand oneself Particular location in thing, server 40, can also be according to the building knot of building after the physical location of terminal 30 is calculated Physical location is converted into particular location of the terminal 30 relative to building where it by structure information.

The particular location of terminal is sent to terminal by S160, server.

After the particular location for calculating terminal, the particular location can be transferred to terminal 30 by server 40, allow terminal 30 Particular location according to where oneself carries out position display to user.Among the image that terminal 30 is shown, with 3-D view The structure of building where form is shown, and mark out in structure chart the position that user is currently located.

Among another example of the present embodiment, server 40 can be only that terminal 30 determines physical location, then will Physical location and the building structure information transfer of the place building of terminal 30 allow terminal 30 oneself according to building structure to terminal 30 Information and physical location determine particular location, and are shown to user.

Finally, in the present embodiment, server 40 can also user from the particular location based on terminal 30 to terminal 30 provide Various location information services, as the details of location information service, refer to the introduction in second embodiment, no longer go to live in the household of one's in-laws on getting married here State.

Method of locating terminal and system that the present embodiment is provided, by terminal by the identification information of oneself residing building and certainly Oneself is transferred to server at the induction of signal intensity to each reference focus, and hotspot location is got from information repository by server Calculated after information and obtain the current physical location of terminal, it is not necessary to which hotspot location information is transferred into terminal terminal oneself calculating Physical location, is reduced to demanding terminal.In addition, after the particular location of terminal is obtained, the specific position of user can be combined Put and provide a user location information service, facilitate action of the user in building, improve Consumer's Experience.

Fourth embodiment：

The hardware configuration of terminal positioning device in first embodiment is introduced the present embodiment, shown in Figure 16 The hardware configuration of the terminal positioning device gone out：

Terminal positioning device 16 includes processor 161, memory 162 and communication bus 163.Communication bus 163 is used for The connection communication between processor 161 and memory 162 is realized, memory 162, can as a kind of computer-readable recording medium To store at least one computer program, these computer programs are available for processor 161 to read, compile and perform, so as to realize Corresponding handling process.In the present embodiment, memory 162 is as a kind of computer-readable recording medium, wherein being stored with end Finder is held, the program is available for processor 161 to perform, so as to realize method of locating terminal.Meanwhile, the storage in the present embodiment Device 162 can store hotspot location information as information repository.Below to process of the terminal positioning device 16 for terminal positioning It is introduced：

First, the processor 161 of terminal positioning device 16 needs the identification information of building where obtaining terminal.Building Identification information be that can uniquely characterize the information of the building, that is, the identification information of a solitary building and the building are only One correspondence.The identification information of building where processor 161 can obtain terminal by the input of user, or control terminal pass through The modes such as architecture technology get the rough position that terminal is currently located, then according to where rough position determines terminal Building be which, and then obtain the identification information of building.

After the identification information of building where getting terminal, processor 161 is deposited according to the identification information from information The hotspot location information of each hotspot in the building is obtained in bank.In information repository, be stored with multiple buildings Hotspot location information, the identification information of each hotspot location information and each building corresponds.In the present embodiment, information is deposited In bank in addition to the hotspot location information that is stored with, the building structure information of each building can also be stored.

The terminal positioning device 16 provided in the present embodiment is mainly based upon hotspot in terminal-pair building Induction determines position that terminal is current, mainly make use of and has difference when distance is different between terminal and each hotspot Induction of signal intensity this feature, so according to the induction of signal intensity of one hotspot of terminal-pair, processor 161 can be with Many possible positions are determined for terminal.Induction of signal situation and terminal for each hotspot in terminal-pair building Relation between physical location, refer to the introduction of first embodiment, repeats no more here.Below to processor 161 according to end The details for calculating the physical location for determining terminal with hotspot location information to the induction of signal intensity with reference to focus is held to do further Introduce：

Processor 161 can be using the position of each reference focus as the spheroid centre of sphere, by basis signal induction with sensing The terminal and the distance of reaction of each reference focus that the relation of distance is determined are that terminal sets up location filtering as radius of sphericity Model.As shown in fig. 7, the centre of sphere of the terminal positioning device using three reference focus A, B, C present positions as three spheroids, Using according to terminal-pair these three with reference to focus the distance of reaction that is conversed of induction of signal intensity as three spheroids Radius, and then set up location filtering model for terminal.On the location filtering model, any one sphere intersects with another sphere Point be all probably the current possible position of terminal.

Processor 161 is that terminal determines that the mode of current actual positions has many based on the position relationship between each possible position Kind, it is below that terminal determines currently practical position based on the position relationship each possible position processor in the present embodiment 161 The process put is introduced：

Processor 161 carries out upright projection to position filtering model in two orthogonal planes, obtains including circle First filtering model of shape and the second filtering model, it is current that the first filtering model is able to sign terminal with the second filtering model Possible position in the first plane and the second plane.Here the first plane can be horizontal plane respectively and perpendicular with the second plane Straight plane or the orthogonal plane of other any twos.Then, processor 161 is flat first according to terminal respectively The position relationship between each possible position in face and the second plane calculates first of terminal in the first plane with preset rules (x1, z) (x2, y), finally, processor 161 is according to terminal first with second relative coordinate of the terminal in the second face for relative coordinate Relative coordinate (x1, z) and the second relative coordinate (x2, y) calculate obtain terminal in solid space actual position coordinate (x, y, z)。

Below first to processor 161 calculate the first relative coordinate and the second relative coordinate process be introduced, due to First plane is similar with process with the principle of the second relative coordinate with calculating the first relative coordinate in the second plane, so, below Process of introducing plane is not made a distinction.It is assumed that the reference thermal that processor 161 is terminal selection is counted out as 6, by the terminal Location filtering model upright projection to gained after the first plane the first filtering model schematic diagram it is as shown in Figure 7：

In the figure 7, the intersection point between each circle is all probably the upright projection point of terminal physical location on the first plane.Place Manage device 161 by each reference thermal point according toIt is combined primarily to determining correspondence filtering model according to preset rules Available point.Due to above have assumed that with computing terminal the first plane the first relative coordinate (x1, z) exemplified by, then institute here " the correspondence filtering model " said refers to the first filtering model.But if what processor 161 was currently needed for calculating is terminal second (x2 y), then " corresponds to filtering model " and refers to the second filtering model the second relative coordinate in plane.

Processor 161 by each reference thermal point according toMay be the ideal situation shown in Fig. 4 after being combined, It is likely to be any one in 5 kinds of undesirable situations illustrated in fig. 5.Processor 161 determines the process of available point for combination, The introduction of previous embodiment is referred to, is repeated no more here.

Processor 161 is determined for the first filtering model after the available point of three types, can be obtained as shown in Figure 9 First filtering model available point distribution schematic diagram.First kind available point is represented using circular stain in fig .9, using circular white point Equations of The Second Kind available point is represented, the 3rd class available point is represented using dashed diamond.Hereafter, processor 161 is directed to different type respectively Available point do following processing：

For a certain class available point, calculate using line between any two available point in the type available point as cornerwise The density of the type available point in square.If the available point of a certain type has a, b, c tri-, then processor 161 respectively will The density e1 of the type available point in square is constituted when calculating using a, b point-to-point transmission line as diagonal, also to calculate with The density value e2 of the type available point in the square constituted when a, c point-to-point transmission line are as diagonal, and with 2 points of b, c Between line as diagonal when the square that is constituted in the type available point density value e3.

Processor 161 chooses two available points of the density value maximum for constituting square in all types, and calculates Relative coordinate of the position coordinates at two available point line midpoints as terminal in the plane：

It is assumed that for the 3rd class available point, processor 161 has calculated three density values, e1-e3；It is effective for Equations of The Second Kind Point, processor 161 has calculated five density value e4-e8；For first kind available point, processor 161 calculated three it is close Angle value e9-e11, then final process device 161 need to select the maximum in this 11 density values.It should be appreciated that processing Device 161 first can also select maximum density values for all types of available points respectively, then again enter the maximum of three types Row compares.The mode of maximum density values is determined for selection, the present embodiment is without specific restriction.

It is assumed that maximum is e2, then processor 161 can calculate terminal in the first plane at 2 points according to a, c coordinate value Relative coordinate.Alternatively, processor 161 calculate the middle point coordinates of 2 lines of a, c as the first relative coordinate (x1, z). Certain processor 161 come the coordinate according to a, c can also calculate the first relative coordinate at 2 points using other modes, for example, handling Device 161 be intended on 2 points of a, c line choose a point coordinate as the first relative coordinate.Or processor 161 is direct Arbitrarily one point of selection, and the coordinate value of the point is set to the first relative coordinate from 2 points of a, c.

In example above with the computing terminal of processor 161 in the first plane the first relative coordinate (x1, z) exemplified by, But it will be appreciated by those skilled in the art that, second relative coordinate of the computing terminal of processor 161 in the second plane (x2, process y) is identical with aforementioned exemplary with principle, so repeating no more here.

If processor 161 is relative with calculating gained first after the second plane by location filtering model projection to the first plane Coordinate (x1, z) and the second relative coordinate (x2, y) in x1 it is equal with x2, then processor 161 can be directly by the first relative coordinate It is combined with the second relative coordinate, obtains the 3 D stereo coordinate (x1, y, z) of terminal physical location.But in more situations In, processor 161 is that the x1 and x2 obtained by calculating of the terminal in two planes is unequal, in this case, processor 161 Can directly take average to x1 and x2, and using average as 3 D stereo coordinate x values.Work as in another example of the present embodiment In, terminal, which is come to calculate the 3 D stereo for obtaining terminal according to the first relative coordinate and the second relative coordinate in the following way, sits Mark：

First by the first relative coordinate, (x1, z) (x2 y) is combined and obtains the first sky processor 161 with the second relative coordinate Between point (x1, y, z) and second space point (x2, y, z).

It is identical that processor 161, which combines coordinate of the two obtained points in y-axis and z-axis, is only to exist in x-axis Difference, so illustrate only the first spatial point and the relation of second space point in the direction of the x axis in fig. 11.

Then, processor 161 according to the aimed at precision of positioning to the first spatial point (x1, y, z) and second space point (x2, Y, z) between line carry out m deciles, can arrive and obtain m+1 spatial point,Currently assume the first sky in Figure 11 Between the distance between point P and second space point Q be 3m, then, can be third by the line between P, Q according to target location accuracy 1m Point, obtain four points P, Q and P including P, Q ', Q '.

Because the first spatial point P and second space point Q D coordinates value are what is calculated, so, P ', Q ' 2 points of D coordinates value can also be determined.So far, processor 161 can calculate this four points and each reference focus it Between actual range.Finally, for each spatial point, processor 161 calculates actual range and is directed to each reference focus with terminal respectively Between distance of reaction error, and the minimum spatial point of Select Error is as the physical location of terminal, by the spatial point selected Coordinate value as terminal actual position coordinate.The process of each space point tolerance is calculated for processor 161, first is referred to real The few of example is applied, is repeated no more here.

Terminal positioning device in the present embodiment can be terminal or server, can also be by terminal and service Device is collectively formed.It is become using the induction of signal intensity of terminal-pair hotspot with the change of its distance between hotspot Change, at least three hotspot that can sense of selection terminal are as referring to focus, the general principle based on three-point fix, really Make terminal and respectively refer to the relative position of focus relatively, and then determined according to position distribution of each reference focus in building Position of the terminal in the building.In building without gps signal when, realize the terminal positioning in building, Improve Consumer's Experience.

Further, the terminal positioning device that the present embodiment is provided, the induction of signal of focus is respectively referred to based on terminal-pair Intensity, is the location filtering model that terminal sets up 3 D stereo, is then based on the position of the last possible position of location filtering model Relation, determines the physical location of terminal.The location filtering model of 3 D stereo particularly is respectively mapped into two mutually to hang down In straight plane, the first filtering model and the second filtering model of two dimension are converted into, the positioning of terminal physical location is more simplified Calculating process.

5th embodiment：

Terminal in the present embodiment can be implemented in a variety of manners.For example, the terminal described in the present invention can include Such as mobile phone, tablet personal computer, notebook computer, palm PC, personal digital assistant (Personal Digital Assistant, PDA), portable media player (Portable Media Player, PMP), guider, wearable set The mobile terminals such as standby, Intelligent bracelet, pedometer, and the fixed terminal such as numeral TV, desktop computer.Will in subsequent descriptions Illustrated by taking mobile terminal as an example.

Figure 17 is referred to, it, should to realize a kind of hardware architecture diagram of mobile terminal of each embodiment of the invention Mobile terminal 17 can include：RF (Radio Frequency, radio frequency) unit 171, WiFi module 172, display unit 173, use The parts such as family input block 174, first memory 175, first processor 176 and power supply 177.Those skilled in the art can To understand, the mobile terminal structure shown in Figure 17 does not constitute the restriction to mobile terminal, and mobile terminal can be included than figure Show more or less parts, either combine some parts or different parts arrangement.

To realize the structural representation of the optional server of each embodiment one of the invention in Figure 18, the server 18 to Include less：Input and output (IO) bus 181, second processor 182, second memory 183, internal memory 184 and communicator 185.

Mobile terminal in Figure 17 is cooperated with the server in Figure 18 below and realizes that the process of mobile terminal location is entered Row is introduced, and it can be seen from the introduction of previous embodiment, has such two kinds of main schemes to the location Calculation of mobile terminal 17：

Scheme one：

First, the identification information of building where mobile terminal 17 is obtained.Certain is entered when user carries mobile terminal 17 In one building, and user is when needing to position oneself position in the building, and mobile terminal 17 needs to be obtained from Oneself is currently located the identification information of building.Mobile terminal 17 can receive the input of user by user input unit 174, by User specifies the title for being currently located building.It is shown in Figure 19 go out mobile terminal a kind of User Interface signal Figure.

Or mobile terminal 17, using architecture technology, can determine which oneself is currently at by radio frequency unit 171 In the coverage of one base station, then further determine which building the base station is deployed in, it is possible thereby to obtain Obtain the identification information of building.In addition, due to the relevant information of hotspot in each solitary building be substantially it is different, So mobile terminal 17 can also obtain multiple wireless heat that oneself can be sensed in the building by WiFi module 172 Point information, then using these hotspot information as the identification information of building, in hotspot information, can include nothing Information of line focus supplier etc..If the unique identification information of building is the unique ID distributed in advance for the building, Unique ID can be stored in one or more hotspot in the building, when mobile terminal 17 enters hotspot After signal coverage areas, unique ID of building is transferred to the WiFi module 172 of mobile terminal 17 by hotspot.In addition, In the case where mobile terminal 17 can receive gps signal, mobile terminal 17 can roughly be positioned by GPS technology to be come from Oneself two-dimensional position, so according to the two-dimensional position of oneself determine the building of oneself position be which.

After building identification information where mobile terminal 17 gets oneself, first processor 176 will control radio frequency list The building identification information is transferred to server 18 by member 171 or WiFi module 172.When the communicator 185 of server 18 connects After the building identification information for receiving the transmission of mobile terminal 17, the building is got from information repository according to identification information Hotspot location information.In the information repository of the side of server 18, the focus of the identification information of each building and each building Positional information associated storage, so server 18 can find the hotspot location letter of the building according to the identification information of building Breath.Hotspot location information can at least be characterized in the three-dimensional position for each hotspot being deployed in the building.

In addition, the building structure for each building that is also stored among a kind of example of the present embodiment, in information repository Information.As its name suggests, building structure information can show the overall structure of building, include the overall height of building, each layer Floor height, layout, passage (such as stair, elevator, escalator) information between area, and floor and floor.Respectively build Build the identification information associated storage of the building structure information of thing also with the building.Among the example, the second of server 18 , can be by building structure information while processor 182 controls communicator 185 to the transmission hotspot location information of mobile terminal 17 Together it is sent to mobile terminal 17.

After receiving hotspot location information by radio frequency unit 171 or WiFi module 172, mobile terminal 17 first at Each induction of signal intensity with reference to focus that reason device 176 can be selected according to 172 pairs of WiFi module, with reference to first embodiment or The calculating process of 3rd embodiment determines the physical location of mobile terminal 17, and specific calculating process is repeated no more here.

By the physical location that first processor 176 is calculated can only characterize seat of the mobile terminal 17 in three dimensions Cursor position, because also all simply characterizing each hotspot equivalent to reference point (such as reference point substantially in hotspot location information D coordinates value be (0,0,0)).So, after first processor 176 obtains the physical location of mobile terminal 17, can also The physical location is converted into particular location of the mobile terminal 17 relative to building, allow user can be visually known oneself Which position (which point of such as which layer) in building.So, at this time, server 18 is sent out to mobile terminal 17 The building structure information sent can just play a role：The first processor 176 of mobile terminal 17 can be believed according to building structure Cease the particular location that the physical location of mobile terminal 17 is converted into the relative building.Mobile terminal 17 is being obtained in building After interior particular location, first processor 176 can show current position with control display unit 173 to user, for example, show Show that unit 173 can be known in the building structure image acceptance of the bid of 3 D stereo and the current particular location of user.

In addition to showing current particular location to user, the first processor 176 of mobile terminal 17 can also be controlled The current particular location of user is sent to server 18 by radio frequency unit 171 or WiFi module 172, is shared with by server 18 Other users.Meet it is assumed that currently thering is user's first and user's second to be about scheduled in building X, but because building X is laid out complexity, User's first and user's second is caused to can not find each other, then user's first and user's second can go out oneself by the mobile terminal location of oneself Particular location after, be sent to server 18, then server 18 transmits the particular location of user's second and user's first respectively To user's first and user's second so that the two understand other side it is current in building X where, be so known that and oneself connect down The direction of advance come.In addition to this particular location towards special object is shared, user can also share in social networks Oneself current particular location in building is carried during the dynamic of oneself.

It is assumed that the building that user is currently located is market, the second processor 182 of server 18 is obtaining mobile terminal After 17 positional informations sent, the business near user can also be pushed to mobile terminal 17 according to the current particular location of user The Discount Promotion information of certain businessman near family's sales information, such as user.Or the current time is combined to user recommended user The activity carried out is currently needed for, such as current time is 11:30, then illustrate that user has lunch in possible needs, it is possible to The dining room information in market, including dining room type, position, price etc. are pushed to user.If being currently 20:00 or so, then say Bright user is probably public place of entertainment to be found, therefore, and server 18 can push the movie theatre information in market to mobile terminal 17 Deng.It is shown in Figure 20 go out a kind of mobile terminal display interface schematic diagram, in fig. 20, the display unit of mobile terminal 173 in the form of pushed information from pop-up to user's display server 18.

If user has clear and definite destination, do not know how currently only to go to, then mobile terminal 17 can be received The destination information of user's input, and it is user's navigation to combine the building structure information of building.Prompt the user on how to find building Stair, escalator or elevator between layer, and prompting user should arrive which floor etc..Such as Figure 21, movement is eventually The viewing area of display panel 1731 can be divided into two parts by the display interface 173 at end 17, and a part is used to show three-dimensional Stereo-picture, to show its three-dimensional position in monolithic architecture thing to user；Another part is used to show user current Plan-position in floor, and the layout information of current floor and navigation hint etc..

Another targeting scheme between mobile terminal 17 and server 18 is introduced below：

Scheme two：

First, the first processor 176 of mobile terminal 17 will also get the mark that mobile terminal 17 is currently located building Know information, the mode of acquisition is referred to the introduction of scheme one.

In the present embodiment, the calculating that mobile terminal 17 is positioned is completed by server 18, therefore, the first of mobile terminal 17 Processor 176 will not only control radio frequency unit 171 or WiFi module 172 that the identification information of building is sent into server 18, The server 18 that also 172 pairs of each induction of signal intensity with reference to focus of WiFi module should be also sent, to be used as server 18 Carry out the foundation of location Calculation.

It should be appreciated that each induction of signal intensity that radio frequency unit 171 or WiFi module 172 are sent to server 18 should When can clearly indicate the signal intensity for which hotspot, that is to say, that induction of signal intensity should be with ginseng The unique mark for examining focus is corresponded.In addition, radio frequency unit 171 or WiFi module 172 can be by oneself to each reference focus Induction of signal intensity and the identification information of building be sent respectively to server 18, can also transmit together.

The building identification information that the second processor 182 of server 18 is sent according to mobile terminal 17 is in information repository In find the hotspot location information of correspondence building, can obtain each wireless in the building from hotspot location information The locus of focus.Information repository can be arranged on the local second memory 183 of server 18, can also be deployed in On external memory storage.When outside information repository is deployed in server 18, its be able to should be carried out with server 18 it is wired or Radio communication.

In the present embodiment, second processor 182 can also be found from information repository closes with building identification information Join the building structure information of storage, building structure information is identical with what is introduced in previous embodiment, can characterize the building Structure.

Then, second processor 182 is according to 172 pairs of each reference thermals of WiFi module of hotspot location information and mobile terminal 17 The induction of signal intensity of point determines the physical location of terminal.Second processor 182 is according to the calculating physical location of mobile terminal 17 Computing Principle and calculating process refer to the introduction of first embodiment or 3rd embodiment, repeat no more here.

It is user due to need the positioning of mobile terminal 17, so, currently exist to allow user intuitively to understand oneself Particular location in building, second processor 182, can also be according to building after the physical location of mobile terminal 17 is calculated Physical location is converted into particular location of the mobile terminal 17 relative to building where it by the building structure information for building thing.

After the particular location for calculating terminal, second processor 182 will control communicator 185 by the particular location Mobile terminal 17 is transferred to, allows particular location of the mobile terminal 17 according to where oneself to carry out position display to user.In movement Among image shown by the display unit 173 of terminal 17, the structure of building where being shown in the form of 3-D view, and The position that user is currently located is marked out in structure chart.

Among another example of the present embodiment, second processor 182 can be only that mobile terminal 17 determines actual bit Put, then control communicator 185 by physical location and the building structure information transfer of the place building of mobile terminal 17 to shifting Dynamic terminal 17, allows first processor 176 to determine the particular location of mobile terminal 17 according to building structure information and physical location, And shown to user.

The present embodiment provide mobile terminal and server can cooperate realization to mobile terminal in building position The determination put, moreover, the process of location Calculation can be completed by mobile terminal, can also be completed by server.Obtaining terminal Particular location after, can combine user particular location provide a user location information service, facilitate user in building Interior action, improves Consumer's Experience.On the other hand, information repository is arranged on server side, terminal can not only be saved Memory space, and hotspot location information and building structure information convenient to each building is managed renewal etc..

It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row His property is included, so that process, method, article or device including a series of key elements not only include those key elements, and And also including other key elements being not expressly set out, or also include for this process, method, article or device institute inherently Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this Also there is other identical element in process, method, article or the device of key element.

The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.

Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Understood based on such, technical scheme is substantially done to prior art in other words Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium In (such as ROM/RAM, magnetic disc, CD), including some instructions are to cause a station terminal (can be mobile phone, computer, service Device, air conditioner, or network equipment etc.) perform method described in each of the invention embodiment.

Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot Form, these are belonged within the protection of the present invention.

Claims (10)

1. a kind of method of locating terminal, it is characterised in that the method for locating terminal includes：

The identification information of building where obtaining terminal；

Each hotspot locus in the building can be characterized by being obtained according to the identification information from information repository Hotspot location information, each hotspot location information stored in described information thesaurus is corresponding with the identification information of each building；

In the building selection at least three can by the terminal induction to hotspot as referring to focus；

Calculated according to the induction of signal intensity of each reference focus of the terminal-pair and the hotspot location information described in determining The physical location of terminal.

2. method of locating terminal as claimed in claim 1, it is characterised in that described according to each reference thermal of the terminal-pair The induction of signal intensity of point is calculated with the hotspot location information determines that the physical location of the terminal includes：

It is using the position of each reference focus as the spheroid centre of sphere, basis signal induction is true with the relation institute of distance of reaction The terminal and the distance of reaction of each reference focus made are that the terminal sets up location filtering mould as radius of sphericity The point that any one sphere intersects with another sphere on type, the location filtering model is the current possible position of the terminal；

The current physical location of the terminal is determined based on the position relationship between each possible position.

3. method of locating terminal as claimed in claim 2, it is characterised in that the position based between each possible position Relation determines that the current physical location of the terminal includes：

Upright projection is carried out in two orthogonal planes to the location filtering model, obtains including the first mistake of circle Filter model and the second filtering model, first filtering model and second filtering model are able to characterize the terminal ought The preceding possible position in the first plane and the second plane；

Respectively according to the position relationship and preset rules between each possible position of the terminal in the first plane and the second plane Calculate the terminal in the first plane the first relative coordinate (x1, z) and the terminal is second relative in the second face Coordinate (x2, y)；

(x1, z) (x2 y) is calculated and is obtained the end the first relative coordinate with second relative coordinate according to the terminal Hold the actual position coordinate (x, y, z) in solid space.

4. method of locating terminal as claimed in claim 3, it is characterised in that the number of the reference focus is n, the difference Institute is calculated according to the position relationship between each possible position of the terminal in the first plane and the second plane and preset rules State terminal in the first plane the first relative coordinate (x1, z) and the terminal in the second face the second relative coordinate (x2, Y) include：For the first plane and the second plane calculate in such a way respectively the first relative coordinate (x1, z) and second is relative Coordinate (x2, y)：

By each reference thermal point according toIt is combined；

It is determined that the available point of correspondence filtering model：The combination of two, choosing are less than for three circular possible position numbers existed The triangle center of gravity for selecting three centers of circle is used as the first kind available point of the combination；There are two for three circles Possible position and two combinations commonly occured simultaneously, select the midpoint of described two possible position lines as the Equations of The Second Kind of the combination Available point, the common common factor is the circular intersection area of any two；There are four possible positions and two for three circles The individual combination commonly occured simultaneously, selects four possible positions to constitute the midpoint of the length of side most short side in quadrangle as the combination Equations of The Second Kind available point；There are six possible positions and a shared combination occured simultaneously for three circles, selection encloses to be formed Three possible positions of the shared common factor constitute the center of gravity of figure as the 3rd class available point of the combination, the shared friendship Collect for the common intersection area of three circles；There are four focuses and three combinations commonly occured simultaneously, selection for three circles Three circular common intersection points as the combination the 3rd class available point；

Calculated respectively in the type using line arbitrarily two-by-two between available point as cornerwise for different types of available point The density of the type available point in square；

Two available points of the density value maximum for constituting square are chosen in all types, and calculate two available point lines Relative coordinate of the position coordinates at midpoint as the terminal in the plane.

5. method of locating terminal as claimed in claim 3, it is characterised in that the first relative coordinate according to the terminal (x1, z) and second relative coordinate (x2, y) calculate obtain the terminal in solid space actual position coordinate (x, y, Z) include：

By first relative coordinate, (x1, z) (x2 y) is combined and obtains the first spatial point with second relative coordinate (x1, y, z) and second space point (x2, y, z)；

According to the aimed at precision of terminal positioning by line m of the first spatial point (x1, y, z) and second space point (x2, y, z) etc. Point, m+1 spatial point is obtained, it is described

Actual range between each spatial point and each reference focus is calculated according to the coordinate position of each spatial point；

Actual range and the terminal are calculated respectively for distance of reaction between each reference focus for each spatial point Error, and the minimum spatial point of Select Error is as the physical location of the terminal, by the coordinate value work for the spatial point selected For the actual position coordinate of the terminal.

6. the method for locating terminal as described in claim any one of 1-5, it is characterised in that described according to each institute of the terminal-pair The induction of signal intensity stated with reference to focus is calculated with the hotspot location information after the physical location of the determination terminal, is also wrapped Include：Determined according to the physical location of the terminal and the building structure information of the building got from described information storehouse The particular location of the relatively described building of the terminal.

7. method of locating terminal as claimed in claim 6, it is characterised in that the physical location according to the terminal with from The building structure information of the building got in described information storehouse determines the specific of the relatively described building of the terminal After position, in addition to：There is provided following several to the terminal user according to the particular location of the relatively described building of the terminal Plant at least one of location information service：

Position display is carried out to user according to the building structure information of the particular location of the terminal and the building；

According to destination locations of the terminal in the building, the particular location of the terminal and the building Building structure information is that the terminal is navigated；

Carried out according to the information of each hotspot supplier near the particular location of the terminal and the terminal to the terminal Push Service；

The particular location of the terminal is carried out by network sharing according to the instruction of sharing of user.

8. a kind of terminal positioning device, it is characterised in that it is total that the terminal positioning device includes processor, memory and communication Line；

The communication bus is used to realize the connection communication between processor and memory；

The processor is used to perform the terminal positioning program stored in memory, to realize following steps：

The identification information of building where obtaining terminal；

Each hotspot locus in the building can be characterized by being obtained according to the identification information from information repository Hotspot location information, each hotspot location information stored in described information thesaurus is corresponding with the identification information of each building；

In the building selection at least three can by the terminal induction to hotspot as referring to focus；

Calculated according to the induction of signal intensity of each reference focus of the terminal-pair and the hotspot location information described in determining The physical location of terminal.

9. a kind of Terminal Position Location System, it is characterised in that the Terminal Position Location System includes terminal and server；

The server, which is used to be obtained from information bank according to the identification information of the building of terminal transmission, can characterize institute State in building the hotspot location information of each hotspot locus and return to the terminal, deposited in described information thesaurus Each hotspot location information of storage is corresponding with the identification information of each building；

The terminal is used for the identification information of building where obtaining itself, and the identification information is sent into the service Device；And in the building hotspot that itself can sense of selection at least three as referring to focus, and according to Itself the induction of signal intensity to each reference focus and the hotspot location information, which are calculated, determines the physical location of itself.

10. a kind of computer-readable recording medium, it is characterised in that the computer-readable recording medium storage have one or Multiple programs, one or more of programs can be by one or more computing device, to realize following steps：

The identification information of building where obtaining terminal；

Each hotspot locus in the building can be characterized by being obtained according to the identification information from information repository Hotspot location information, each hotspot location information stored in described information thesaurus is corresponding with the identification information of each building；

In the building selection at least three can by the terminal induction to hotspot as referring to focus；

Calculated according to the induction of signal intensity of each reference focus of the terminal-pair and the hotspot location information described in determining The physical location of terminal.