CN108318037A - Indoor orientation method, device and navigation device and system - Google Patents
Indoor orientation method, device and navigation device and system Download PDFInfo
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- CN108318037A CN108318037A CN201810084400.3A CN201810084400A CN108318037A CN 108318037 A CN108318037 A CN 108318037A CN 201810084400 A CN201810084400 A CN 201810084400A CN 108318037 A CN108318037 A CN 108318037A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The present invention relates to a kind of indoor orientation method, device and navigation device and systems.Wherein, indoor orientation method includes：Default distortion rule is sent to beacon end；When receiving beacon measured value, based on the regular reverse resolution beacon measured value of default distortion, the baseline measurements for positioning calculation are obtained, and baseline measurements are sent to beacon measurement end；Or, default distortion rule is sent to beacon measurement end；Wherein, beacon management end, beacon end and default distortion rule can be arranged by beacon deployment side, default distortion rule belongs to private information, mating with beacon management end and beacon measurement end by certification can obtain corresponding default distortion rule, obtain and resolve baseline measurements, correct indoor positioning information is obtained, realizes the unification of beacon deployment and navigation O＆M ownership.
Description
Technical field
The present invention relates to wireless communication fields, more particularly to a kind of indoor orientation method, device and navigation device and are
System.
Background technology
Currently, GNSS system (Global Navigation Satellite System, Global Navigation Satellite System) is simultaneously
Good service can not be provided for indoor positioning, cause indoor positioning experience serious not good enough.Some producers are similar to by deployment
Sound wave sensing apparatus realizes indoor positioning, but the program is only applicable to private network field, can not be suitable for ordinary terminal；For clothes
It is engaged in the field of ordinary terminal, industry is also based on mobile communications network, ibeacon, Wi-Fi (Wireless- in constant quest
Fidelity, Wireless Fidelity) etc. standards indoor positioning service.Part of the manufacturer acquires existing mobile communications network, Wi-Fi network
Signal, accordingly provide indoor positioning service；Also part of the manufacturer by dispose Wi-Fi, ibeacon after, acquisition Wi-Fi,
Ibeacon signals provide indoor positioning service accordingly.
However, during realization, inventor has found that at least there are the following problems in traditional technology：Traditional mobile communication
Network, Wi-Fi network, ibeacon networks etc., since information is visible in plain text, the factory in addition to disposing beacon for acquisition side
Family can apply these beacons to carry out outside location-based service, and any third party can also carry out position based on the beacon that the producer is disposed
The service of setting, beacon deployment can not unify with navigation O＆M ownership.
Invention content
Based on this, it is necessary to which the problem that O＆M ownership of disposing and navigate for beacon can not be unified, it is a kind of indoor fixed to provide
Position method, apparatus and navigation device and system.
To achieve the goals above, on the one hand, an embodiment of the present invention provides a kind of indoor orientation methods, including：
Default distortion rule is sent to beacon end；Default distortion rule is used to indicate beacon end according to default distortion rule
It generates and sends distorted signal and gives beacon measurement end；
When receiving the beacon measured value that beacon measurement end measurement distorted signal obtains, reversely based on default distortion rule
Beacon measured value is parsed, obtains the baseline measurements for positioning calculation, and baseline measurements are sent to beacon measurement end；
Or,
Default distortion rule is sent to beacon measurement end；Default distortion rule is used to indicate beacon measurement end reverse resolution
Beacon measured value obtains the baseline measurements for positioning calculation；Wherein, beacon measured value is that beacon measurement end measures distortion letter
It number obtains.
An embodiment of the present invention provides a kind of indoor orientation methods, including：
Receive the default distortion rule that beacon management end is sent；
Distorted signal, which is generated and sent, according to default distortion rule gives beacon measurement end.
The embodiment of the present invention additionally provides a kind of indoor orientation method, including：
The distorted signal that beacon end generates and sends according to default distortion rule is measured, beacon measured value is obtained；
Beacon measured value is sent to beacon management end, and receives the baseline measurements of beacon management end transmission；Or,
Receive the default distortion rule that beacon management end is sent；Regular, the reverse resolution beacon measured value according to default distortion,
Obtain baseline measurements.
On the other hand, an embodiment of the present invention provides a kind of indoor positioning devices, including：
Regular first sending module of distortion, for default distortion rule to be sent to beacon end；Default distortion rule is used for
Instruction beacon end generates and sends distorted signal according to default distortion rule and gives beacon measurement end；
Beacon measured value receiving module, for measuring the obtained beacon measured value of distorted signal receiving beacon measurement end
When, based on the regular reverse resolution beacon measured value of default distortion, the baseline measurements for positioning calculation are obtained, and benchmark is surveyed
Magnitude is sent to beacon measurement end；Or,
Regular second sending module of distortion, for default distortion rule to be sent to beacon measurement end；Default distortion rule
It is used to indicate beacon measurement end reverse resolution beacon measured value, obtains the baseline measurements for positioning calculation；Wherein, beacon is surveyed
Magnitude is that beacon measurement end measures what distorted signal obtained.
An embodiment of the present invention provides a kind of indoor positioning devices, including：
The regular receiving module of distortion, the default distortion rule for receiving the transmission of beacon management end；
Distorted signal sending module gives beacon measurement end for generating and sending distorted signal according to default distortion rule.
The embodiment of the present invention additionally provides a kind of indoor positioning device, including：
Distorted signal measurement module, the distorted signal generated and sent according to default distortion rule for measuring beacon end,
Obtain beacon measured value；
Baseline measurements receiving module for beacon measured value to be sent to beacon management end, and receives beacon management end
The baseline measurements of transmission；Or,
Beacon measured value parsing module, the default distortion rule for receiving the transmission of beacon management end；According to default distortion
Rule, reverse resolution beacon measured value, obtains baseline measurements.
A kind of navigation device, including above-mentioned beacon management end and beacon end；
Above-mentioned beacon management end and beacon end are able to carry out above-mentioned indoor orientation method.
A kind of navigation system, including above-mentioned beacon management end, beacon end and beacon measurement end；
Above-mentioned beacon management end, beacon end and beacon measurement end are able to carry out above-mentioned indoor orientation method.
A kind of computer equipment, including memory, processor and storage can be run on a memory and on a processor
Computer program, processor execute computer program when realize above-mentioned indoor orientation method.
A kind of computer storage media, is stored thereon with computer program, which realizes above-mentioned when being executed by processor
Indoor orientation method.
A technical solution in above-mentioned technical proposal has the following advantages that and advantageous effect：
Beacon management end sends default distortion rule and gives beacon end；Beacon end sends distorted signal according to default distortion rule
Give beacon measurement end；Beacon measurement end measures distorted signal and obtains beacon measured value, and based on default distortion rule, reverse resolution
Beacon measurement is worth to the baseline measurements for positioning calculation；Wherein, beacon management end, beacon end and default distortion rule
It can be arranged by beacon deployment side, default distortion rule belongs to private information, and the beacon that passes through certification mating with beacon management end
Measurement end can obtain corresponding default distortion rule, obtain and resolve baseline measurements, obtain correct indoor positioning information；This
The unification of beacon deployment and navigation O＆M ownership can be realized by inventing each embodiment.
Description of the drawings
Fig. 1 is the applied environment figure of indoor orientation method in one embodiment of the invention；
Fig. 2 is first schematic flow chart at 1 beacon management end of indoor orientation method embodiment of the present invention；
Fig. 3 is second schematic flow chart at indoor orientation method embodiment beacon management end of the present invention；
Fig. 4 is the third schematic flow chart at indoor orientation method embodiment beacon management end of the present invention；
Fig. 5 is the 4th schematic flow chart at indoor orientation method embodiment beacon management end of the present invention；
Fig. 6 is first schematic flow chart at 2 beacon end of indoor orientation method embodiment of the present invention；
Fig. 7 is second schematic flow chart at indoor orientation method embodiment beacon end of the present invention；
Fig. 8 is the first schematic flow chart of 3 beacon measurement end of indoor orientation method embodiment of the present invention；
Fig. 9 is the structural schematic diagram at 1 beacon management end of indoor positioning device embodiment of the present invention；
Figure 10 is the structural schematic diagram at 2 beacon end of indoor positioning device embodiment of the present invention；
Figure 11 is the structural schematic diagram of 3 beacon measurement end of indoor positioning device embodiment of the present invention；
Figure 12 is the internal structure chart at beacon management end in one embodiment of the invention；
Figure 13 is the internal structure chart of beacon measurement end in one embodiment of the invention；
Figure 14 is the system topological figure of navigation device and system in one embodiment of the invention；
Figure 15 is the first exemplary timing diagram of one embodiment of the invention；
Figure 16 is the second exemplary timing diagram of one embodiment of the invention；
Figure 17 is the flow diagram of one embodiment of the invention.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Currently, location technology increasingly attracts much attention, the application based on location-based service flourishes, and penetrates into society
The every aspect that can be lived, such as navigation Service, location push and association search, big data behavior etc., in data age, by position
Information, which will derive the various information service come, to cut a conspicuous figure, this will further highlight the importance of location technology.
According to statistics, the time of people 80% is all movable indoors, and people are more prosperous for the demand of indoor positioning as a result,
It contains, however, be limited to cover, GNSS system and good service can not be provided for indoor positioning at present, lead to indoor positioning body
It tests serious not good enough；To service the field of ordinary terminal, industry continues exploring based on mobile communications network, ibeacon, Wi-Fi
Etc. standards indoor positioning service；However, traditional mobile communications network, Wi-Fi network, ibeacon networks, due to information pair
It is visible in plain text in acquisition side, leads to the producer for deploying beacon, other than oneself can apply beacon to carry out location-based service,
Any third party can also carry out location-based service based on the beacon that it is disposed, and the investment repayment for disposing beacon is caused to be unable to get
Ensure, this has also further hit the deployment enthusiasm of beacon deployment side, affects beacon network and popularizes deployment process, leads to room
Interior positioning service slowly fails to push ahead, and therefore, how to establish a kind of navigation that beacon deployment is unified with navigation O＆M ownership
Network, which is then current industry, problem to be solved.
For this purpose, the embodiment of the present invention provides a kind of indoor orientation method, application environment as shown in Figure 1 can be applied to
In.Wherein, terminal 102 is communicated by network with server 104.Wherein, terminal 102 includes beacon measurement end, with service
Device 104 is mating and by certification, can measure the distorted signal that the beacon end of server side deployment is sent, and obtain from server 104
Distortion rule accordingly is obtained, and then obtains baseline measurements, calculates indoor positioning information；Optionally, terminal 102 can with but not
It is limited to various personal computers, laptop, smart mobile phone, tablet computer and portable wearable device；Server 104
Including beacon management end, the baseline configuration parameter for the beacon end according to deployment generates a distortion rule, and the distortion is regular
It is sent to beacon end, so that beacon end sends distorted signal to terminal 102；Optionally, server 104 can use independent service
The server cluster of device either multiple servers composition is realized.
In one embodiment, a kind of indoor orientation method is provided, in this embodiment it is that with the processing at beacon management end
It is illustrated for process, referring to Fig. 2, Fig. 2 is the first schematic of 1 beacon management end of indoor orientation method embodiment of the present invention
Flow chart, including：
Default distortion rule is sent to beacon end by step S210；Default distortion rule is used to indicate beacon end according to pre-
If distortion rule generates and sends distorted signal and gives beacon measurement end；
Specifically, default distortion rule is sent to beacon end by beacon management end, so that beacon end is according to default distortion
Rule carrys out emission distortion signal, for example, sending distorted signal gives beacon measurement end；Beacon management end can give birth to according to the condition of setting
At default distortion rule or obtain the default distortion rule set；
Step S220, when receiving the beacon measured value that beacon measurement end measurement distorted signal obtains, based on default abnormal
Become regular reverse resolution beacon measured value, obtains the baseline measurements for positioning calculation, and baseline measurements are sent to letter
Mark measurement end；Or,
Default distortion rule is sent to beacon measurement end by step S230；Default distortion rule is used to indicate beacon measurement
Reverse resolution beacon measured value is held, the baseline measurements for positioning calculation are obtained；Wherein, beacon measured value is beacon measurement end
Measure what distorted signal obtained.
Specifically, beacon management end, which can receive beacon measurement end, measures the beacon measured value that distorted signal obtains, then
According to default distortion rule, reverse resolution is carried out to beacon measured value, obtains the baseline measurements that can be used for positioning calculation；
Alternatively, beacon measurement end, which measures distorted signal, can be obtained beacon measured value；The transmittable default distortion in beacon management end
Rule gives beacon measurement end, so that beacon measurement end carries out reverse resolution according to default distortion rule to beacon measured value, obtains
It can be used for the baseline measurements of positioning calculation；
It should be noted that the configurable distortion rule in beacon management end that the embodiment of the present invention refers to (belongs to of the invention real
Apply the default distortion rule that example refers to) to each beacon in beacon end, meanwhile, be responsible for beacon measurement end send distortion rule or
The baseline measurements obtained according to the regular reverse resolution of default distortion；Optionally, beacon management end can configure the configuration at beacon end
Parameter；Further, beacon management end can also generate a distortion rule according to the baseline configuration parameter at beacon end；
Beacon end may include more than one beacon, and distortion letter can be generated according to the distortion rule that beacon management end is configured
Number and sent；Optionally, distorted signal can be transmitted and gives beacon measurement end；
Beacon measurement end can be used for measuring the distorted signal that each beacon is sent, and obtain beacon measured value, meanwhile, it can be beacon
Measured value is sent to beacon management end to obtain the baseline measurements that it is obtained according to the regular reverse resolution of distortion；Alternatively, being based on
The distortion rule obtained from beacon management end, carries out reverse resolution to beacon measured value, obtains baseline measurements；Further,
Beacon measurement end, which can export baseline measurements, gives third-party application software, realizes that position resolves；Specifically, beacon measurement end can
The software program run in terminal for one can call terminal bottom hardware to carry out signal measurement (such as bluetooth, Wi-Fi, red
Outer equal hardware devices)；It can also be communicated with beacon management end, acquisition is worth to according to the regular reverse resolution beacon measurement of distortion
Baseline measurements；Further, baseline measurements being sent to positioning application software, (it is complete that positioning application software is based on measured value
It is calculated at position)；
The beacon emissions that default distortion rule may be used to indicate beacon end are different from the distorted signal of reference signal, also,
It may be used to indicate that beacon measurement end reverse resolution beacon measured value, obtain baseline measurements；It should be understood that above description
It is that the function having to default distortion rule is illustrated, rather than is defined to it；Default distortion rule can be according to reality
Border needs to be configured, non-mating or can not can not to obtain the distortion by the external beacon measuring terminals of certification regular, i.e.,
Make to get distorted signal, correct location information, therefore, it can be achieved that beacon deployment and navigation O＆M ownership can not be calculated
Unification；Specifically, can based on the baseline configuration parameter at beacon end generate distortion rule, make beacon end according to distortion rule come
Its baseline configuration parameter is adjusted, and then sends distorted signal；
Distorted signal can be the beacon signal comprising amount of bias；Type, the size of the amount of bias can be by default distortion rules
It determines；
Beacon measured value can be the measured value that beacon measurement end measures that beacon signal (including distorted signal) obtains；Due to abnormal
Varying signal includes amount of bias, and therefore, correct location information cannot be calculated by measuring the beacon measured value that distorted signal obtains；
Baseline measurements can be the measured value being worth to according to the regular reverse resolution beacon measurement of default distortion；Based on benchmark
Measured value can calculate correct location information；Optionally, baseline measurements can be obtained by beacon management end reverse resolution,
It can be obtained by beacon measurement end reverse resolution；
Reverse resolution can be that the default distortion of basis is regular, the beacon measured value that parsing measurement distorted signal obtains, and then
To the mode of baseline measurements.
In the embodiment of the present invention, beacon management end, beacon end and default distortion rule are arranged by beacon deployment side, preset
Distortion rule belongs to private information, and mating with beacon management end and beacon measurement end by certification can obtain corresponding default abnormal
Become rule, obtain and resolve baseline measurements, obtains correct location information；It is provided reversely to third party by beacon measurement end
The baseline measurements that distorted signal in parsing navigation network transmitted by beacon obtains are, it can be achieved that beacon deployment and navigation O＆M power
The unification of category, the equity of effective protection beacon deployment side can further promote the deployment enthusiasm of beacon deployment side, in promotion room
Positioning service development process.Wherein, presetting distortion rule can be configured according to actual needs, obtain a variety of distortion rules.
Specifically, in one embodiment, before the step of default distortion rule is sent to beacon end, further include：
Step S204, the baseline configuration parameter based on beacon end generate default distortion rule；Baseline configuration parameter include with
Lower any one or several combinations：Beacon identity, transmission delay, sends angle, working frequency points and spread spectrum at transmission power
Code.
Specifically, beacon management end can generate default distortion rule according to the baseline configuration parameter at beacon end；It is different
The baseline configuration parameter of the beacon of type can differ；Baseline configuration parameter includes beacon identity, the hair when beacon signal is sent
At least one of give power, transmission delay, send angle, working frequency points, spreading code；
Match it should be noted that the baseline configuration parameter referred in the embodiment of the present invention can be that beacon end is initial after the power is turned on
Set parameter；The configuration parameter can be that beacon brings out the parameter configured when factory；
Beacon identity can be identity number, unique encodings or the identification etc. of beacon in beacon end；
Transmission power can be the signal strength that beacon end emits beacon signal；
Transmission delay can be the reference time that beacon end emits beacon signal；
It can be the deflection that beacon end emits beacon signal to send angle；
Working frequency points can be the working frequency that beacon end sends beacon signal；
Spreading code can be used for distinguishing the different user in same working frequency points；
The diversity combination of baseline configuration parameter enriches default distortion rule so that the distortion that the embodiment of the present invention is sent
Signal is difficult to be cracked, and further consolidates the unification of beacon deployment and navigation O＆M ownership.Based on baseline configuration parameter, produce
A variety of default distortion rules.
Optionally, in one embodiment, as shown in figure 3, Fig. 3 is indoor orientation method embodiment beacon management of the present invention
Second schematic flow chart at end, default distortion rule include the biasing for adjusting baseline configuration parameter according to benchmark independent variable
Rule, and parameter is configured according to the distortion that benchmark independent variable and baseline configuration parameter generate；
The step of default distortion rule is sent to beacon end include：
Biasing rule is sent to beacon end by step S340 when baseline configuration parameter includes benchmark independent variable；
Distortion is configured parameter by step S350 when baseline configuration parameter does not include benchmark independent variable according to predetermined period
It is sent to beacon end.
Specifically, beacon management end has benchmark independent variable, preset distortion rule can according to the benchmark independent variable and
Baseline configuration parameter generates, it may include biasing rule and distortion configuration parameter；Specifically, when the baseline configuration parameter at beacon end
Including when benchmark independent variable, the biasing for adjusting baseline configuration parameter according to benchmark independent variable can be transmitted in beacon management end
Rule gives beacon end, beacon end to carry out emission distortion signal according to biasing rule；When the baseline configuration parameter at beacon end does not include base
When quasi- independent variable, beacon management end can be sent by predetermined period generated according to benchmark independent variable and baseline configuration parameter it is abnormal
Becoming configuration parameter gives beacon end, beacon end to carry out emission distortion signal according to distortion configuration parameter；
It should be noted that the benchmark independent variable that the embodiment of the present invention refers to can be the physical quantity of objective reality, can be used as
The foundation of adjustment distortion rule, numerical value are consistent on beacon management end and beacon end；
Biasing rule can be the rule that baseline configuration parameter is adjusted according to benchmark independent variable；
Distortion configuration parameter can be the configuration parameter with amount of bias, be different from baseline configuration parameter, can be used for sending abnormal
Varying signal；
Predetermined period can be configured according to type, the period of change etc. of benchmark independent variable；When beacon end does not include benchmark
When independent variable, beacon end can not be adjusted, emit corresponding distorted signal in real time, and therefore, beacon management end is needed by certain
Period the distortion of generation configuration parameter is sent to beacon end, to enable beacon end real-time update distortion rule；
Default distortion rule is generated according to benchmark independent variable and baseline configuration parameter, enriches distortion rule so that
The distorted signal of transmitting of the embodiment of the present invention is difficult to crack；Even if unauthenticated third party can be because if acquire distorted signal
Correct location information can not be calculated to lack default distortion rule, therefore, it is possible to further consolidate beacon deployment and lead
The unification that shipping right-safeguarding belongs to.
Preferably, in one embodiment, the time on the basis of benchmark independent variable.
Specifically, default distortion rule can be generated according to the variation of fiducial time, fiducial time can be zebra time,
For example, being adjusted to distortion rule according to Beijing time, section emits different distorted signals in different times.
Further, benchmark independent variable can also on the basis of temperature value, reference current etc..
In one embodiment, it is the third at indoor orientation method embodiment beacon management end of the present invention referring to Fig. 4, Fig. 4
Schematic flow chart, the baseline configuration parameter based on beacon end may also include step before generating the regular step of default distortion
Suddenly：
Step S402 receives the baseline configuration parameter that beacon end is sent when receiving the registration at beacon end.
Specifically, before generating default distortion rule, beacon management end can be obtained by receiving the registration at beacon end
Its baseline configuration parameter is taken, and then realizes the management and control to beacon end；After beacon end is succeeded in registration on beacon management end, transmission
Its baseline configuration parameter to beacon management end, it can be achieved that beacon management end and beacon end it is mating.
It should be noted that other than beacon end is registered on beacon management end, beacon management end can also actively from
Baseline configuration parameter and management and control permission etc. are obtained in beacon end, or the baseline configuration by being manually entered beacon end is joined
Number obtains baseline configuration parameter by beacon end pipe control database.
In one embodiment, as shown in figure 5, Fig. 5 is the of indoor orientation method embodiment beacon management end of the present invention
Four schematic flow charts, wherein when default distortion rule can refer to beacon transmission signal, using fiducial time as parameter, be based on benchmark
The variation of time, beacon signal transmission process to beacon identity, transmission power, transmission delay, send angle, working frequency points,
The strategy that at least one parameter adjusts in spreading code；Default distortion rule can be as shown in formula (1), wherein id_0 (beacon marks
Know), power_0 (transmission power), delay_0 (transmission delay), angle_0 (send angle), freq_0 (working frequency points),
Parameter is configured on the basis of ovsf_0 (spreading code), id_t (beacon identity), power_t (transmission power), delay_t is (when transmission
Prolong), angle_t (sends angle), and freq_t (working frequency points), ovsf_t (spreading code) they are based on time t according to default distortion
Value after regular distortion.
There is the case where fiducial time for beacon end itself, then beacon management end is allocated to distortion rule in beacon end
Each beacon is based on fiducial time by beacon and generates id_t, power_t, delay_t, angle_t, freq_t, in ovsf_t at least
The variation of one parameter, and distorted signal is generated based on the parameter after variation and is sent；
Do not have the case where fiducial time for beacon end itself, then beacon management end group is in the fiducial time of itself, production
Distortion after raw each beacon is converted based on fiducial time configures parameter, and corresponding distortion, which is configured parameter, is sent to each beacon, each to believe
Mark generates distorted signal based on newest distortion configuration parameter and is sent；Further, beacon management end can adjust letter in batches
Target configures parameter；
In one embodiment, beacon end may include beacon；Beacon includes the combination of following any one or several：It is blue
Tooth, Wi-Fi (Wireless Fidelity, wireless fidelity), UWB (Ultra Wideband, ultra-wide degree), movement are logical
Letter, ibeacon, FSK (Frequency-shift keying, frequency shift keying), infrared ray, sound wave, zigbee (purple peak), TBS
(TERRENE BASED SIGNAL, land beacon signal) and TC-OFDM (Time＆Code Division-Orthogonal
Frequency Division Multiplexing, when demal divide orthogonal frequency division multiplexing).
Specifically, beacon end includes at least a beacon, also, a plurality of types of beacons can be used in indoor positioning, no
It is limited to the above-mentioned beacon type referred to.
In one embodiment, a kind of indoor orientation method is provided, in this embodiment it is that with the processing procedure at beacon end
For illustrate, as shown in fig. 6, Fig. 6 be 2 beacon end of indoor orientation method embodiment of the present invention the first schematic flow
Figure, including：
Step S510 receives the default distortion rule that beacon management end is sent；
Step S520 generates and sends distorted signal according to default distortion rule and gives beacon measurement end.
The default distortion rule that mark management end is sent specifically, beacon termination is collected mail, and according to the default distortion rule
Emission distortion signal；Specifically, transmittable distorted signal gives beacon measurement end, so that beacon measurement end measures distorted signal and obtains
Beacon measured value；Further, beacon measurement end can be obtained according to the regular reverse resolution beacon measured value of default distortion for fixed
The baseline measurements that position resolves；
It should be noted that beacon end is subjected to the management and control at beacon management end, distorted signal is sent according to distortion rule；It is non-
Even if mating or not authenticated external beacon management end gets distorted signal, as lacking distortion rule and nothing
Method calculates correct location information；
Beacon end, beacon management end and the default distortion rule of the embodiment of the present invention are arranged by beacon deployment side, preset
Distortion rule belongs to private information, and mating with beacon management end and beacon measurement end by certification can obtain corresponding default abnormal
Become rule, calculates baseline measurements, obtain correct location information；By beacon measurement end reverse resolution is provided to third party
The baseline measurements that distorted signal in navigation network transmitted by beacon obtains are, it can be achieved that beacon deployment and navigation O＆M ownership
Unified, the equity of effective protection beacon deployment side can further promote the deployment enthusiasm of beacon deployment side, promote indoor positioning
Service development process.
In one embodiment, referring to the second signal that Fig. 7, Fig. 7 are indoor orientation method embodiment beacon end of the present invention
Property flow chart, further include step before the step for receiving the default distortion rule that beacon management end is sent：
Step S602 sends baseline configuration parameter and gives beacon management end when succeeding in registration on beacon management end.
Specifically, beacon end can first be registered on beacon management end, receive the management and control at beacon management end and by base
Quasi- configuration parameter is sent to beacon management end, so that beacon management end generates default distortion rule according to baseline configuration parameter；
It should be noted that baseline configuration parameter also directly can be sent to beacon management end by beacon end.
In one embodiment, a kind of indoor orientation method is provided, in this embodiment it is that with the processing of beacon measurement end
It is illustrated for process, as shown in figure 8, Fig. 8 is the first signal of 3 beacon measurement end of indoor orientation method embodiment of the present invention
Property flow chart, including：
Step S710 measures the distorted signal that beacon end generates and sends according to default distortion rule, obtains beacon measurement
Value；
Beacon measured value is sent to beacon management end by step S720, and receives the reference measurement of beacon management end transmission
Value；Or,
Step S730 receives the default distortion rule that beacon management end is sent；According to default distortion rule, reverse resolution letter
Mapping magnitude, obtains baseline measurements.
Specifically, beacon measurement end measures the distorted signal that beacon end is sent, beacon measured value is obtained；Further,
Beacon measurement end can be based on default distortion rule process beacon measured value, obtain baseline measurements；
Optionally, default distortion rule can be obtained from beacon management end, and then beacon is measured according to default distortion rule
Value carries out reverse resolution, obtains baseline measurements；Alternatively, beacon measured value is sent to beacon management end, then from beacon pipe
Reason end obtains the baseline measurements that parsing beacon measurement is worth to；
It should be noted that beacon measurement end can be a software program run in terminal, terminal bottom can be called
Layer hardware carries out signal measurement (such as bluetooth, Wi-Fi, infrared hardware device)；It can also be communicated with beacon management end, obtain root
The baseline measurements being worth to according to the regular reverse resolution beacon measurement of distortion；Further, baseline measurements can be sent given
Position application software (positioning application software is based on measured value and completes position calculating)；
In the embodiment of the present invention, beacon measurement end can be mating with beacon management end and by certification, logical with beacon management end
Letter can obtain corresponding default distortion rule, calculate baseline measurements, obtain correct location information；Wherein, beacon management
End, beacon end and default distortion rule are arranged by beacon deployment side, and default distortion rule belongs to private information；It is surveyed by beacon
Amount end to third party provide baseline measurements that the distorted signal in reverse resolution navigation network transmitted by beacon obtains, it can be achieved that
Beacon disposes the unification with navigation O＆M ownership, and the equity of effective protection beacon deployment side can further promote beacon deployment side
Deployment enthusiasm, promote indoor positioning service development process.
It should be noted that each unit module in the embodiment of the present invention, can correspond to realization to above-mentioned indoor positioning side
Method and step in each embodiment of method, and the explanation of each noun is also fitted in each embodiment of corresponding indoor orientation method
For the present embodiment, it is no longer repeated herein.
In one embodiment, a kind of indoor positioning device is provided, referring to Fig. 9, Fig. 9 is that indoor positioning device of the present invention is real
The structural schematic diagram at 1 beacon management end of example is applied, including：
Regular first sending module 810 of distortion, for default distortion rule to be sent to beacon end；Default distortion rule is used
Distorted signal is generated and sent according to default distortion rule give beacon measurement end in instruction beacon end；
Beacon measured value receiving module 820, for surveying receiving beacon measurement end and measure the obtained beacon of distorted signal
When magnitude, based on the regular reverse resolution beacon measured value of default distortion, the baseline measurements for positioning calculation are obtained, and by base
Measurements are sent to beacon measurement end；Or,
Regular second sending module 830 of distortion, for default distortion rule to be sent to beacon measurement end；Default distortion rule
It is then used to indicate beacon measurement end reverse resolution beacon measured value, obtains the baseline measurements for positioning calculation；Wherein, beacon
Measured value is that beacon measurement end measures what distorted signal obtained.
In one embodiment, above-mentioned indoor positioning device further includes distortion rule generation module, for being based on beacon end
Baseline configuration parameter, generate default distortion rule；Baseline configuration parameter includes the combination of following any one or several：Beacon
Mark, transmission delay, sends angle, working frequency points and spreading code at transmission power.
In one embodiment, the default distortion rule of above-mentioned indoor positioning device may include for according to benchmark independent variable
The biasing rule of baseline configuration parameter is adjusted, and ginseng is configured according to the distortion that benchmark independent variable and baseline configuration parameter generate
Number；Distortion rule generation module include：The regular transmission unit of biasing is used for when baseline configuration parameter includes benchmark independent variable,
Biasing rule is sent to beacon end；Distortion configuration parameter transmission unit, becomes certainly for not including benchmark in baseline configuration parameter
When amount, distortion configuration parameter is sent to beacon end according to predetermined period.
In one embodiment, the benchmark independent variable in above-mentioned indoor positioning device can on the basis of the time.
In one embodiment, above-mentioned indoor positioning device further includes：Baseline configuration parameter receiving module, for receiving
When the registration at beacon end, the baseline configuration parameter that beacon end is sent is received.
In one embodiment, the beacon end in above-mentioned indoor positioning device includes beacon；Beacon includes following any one
Item or several combinations：Bluetooth, Wi-Fi, UWB, mobile communication, ibeacon, FSK, infrared ray, sound wave, zigbee, TBS and
TC-OFDM。
It should be noted that each unit module in the embodiment of the present invention, can correspond to realization to above-mentioned indoor positioning side
Method and step in each embodiment of method, and the explanation of each noun is also fitted in each embodiment of corresponding indoor orientation method
For the present embodiment, it is no longer repeated herein.
In one embodiment, a kind of indoor positioning device is provided, as shown in Figure 10, Figure 10 fills for indoor positioning of the present invention
The structural schematic diagram at 2 beacon end of embodiment is set, including：
The regular receiving module 840 of distortion, the default distortion rule for receiving the transmission of beacon management end；
Distorted signal sending module 850 gives beacon measurement end for being generated and sent according to default distortion rule.
In one embodiment, above-mentioned indoor positioning device further includes baseline configuration parameter sending module, in beacon
When succeeding in registration in management end, sends baseline configuration parameter and give beacon management end.
In one embodiment, a kind of indoor positioning device is provided, referring to Figure 11, Figure 11 is indoor positioning device of the present invention
The structural schematic diagram of 3 beacon measurement end of embodiment, including：
Distorted signal measurement module 860 is believed for measuring beacon end according to the distortion that default distortion rule generates and sends
Number, obtain beacon measured value；
Baseline measurements receiving module 870 for beacon measured value to be sent to beacon management end, and receives beacon management
Hold the baseline measurements sent；Or,
Beacon measured value parsing module 880, the default distortion rule for receiving the transmission of beacon management end；According to default abnormal
Become rule, reverse resolution beacon measured value obtains baseline measurements.
It should be noted that each unit module in the embodiment of the present invention, can correspond to realization to above-mentioned indoor positioning side
Method and step in each embodiment of method, and the explanation of each noun is also fitted in each embodiment of corresponding indoor orientation method
For the present embodiment, it is no longer repeated herein.
In one embodiment, a kind of navigation device is provided, as shown in figs. 12-14, Figure 12 is one implementation of the present invention
The internal structure chart at beacon management end in example, Figure 13 are the internal structure chart of beacon measurement end in one embodiment of the invention, figure
14 be the system topological figure of navigation device and system in one embodiment of the invention, including above-mentioned beacon management end and beacon
End；
Above-mentioned beacon management end and beacon end are able to carry out above-mentioned indoor orientation method.
Specifically, beacon management end, which sends default distortion rule, gives beacon end；Beacon end is raw according to default distortion rule
At and emit distorted signal；Wherein, beacon management end, beacon end and default distortion rule are arranged by beacon deployment side, preset
Distortion rule belongs to private information, and only mating with beacon management end and by certification beacon measurement end can just acquire phase
Default distortion rule, the parsing beacon measured value acquisition baseline measurements answered, and then obtain correct indoor positioning information；Pass through
Beacon measurement end provides the baseline measurements that the distorted signal in reverse resolution navigation network transmitted by beacon obtains to third party,
Realize the unification of beacon deployment and navigation O＆M ownership.
In one embodiment, a kind of navigation system is additionally provided, is one implementation of the present invention referring to Figure 14-17, Figure 15
First exemplary timing diagram of example, Figure 16 are the second exemplary timing diagram of one embodiment of the invention, and Figure 17 is the present invention one
The flow diagram of a embodiment, including above-mentioned beacon management end, beacon end and beacon measurement end；
Above-mentioned beacon management end, beacon end and beacon measurement end are able to carry out above-mentioned indoor orientation method.
Specifically, beacon management end, which sends default distortion rule, gives beacon end；Beacon end is raw according to default distortion rule
At and send distorted signal and give beacon measurement end；Beacon measurement end measures distorted signal and obtains beacon measured value, and based on default
Distortion rule, reverse resolution beacon measurement are worth to the baseline measurements for positioning calculation；Wherein, beacon management end, beacon
End and default distortion rule are arranged by beacon deployment side, preset the rule that distorts and belong to private information, only with beacon management end
Mating and beacon measurement end by certification can just acquire corresponding default distortion rule, obtain and resolve reference measurement
Value, obtains correct indoor positioning information；By beacon measurement end beacon institute in reverse resolution navigation network is provided to third party
The baseline measurements that the distorted signal of transmission obtains are, it can be achieved that beacon disposes the unification with navigation O＆M ownership.
The specific implementation mode of the embodiment of the present invention is described with reference to specific example：
Example 1, this example is illustrated by taking bluetooth navigation network as an example, and in this example, bluetooth navigation network uses power
Fingerprint technique is positioned, and as shown in figure 14, which is made of beacon management end, beacon end, beacon measurement end；Wherein,
Beacon end deploys three beacons, respectively beacon 0, beacon 1, beacon 2；In this example, beacon signal use based on power into
The rule of line distortion is sent, and by beacon management end group in temporal information, generates the transmission power amount of bias of each beacon, is sent
To three beacons, three beacons control the signal transmitting power of itself according to newest amount of bias；
Fingerprint can refer to the summation that the measured value of different location is constituted；For example, one 10 meters * 10 meters of hall has put three
Beacon, according to laterally one line of every 1 meter of picture, one line of longitudinal every 1 meter of picture, then laterally and longitudinally a total of 100 of lines intersect
Point, different intersections will not be identical about the measured value of three beacons, variant between point and point, on all location points
Measured value just constitutes finger print information；Fingerprint positioning method generally can be divided into two stages：First stage is offline acquisition fingerprint rank
Section preserves the measured value on different location, forms fingerprint base, that is, establish a reference library in time；Second stage is online
With the stage, i.e. on-site terminal can measure beacon and obtain measured value, then be matched with measured value with fingerprint base, due to not in real time
Different with the finger print information of position, the information that terminal position measures can be matched in fingerprint base and terminal current actual positions
Matched place is gone.It is similar to which reference position to calculate current measured value, baseline measurements are matched with fingerprint base,
To obtain position result.
Optionally, this exemplary distortion rule can be：Based on Beijing time, beacon identity is the beacon of odd number, strange
The transmission power of a few hours increases 5db (decibel, decibel) compared with reference power and is sent, in the generation power of even number hour
5db is reduced compared with reference power to be sent；Beacon identity be even number beacon, odd number hour transmission power compared with benchmark work(
Rate reduces 5db and is sent, and increasing 5db compared with reference power in the transmission power of even number hour is sent.T0 moment, terminal are beaten
Navigation application software has been opened, correspondingly, navigation application software calls beacon measurement end, to the certification of beacon management end and has obtained distortion
Rule, the beacon that then beacon measurement end measurement in real time obtains the distorted signal sent about beacon 0, beacon 1, beacon 2 measure
Value, and reverse resolution is carried out to beacon measured value based on distortion rule, baseline measurements are obtained, it is soft to be then output to navigation application
Part；Navigation application software can establish fingerprint, or solved based on the fingerprint having built up according to baseline measurements
It calculates, by the matching of baseline measurements and fingerprint base, obtains the location of terminal information, the interior of navigation application is completed with this
Positioning function.In this example, the distortion rule that each beacon signal is sent in navigation network is that beacon deployment side is arranged, and belongs to private
Have information, only mating with navigation network and certification by beacon measurement end can just acquire corresponding rule, Ren He
Tripartite wants to use the navigation network, it is necessary to which the beacon measurement end based on certification could correctly calculate baseline measurements；Only just
Really calculate baseline measurements, reference fingerprint library and beacon measured value that real-time position fixing process obtains could it is corresponding on, otherwise, by
In unknowable distortion rule, lead to the transmission shape of the transmission state and beacon in real-time position fixing process of fingerprint collecting moment beacon
On state is not corresponding, location information can not be computed correctly.
Example 2, this example is illustrated by taking Wi-Fi navigation networks as an example, and in example, Wi-Fi navigation networks use TDOA
(Time Difference of Arrival, reaching time-difference) method is positioned, and as shown in figure 14, this navigation system is by beacon
Management end, beacon end, beacon measurement end are constituted, and in example, deploy three beacons, respectively beacon 0, beacon 1, beacon 2；This
Example, Wi-Fi navigation network beacon signals are sent using the rule based on time delay into line distortion, by beacon management end group in
Fiducial time generates the transmission delay amount of bias of each beacon, is sent to three beacons, three beacons are according to newest amount of bias control
Make the post-dialling delay of itself；
Optionally, this exemplary distortion rule is：Based on Beijing time, beacon identity is the beacon of odd number, and odd number is small
When beacon signal when sending the practical delivery time of the time delay value filled in increase 20ns (nanosecond, nanosecond), even number
The practical delivery time of time delay value that the beacon signal of hour is filled in when sending reduces 20ns；Beacon identity is the letter of even number
Mark, the practical delivery time of time delay value that the beacon signal of odd number hour is filled in when sending reduce 20ns, even number hour
The practical delivery time of time delay value that beacon signal is filled in when sending increases 20ns.T0 moment, terminal open navigation application
Software, correspondingly, navigation application software calls beacon measurement end, beacon measurement end is to the certification of beacon management end and obtains distortion rule
Then, then beacon measurement end measures obtain the beacon measured value about beacon 0, beacon 1, beacon 2 in real time, and based on distortion rule
Reverse resolution is carried out to beacon measured value, baseline measurements is obtained, is then output to navigation application software, navigation application software can
Location information is calculated according to baseline measurements.In this example, the transmission distortion rule of each beacon end signal in navigation network
Be that beacon deployment side is arranged, belong to private information, only mating with navigation network and certification by beacon measurement end ability
Corresponding rule is acquired, any third party wants to use navigation network, it is necessary to the beacon measurement end based on certification, it could be correct
Calculate baseline measurements；Baseline measurements are only correctly calculated, correct measurement result can be just obtained, otherwise due to can not
The time-vary delay system amount of bias known exists, and can not be computed correctly location information.
The method that above-mentioned example uses the embodiment of the present invention, only uses the beacon measurement end of certification, could correctly solve
Calculate beacon measured value；Pass through distorted signal of the beacon measurement end into third party's offer reverse resolution navigation network transmitted by beacon
Obtained baseline measurements realize the beacon deployment target unified with navigation O＆M ownership, the power of effective protection beacon deployment side
Benefit can further promote the deployment enthusiasm of beacon deployment side, and indoor positioning is promoted to service development process.
Referring to Fig.1 2,13, computer equipment include the processor connected by system bus, non-volatile memory medium,
Built-in storage and network interface.Wherein, the non-volatile memory medium of the computer equipment can storage program area and realization room
The computer program of interior locating device, the computer program are performed, and processor may make to execute a kind of indoor orientation method.
The processor of the computer equipment supports the operation of entire computer equipment for providing calculating and control ability.The interior storage
Computer program can be stored in device, when which is executed by processor, processor may make to execute indoor positioning side
Method.The network interface of computer equipment is for carrying out network communication.Computer equipment may also include display screen and input unit；It is aobvious
Display screen is for showing application interface etc., for example, the operation interface etc. that display instant messaging chat interface or word are corrected.Computer
The display screen of equipment can be liquid crystal display or electric ink display screen, and the input unit of computer equipment can be display
The touch screen covered on screen can also be the button of equipment, trace ball or Trackpad on computer equipment shell, can also be outer
Keyboard, Trackpad or mouse for connecing etc..Touch layer constitutes touch screen with display screen.
It will be understood by those skilled in the art that Figure 12, structure shown in 13, only with the relevant portion of the present invention program
The block diagram of separation structure, does not constitute the restriction for the terminal being applied thereon to the present invention program, and specific terminal may include
Than more or fewer components as shown in the figure, either combines certain components or arranged with different components.
In one embodiment, include the following steps when above-mentioned processor executes above computer program：By default distortion
Rule is sent to beacon end；Default distortion rule is used to indicate beacon end and generates and sends distorted signal according to default distortion rule
Give beacon measurement end；
When receiving beacon measured value, based on the regular reverse resolution beacon measured value of default distortion, obtain for positioning
The baseline measurements of resolving, and baseline measurements are sent to beacon measurement end；It is surveyed or, default distortion rule is sent to beacon
Measure end；Default distortion rule is used to indicate beacon measurement end reverse resolution beacon measured value, obtains the benchmark for positioning calculation
Measured value；Wherein, beacon measured value is that beacon measurement end measures what distorted signal obtained.
In another embodiment, include the following steps when above-mentioned processor executes above computer program：Measure beacon
The distorted signal that end generates and sends according to default distortion rule, obtains beacon measured value；Beacon measured value is sent to beacon
Management end, and receive the baseline measurements of beacon management end transmission；Or, receiving the default distortion rule that beacon management end is sent；
According to default distortion rule, reverse resolution beacon measured value obtains baseline measurements.
The computer equipment, when processor executes program, by realizing such as any one room in the various embodiments described above
Interior localization method, it is abnormal transmitted by beacon in reverse resolution navigation network so as to be provided to third party by beacon measurement end
The baseline measurements that varying signal obtains are, it can be achieved that beacon disposes the unification with navigation O＆M ownership, effective protection beacon deployment side
Equity, can further promote the deployment enthusiasm of beacon deployment side, indoor positioning is promoted to service development process.
In addition, one of ordinary skill in the art will appreciate that realize above-described embodiment method in all or part of flow,
It is that relevant hardware can be instructed to complete by computer program, the program can be stored in a non-volatile calculating
In machine read/write memory medium, in the embodiment of the present invention, which can be stored in the storage medium of computer system, and by
At least one of computer system processor executes, and includes the stream such as the embodiment of above-mentioned each indoor orientation method with realization
Journey.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes following steps when being executed by processor：Default distortion rule is sent to beacon end；Default distortion rule is used for
Instruction beacon end generates and sends distorted signal according to default distortion rule and gives beacon measurement end；
When receiving beacon measured value, based on the regular reverse resolution beacon measured value of default distortion, obtain for positioning
The baseline measurements of resolving, and baseline measurements are sent to beacon measurement end；It is surveyed or, default distortion rule is sent to beacon
Measure end；Default distortion rule is used to indicate beacon measurement end reverse resolution beacon measured value, obtains the benchmark for positioning calculation
Measured value；Wherein, beacon measured value is that beacon measurement end measures what distorted signal obtained.
In one embodiment, computer program is executed by processor the step of default distortion rule is sent to beacon end
Before, further include step：Baseline configuration parameter based on beacon end generates default distortion rule；Baseline configuration parameter include with
Lower any one or several combinations：Beacon identity, transmission delay, sends angle, working frequency points and spread spectrum at transmission power
Code.
In one embodiment, it includes for adjusting the inclined of baseline configuration parameter according to benchmark independent variable to preset distortion rule
Rule is set, and parameter is configured according to the distortion that benchmark independent variable and baseline configuration parameter generate；Computer program is by processor
The baseline configuration parameter based on beacon end is executed, when generating default distortion rule, and default distortion rule being sent to beacon end,
Including step：When baseline configuration parameter includes benchmark independent variable, biasing rule is sent to beacon end；In baseline configuration parameter
When not comprising benchmark independent variable, distortion configuration parameter is sent to beacon end according to predetermined period.
In one embodiment, when computer program is executed by processor, the time on the basis of benchmark independent variable.
In one embodiment, computer program is executed by processor the baseline configuration parameter based on beacon end, generates pre-
Further include step if distorting before the step of rule：When receiving the registration at beacon end, the baseline configuration that beacon end is sent is received
Parameter.
In one embodiment, when computer program is executed by processor, beacon end includes beacon；Beacon includes following
The combination of meaning one or several：Bluetooth, Wi-Fi, UWB, mobile communication, ibeacon, FSK, infrared ray, sound wave, zigbee, TBS
And TC-OFDM.
In one embodiment, a kind of computer readable storage medium is additionally provided, computer program is stored thereon with, is counted
Calculation machine program realizes following steps when being executed by processor：The distorted signal that beacon end is sent according to default distortion rule is measured,
Obtain beacon measured value；Beacon measured value is sent to beacon management end, and receives the baseline measurements of beacon management end transmission；
Or, receiving the default distortion rule that beacon management end is sent；According to default distortion rule, reverse resolution beacon measured value obtains
Baseline measurements.
Above computer storage medium, the computer program of storage include such as above-mentioned each indoor positioning side by realizing
The flow of the embodiment of method is sent out so as to provide beacon in reverse resolution navigation network to third party by beacon measurement end
The baseline measurements that the distorted signal sent obtains are, it can be achieved that beacon disposes the unification with navigation O＆M ownership, effective protection beacon
The equity of deployment side can further promote the deployment enthusiasm of beacon deployment side, and indoor positioning is promoted to service development process.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the stream of the embodiment of above-mentioned each indoor orientation method
Journey.Wherein, used in each embodiment provided herein to any of memory, storage, database or other media
Reference, may each comprise non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), can
Programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory
It may include random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is with a variety of shapes
Shi Ke get, such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram
(DDRSDRAM), enhanced SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus
(Rambus) direct RAM (RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram
(RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (14)
1. a kind of indoor orientation method, which is characterized in that including：
Default distortion rule is sent to beacon end；The default distortion rule is used to indicate the beacon end according to described default
Distortion rule generates and sends distorted signal and gives beacon measurement end；
When receiving the beacon measurement end and measuring the beacon measured value that the distorted signal obtains, it is based on the default distortion
Beacon measured value described in regular reverse resolution obtains the baseline measurements for positioning calculation, and the baseline measurements is sent out
Give the beacon measurement end；Or,
The default distortion rule is sent to the beacon measurement end；The default distortion rule is used to indicate the beacon and surveys
End reverse resolution beacon measured value is measured, the baseline measurements for positioning calculation are obtained；Wherein, the beacon measured value is described
Beacon measurement end measures what the distorted signal obtained.
2. indoor orientation method according to claim 1, which is characterized in that default distortion rule is sent to beacon end
Before step, further include：
Based on the baseline configuration parameter at the beacon end, the default distortion rule is generated；The baseline configuration parameter include with
Lower any one or arbitrary combination：Beacon identity, transmission delay, sends angle, working frequency points and spreading code at transmission power.
3. indoor orientation method according to claim 2, which is characterized in that
The default distortion rule includes the biasing rule for adjusting the baseline configuration parameter according to benchmark independent variable, and
The distortion generated according to the benchmark independent variable and the baseline configuration parameter configures parameter；
The step of default distortion rule is sent to beacon end include：
When the baseline configuration parameter includes the benchmark independent variable, the biasing rule is sent to the beacon end；
When the baseline configuration parameter does not include the benchmark independent variable, distortion configuration parameter is sent out according to predetermined period
Give the beacon end.
4. indoor orientation method according to claim 3, which is characterized in that
Time on the basis of the benchmark independent variable.
5. indoor orientation method according to any one of claims 1 to 4, which is characterized in that the beacon end includes letter
Mark；
The signaling mode of the beacon include bluetooth, Wi-Fi, UWB, mobile communication, ibeacon, FSK, infrared ray, sound wave,
At least one of zigbee, TBS and TC-OFDM.
6. a kind of indoor orientation method, which is characterized in that including：
Receive the default distortion rule that beacon management end is sent；
Distorted signal, which is generated and sent, according to the default distortion rule gives beacon measurement end.
7. a kind of indoor orientation method, which is characterized in that including：
The distorted signal that beacon end generates and sends according to default distortion rule is measured, beacon measured value is obtained；
The beacon measured value is sent to the beacon management end, and receives the reference measurement that the beacon management end is sent
Value；Or,
Receive the default distortion rule that beacon management end is sent；According to the default distortion rule, believe described in reverse resolution
Mapping magnitude, obtains baseline measurements.
8. a kind of indoor positioning device, which is characterized in that including：
Regular first sending module of distortion, for default distortion rule to be sent to beacon end；The default distortion rule is used for
Indicate that the beacon end generates and sends distorted signal according to the default distortion rule and gives beacon measurement end；
Beacon measured value receiving module, for surveying receiving the beacon measurement end and measure the beacon that the distorted signal obtains
When magnitude, based on beacon measured value described in the regular reverse resolution of the default distortion, the reference measurement for positioning calculation is obtained
Value, and the baseline measurements are sent to the beacon measurement end；Or,
Regular second sending module of distortion, for the default distortion rule to be sent to the beacon measurement end；It is described default
Distortion rule is used to indicate the beacon measurement end reverse resolution beacon measured value, obtains the reference measurement for positioning calculation
Value；Wherein, the beacon measured value beacon measurement end measures the distorted signal and obtains.
9. a kind of indoor positioning device, which is characterized in that including：
The regular receiving module of distortion, the default distortion rule for receiving the transmission of beacon management end；
Distorted signal sending module gives beacon measurement end for generating and sending distorted signal according to the default distortion rule.
10. a kind of indoor positioning device, which is characterized in that including：
Distorted signal measurement module, the distorted signal generated and sent according to default distortion rule for measuring beacon end, obtains
Beacon measured value；
Baseline measurements receiving module for the beacon measured value to be sent to the beacon management end, and receives the letter
Mark the baseline measurements that management end is sent；Or,
Beacon measured value parsing module, the default distortion rule for receiving the transmission of beacon management end；According to described default
Distortion is regular, and beacon measured value described in reverse resolution obtains baseline measurements.
11. a kind of navigation device, which is characterized in that including：Beacon management end and beacon end；
The beacon management end requires the indoor orientation method described in any one of 1 to 5 for perform claim；
The beacon end requires the indoor orientation method described in 6 for perform claim.
12. a kind of navigation system, which is characterized in that including：Beacon management end, beacon end and beacon measurement end；
The beacon management end requires the indoor orientation method described in any one of 1 to 5 for perform claim；
The beacon end requires the indoor orientation method described in 6 for perform claim；
The beacon measurement end requires the indoor orientation method described in 7 for perform claim.
13. a kind of computer equipment, including memory, processor and it is stored on the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
Indoor orientation method described in 7 any one.
14. a kind of computer storage media, is stored thereon with computer program, which is characterized in that the program is executed by processor
Indoor orientation methods of the Shi Shixian as described in claim 1 to 7 any one.
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|---|---|---|---|---|
| CN109348409A (en) * | 2018-11-07 | 2019-02-15 | 北京京东金融科技控股有限公司 | Location processing method, device, intelligent hardware devices and storage medium |
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