CN108377546A - A kind of indoor orientation method and device, server, user equipment - Google Patents
A kind of indoor orientation method and device, server, user equipment Download PDFInfo
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- CN108377546A CN108377546A CN201611021975.8A CN201611021975A CN108377546A CN 108377546 A CN108377546 A CN 108377546A CN 201611021975 A CN201611021975 A CN 201611021975A CN 108377546 A CN108377546 A CN 108377546A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The present invention discloses a kind of indoor orientation method and device, server, user equipment, is related to field of communication technology, and fingerprint database structure is complicated when solving the problems, such as indoor positioning in the prior art, sensor error accumulation.The method includes：The user equipment positioning signal that the wireless location node measures is received from wireless location node, the user equipment positioning signal is the uplink signal that the user equipment is sent to wireless location node timing；If all with the preset fingerprint information match that is pre-stored within the first room area in server fingerprint database, the corresponding punctuate location information of the preset fingerprint information is sent to the user equipment for the intensity and variation tendency of the user equipment positioning signal；Wherein, the finger print information of the first room area and the second room area is stored in the location fingerprint data library, the fingerprint density of first room area is greater than or equal to first threshold.
Description
Technical field
The present invention relates to fields of communication technology, more particularly to a kind of indoor orientation method and device, server, Yong Hushe
It is standby.
Background technology
With the progress and development in epoch, location technology obtains more widely paying attention to.High accuracy positioning demand, especially
Meter level positioning accuracy demand is continuously increased.At the same time, indoor scene also proposes higher technology requirement to wireless location.
There is presently no a kind of single wireless location technology can meet simultaneously accurate positioning, it is real-time, adaptable, can
By property height and feature at low cost.GPS positioning technology is due to loss of signal etc., signal weaker indoors so that positioning is eventually
End can not receive rope to enough stars；Cellular network system is since position error is very big, no matter outdoor or can not all reach indoors
To enough precision, wireless location demand cannot be satisfied.The technologies such as pressure sensor, bluetooth, Zigbee, RFID, these positioning
The application scenarios of technology are also very special, are merely able to provide the positioning of certain local environments, more difficult support is a wide range of, answers extensively
Location requirement.
Fingerprint location technology has meter level positioning accuracy performance and without knowing the position of base station and accurate channel model
The characteristics of, the feature of current environment can be reacted well, but need to establish fingerprint database and be updated in environmental change
Fingerprint database is to ensure that it positions validity, and the foundation of database needs to expend a large amount of manpower and materials with update.
Sensor fusion, which is located through, merges various independent sensor informations, and it is mutual to reach various sensor informations
The effect mended and cooperated, can improve the validity of whole system.Sensor positions the item independent of external environment information
Continuous autonomous positioning under part, and noise is small in a short time, stability is good.But there are larger constant errors and random survey for sensor
Error etc. is measured, the prolonged accumulation of error can lead to the decline of navigation accuracy, therefore be unsuitable for working independently for a long time and over long distances
Positioning.
Invention content
The technical problem to be solved in the present invention is to provide a kind of indoor orientation method and device, server, user equipmenies, use
Fingerprint database structure complexity, sensor error accumulation when solving the problems, such as indoor positioning in the prior art.
On the one hand, the present invention provides a kind of indoor orientation method, including：The wireless location is received from wireless location node
The user equipment positioning signal that node measures, the user equipment positioning signal are the user equipment to the wireless location
The uplink signal that node timing is sent；If the intensity and variation tendency of the user equipment positioning signal all with prestore
The preset fingerprint information match of the first room area in server fingerprint database, the preset fingerprint information is corresponding
Punctuate location information is sent to the user equipment；Wherein, be stored in the location fingerprint data library the first room area and
The finger print information of second room area, the fingerprint density of first room area are greater than or equal to first threshold, and described second
The fingerprint density of room area is less than or equal to second threshold；The first threshold is more than the second threshold.
Optionally, first room area includes following at least one：Doorway region, elevator region, corner region, card
Seat region.
Optionally, the wireless location node includes following at least one：Base station, wireless router, computer.
Optionally, from wireless location node receive user equipment positioning signal that the wireless location node measures it
Afterwards, before the corresponding location information of the preset fingerprint information being sent to the user equipment, the method further includes：Matching
The intensity of the user equipment positioning signal and corresponding fingerprint signal in the location fingerprint data library；If strength matching is poor
Value is less than preset strength threshold value, matches the variation tendency between the user equipment positioning signal and the location fingerprint data library
In corresponding fingerprint signal variation tendency；If trend, which matches difference, is less than default change threshold, the user equipment is determined
The intensity and variation tendency of positioning signal all with the preset fingerprint information match in the location fingerprint data library.
Optionally, the variation tendency includes direction change trend and/or variation trends.
Optionally, matched mode includes at least one of probability match, machine learning and path fitting.
Optionally, the second threshold is equal to 0.
On the other hand, the present invention also provides a kind of indoor orientation methods, including：User is sent to wireless location node timing
Equipment positioning signal, so that the wireless location node measures the user equipment positioning signal and reports survey to location-server
Measure result；Receive the mark that the location-server is determined according to the finger print information in the measurement result and location fingerprint data library
Dot position information；Current location is determined with the punctuate location information；Wherein, the location fingerprint data lab setting is described fixed
In the server of position, the finger print information of the first room area and the second room area, institute are stored in the location fingerprint data library
The fingerprint density for stating the first room area is greater than or equal to first threshold, and the fingerprint density of second room area is less than or waits
In second threshold；The first threshold is more than the second threshold.
Further, described to receive the location-server according to the finger in the measurement result and location fingerprint data library
After the punctuate location information that line information determines, the method further includes：By the initial position co-ordinates of the alignment sensor of itself
It resets.
Further, the method further includes：In the case where the punctuate location information can not be received, using described fixed
Level sensor and the last punctuate location information received determine current location.
Optionally, described to include to wireless location node timing transmission user equipment positioning signal：With 10 milliseconds for interval
2 to 6 user equipment positioning signals are sent to the wireless location node.
On the other hand, the present invention also provides a kind of indoor positioning devices, including：Receiving unit is serviced, for determining from wireless
Position node receives the user equipment positioning signal that the wireless location node measures, and the user equipment positioning signal is described
The uplink signal that user equipment is sent to wireless location node timing；Transmission unit is serviced, if set for the user
The intensity and variation tendency of standby positioning signal all be pre-stored within the pre- of the first room area in server fingerprint database
If finger print information matches, the corresponding punctuate location information of the preset fingerprint information is sent to the user equipment；Wherein,
The finger print information of the first room area and the second room area, the described first indoor area are stored in the location fingerprint data library
The fingerprint density in domain is greater than or equal to first threshold, and the fingerprint density of second room area is less than or equal to second threshold；
The first threshold is more than the second threshold.
Optionally, first room area includes following at least one：Doorway region, elevator region, corner region, card
Seat region.
Optionally, the wireless location node includes following at least one：Base station, wireless router, computer.
Further, described device further includes：Strength matching unit, for described wireless from the reception of wireless location node
After the user equipment positioning signal that positioning node measures, by the corresponding location information of the preset fingerprint information to the use
Before family equipment is sent, the user equipment positioning signal and corresponding fingerprint signal in the location fingerprint data library are matched
Intensity；Trend matching unit matches the user equipment positioning letter if being less than preset strength threshold value for strength matching difference
The variation tendency of variation tendency and corresponding fingerprint signal in the location fingerprint data library between number；Determination unit is used for
If trend matching difference is less than default change threshold, determine the user equipment positioning signal intensity and variation tendency all
With the preset fingerprint information match in the location fingerprint data library.
Optionally, the variation tendency includes direction change trend and/or variation trends.
Optionally, matched mode includes at least one of probability match, machine learning and path fitting.
Optionally, the second threshold is equal to 0.
On the other hand, the present invention also provides a kind of indoor positioning devices, including：Terminal transmission unit, for determining to wireless
Position node timing sends user equipment positioning signal, so that the wireless location node measures the user equipment positioning signal simultaneously
To location-server report measurement results；Terminal receiving unit, for receiving the location-server according to the measurement result
The punctuate location information determined with the finger print information in location fingerprint data library；Terminal determination unit, for the punctuation bit
Confidence breath determines current location；Wherein, the location fingerprint data lab setting is in the location-server, the location fingerprint
The finger print information of the first room area and the second room area, the fingerprint density of first room area are stored in database
More than or equal to first threshold, the fingerprint density of second room area is less than or equal to second threshold；The first threshold
More than the second threshold.
Further, described device further includes：Unit is reset, for receiving the location-server according to the measurement
As a result after the punctuate location information determined with the finger print information in location fingerprint data library, by the first of the alignment sensor of itself
Beginning position coordinates are reset.
Optionally, the terminal determination unit is additionally operable in the case where that can not receive the punctuate location information, is used
The alignment sensor and the last punctuate location information received determine current location.
Optionally, the terminal transmission unit is specifically used for sending 2 to the wireless location node with 10 milliseconds for interval
To 6 user equipment positioning signals.
On the other hand, the present invention also provides a kind of servers, including any indoor positioning device provided by the invention.
On the other hand, the present invention also provides user equipmenies, including any indoor positioning device provided by the invention.
Indoor orientation method and device provided in an embodiment of the present invention, server, user equipment, since positioning signal has
Have, when being matched with finger print information, not only can individually match each positioning signal strength, it can be with alignment by union signal
Variation tendency each other carries out the matching of finger print information, therefore, can be by user equipment position more precisely
It is fitted on corresponding finger print information, and makes this by the corresponding punctuate location information of the finger print information is sent to the user equipment
User equipment knows the indoor location where itself.Again due to the finger of the fingerprint density and the second room area of the first room area
Line density is different, it is only necessary to dispose more intensive finger print information in key position, and be disposed in other positions more sparse
Finger print information, you can the user equipment of all areas range is accurately positioned, to which resource consumption be greatly saved
In the case of, significantly improve locating effect.
Description of the drawings
Fig. 1 is a kind of flow chart of indoor orientation method provided in an embodiment of the present invention；
Fig. 2 is another flow chart of indoor orientation method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram for the system that indoor orientation method provided in an embodiment of the present invention is based on；
Fig. 4 is a kind of flow chart based on indoor orientation method shown in Fig. 3；
Fig. 5 is doorway position positioning schematic diagram；
Fig. 6 is elevator position positioning schematic diagram；
Fig. 7 is corner location positioning schematic diagram；
Fig. 8 is a kind of structural schematic diagram of indoor positioning device provided in an embodiment of the present invention；
Fig. 9 is another structural schematic diagram of indoor positioning device provided in an embodiment of the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the present invention is described in detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, the present invention is not limited.
As shown in Figure 1, the embodiment of the present invention provides a kind of indoor orientation method, it is based on server, it may include：
S11 receives the user equipment positioning signal that the wireless location node measures, the use from wireless location node
Family equipment positioning signal is the uplink signal that the user equipment is sent to wireless location node timing；
S12, if the intensity and variation tendency of the user equipment positioning signal all be pre-stored within server and refer to
The preset fingerprint information match of first room area in line database, by the corresponding punctuation bit confidence of the preset fingerprint information
It ceases and is sent to the user equipment；
Wherein, the finger print information of the first room area and the second room area is stored in the location fingerprint data library,
The fingerprint density of first room area be greater than or equal to first threshold, the fingerprint density of second room area be less than or
Equal to second threshold；The first threshold is more than the second threshold.
Indoor orientation method provided in an embodiment of the present invention, server can receive described wireless fixed from wireless location node
The user equipment positioning signal that position node measures can be detected since user equipment positioning signal is that timing is sent
To multiple；When being matched with finger print information, each positioning signal strength not only can be individually matched, can also be combined multiple
The matching that variation tendency between positioning signal carries out finger print information therefore can be by user equipment position more
It accurately matches corresponding finger print information, and is set by the way that the corresponding punctuate location information of the finger print information is sent to the user
It is standby and the user equipment is made to know the indoor location where itself.Again due in the fingerprint density and second Room of the first room area
The fingerprint density in region is different, it is only necessary to dispose more intensive finger print information in key position, and other positions deployment compared with
For sparse finger print information, you can be accurately positioned to the user equipment of all areas range, to be greatly saved
In the case of resource consumption, locating effect is significantly improved.
Specifically, in step s 11, user equipment can send one every preset duration to wireless location node to be determined
Position signal, such as send a positioning signal to wireless location node in each 5 seconds.Due to user equipment Distance positioning node
It is far and near different, the practical positioning signal measured of positioning node also difference.Positioning node can set the user measured
Standby positioning signal is sent to server, so that server carries out positioning analysis.
Optionally, the user equipment positioning signal can be that the user equipment is sent out to wireless location node timing
Various uplink signals, such as sounding signals for sending etc..And wireless location node can be base station, wireless router, calculating
The equipment that machine etc. can communicate with user equipment or can receive the uplink signal of user equipment.
After server receives the user equipment location information that wireless location node transmits in step S11, server can
To match the user equipment location information with pre-stored finger print information, set according to matching result to position the user
It is standby.Specifically, finger print information can be pre-stored in fingerprint database, the finger print information stored in fingerprint database can be with
The measurement that off-line phase before tuning on-line is distributed indoor signal.In order to enable the fingerprint information data library of foundation
Indoor positioning accurately and efficiently is carried out to user equipment, the finger print information of different densities can be carried out to different room areas
Deployment.For example, the finger print information that can carry out higher density to the first room area is disposed, as fingerprint density is greater than or equal to the
One threshold value to the second room area dispose compared with the finger print information of low-density, as fingerprint density is less than or equal to second threshold.
Wherein, the first room area may include user pass in and out indoor the only way which must be passed or user indoors can frequent activities field
Institute, such as one or more of doorway region, elevator region, corner region, deck region.Second room area can be the
Region other than one room area.First threshold and the size of second threshold can be adjusted as needed, second threshold
Minimum can be 0, that is, corresponding finger print information is only deployed in the first room area, and the finger print information in other regions is close
Degree is 0.It is disposed by the fingerprint of reasonable organization, in the case where resource consumption is greatly saved, significantly improves locating effect.
Further, in order to know user equipment positioning signal intensity and variation tendency whether all be pre-stored within
The preset fingerprint information match of first room area in server fingerprint database is receiving the nothing from wireless location node
After the user equipment positioning signal that line positioning node measures, by the corresponding location information of the preset fingerprint information to described
Before user equipment is sent, indoor orientation method provided by the invention may also include：
Match the intensity of the user equipment positioning signal and corresponding fingerprint signal in the location fingerprint data library；
If strength matching difference is less than preset strength threshold value, the variation matched between the user equipment positioning signal becomes
The variation tendency of gesture and corresponding fingerprint signal in the location fingerprint data library；
If trend, which matches difference, is less than default change threshold, intensity and the change of the user equipment positioning signal are determined
Change trend all with the preset fingerprint information match in the location fingerprint data library.
Wherein, the intensity and the fingerprint in location fingerprint data library that strength matching difference is each user equipment positioning signal
The signal strength values of information all relatively coincide, even if there are smaller if the difference difference, are less than preset strength threshold value.Trend
Refer to the letter of the variation tendency and the finger print information in location fingerprint data library between each user equipment positioning signal with difference
Number variation tendency is unanimous on the whole, and optionally, variation tendency both may include direction change trend, can also become including Strength Changes
Gesture, can also include the combination of the two, and the embodiment of the present invention is not construed as limiting this.For example, in one embodiment of the present of invention
In, if user equipment positioning signal is at the uniform velocity moved with the speed of 0.2 meter per second to 20 degree of north by east direction, in finger print information
Signal is, to 23 degree of north by east, the two difference is less than 5 degree of preset direction change threshold value and intensity becomes with the speed of 0.18 meter per second
Change 0.05 meter per second of threshold value, it is determined that the position of the corresponding punctuate of the finger print information can be used as the position of the user equipment.
Optionally, when carrying out above-mentioned matching, specific matching process can carry out different according to specific usage scenario
Selection, can by one or more of the methods of probability match, machine learning and path fitting complete strength matching and/
Or variation tendency matching.For example, for several optional data in finger print information, the big data of probability of wherein coincideing are accepted and believed, then
Combining cartographic information carries out path fitting, to complete information matches.Further, passing through each matching and positioning
It afterwards, can also be by the gradual Optimized Matching algorithm of machine learning, to keep matched accuracy higher and higher.
Optionally, the data characteristics of the different corresponding fingerprint databases of the first room area is not quite similar, specific to match
Step may also slight difference.It is described in detail respectively below for the first different room areas.
Doorway matches：When offline, location-server database moves left and right 4 directions according to entering, going out with doorway
Store 4L sounding signals and its directional information in real time；On-line stage, by the L received real-time sounding signals
It is matched with database.Matching rule may include：The absolute value matching for carrying out L real-time sounding signals first, determines
After having doorway position possibility, L real-time sounding signals are matched into line direction；When matching is above thresholding, position is demarcated
It sets.
Elevator matches：When offline, server database moves up and down 4 directions storages according into and out of elevator and elevator
4L real-time sounding signals and its directional information；On-line stage, by the L received real-time sounding signals and number
It is matched according to library；Matching rule includes：The L absolute value matching of sounding signals in real time and by L in real time
The direction matching that sounding signals obtain；When matching is above thresholding, position is demarcated.
Turning matches：When offline, server database passes through turning, storage according to 2 directions clockwise and anticlockwise
The acute variation situation of 2L real-time sounding signals and energy；On-line stage, by the L received real-time sounding letters
It number is matched with database；Matching rule includes：The absolute value matching of L real-time sounding signals, determines that turning matches
After the possibility of position；Match the violent change situation of respective base station energy；When matching is above thresholding, position is demarcated.
The underface of base station：When offline, L real-time sounding signals of server data library storage and its respective base station
Low-loss；On-line stage matches the L received real-time sounding signals with database；Matching rule includes：
The absolute value matching of L real-time sounding signals, determines immediately below base station after matching position possibility；Match respective base station energy
The low-loss situation of amount；When matching is above thresholding, position is demarcated.
Correspondingly, as shown in Fig. 2, the embodiment of the present invention also provides a kind of indoor orientation method, based on user equipment, packet
It includes：
S21 sends user equipment positioning signal, so that the wireless location node measures institute to wireless location node timing
State user equipment positioning signal and to location-server report measurement results；
It is true according to the finger print information in the measurement result and location fingerprint data library to receive the location-server by S22
Fixed punctuate location information；
S23 determines current location with the punctuate location information；
Wherein, the location fingerprint data lab setting is deposited in the location-server in the location fingerprint data library
The finger print information of the first room area and the second room area is contained, the fingerprint density of first room area is greater than or equal to
The fingerprint density of first threshold, second room area is less than or equal to second threshold；The first threshold is more than described the
Two threshold values.
Indoor orientation method provided in an embodiment of the present invention, user equipment can send user to wireless location node timing
Equipment positioning signal, so that the wireless location node measures the user equipment positioning signal and reports survey to location-server
Amount determines as a result, then receiving the location-server according to the finger print information in the measurement result and location fingerprint data library
Punctuate location information.Since positioning signal is that timing is sent, each a period of time will send one, in location-server
Finger print information is carried out when being matched, not only can individually match each positioning signal strength, can with alignment by union signal that
Therefore the matching that variation tendency between this carries out finger print information can more precisely match user equipment position
It, can be by the punctuate when user equipment receives the corresponding punctuate location information of the finger print information to corresponding finger print information
Location information is as the indoor location where itself.Again due to the finger of the fingerprint density and the second room area of the first room area
Line density is different, it is only necessary to dispose more intensive finger print information in key position, and be disposed in other positions more sparse
Finger print information, you can the user equipment of all areas range is accurately positioned, to which resource consumption be greatly saved
In the case of, significantly improve locating effect.
Specifically, in the step s 21, sending user equipment positioning signal to wireless location node timing and may include：With 10
Millisecond sends 2 to 6 user equipment positioning signals for interval to the wireless location node, so that location-server is by nothing
The user equipment positioning signal that line positioning node measures is matched with the finger print information in fingerprint database.
Due to having carried out accurate positioning to user equipment using finger print information, user equipment can be accurately fixed with this
The alignment sensor of position information correction itself, to make alignment sensor correct accumulated error.Specifically, at one of the present invention
In embodiment, user equipment is receiving the location-server according to the fingerprint in the measurement result and location fingerprint data library
After the punctuate location information that information determines, it may also include：The initial position co-ordinates of the alignment sensor of itself are reset.In this way
In the case where user equipment can not receive the punctuate location information of location-server transmission, the alignment sensor can be used
The punctuate location information received with the last time determines current location.If for example, user's present position and being not belonging to
The intensive region of finger print information, and the punctuate location information that user equipment the last time receives from location-server is 2 minutes
It is preceding near elevator, then user can remember according to the punctuate location information and self poisoning sensor that are received before this 2 minutes
The relative position information of record determines the position that user equipment is presently in.It is positioned with sensor for example, punctuate position can be merged
As a result, matching cartographic information, shows positioning result.
Indoor orientation method provided in an embodiment of the present invention is described in detail below by specific embodiment.
Fig. 3 is the structural schematic diagram of system that indoor orientation method provided in an embodiment of the present invention is based on, Fig. 4 be based on
A kind of flow chart of the indoor orientation method of the system.In conjunction with Fig. 3 and Fig. 4, indoor orientation method provided in this embodiment can wrap
Include following steps：
301. terminals access wireless location node, and wireless location node is specially base station in the present embodiment；
302. base stations are that terminal (i.e. user equipment) configures user equipment positioning signal (such as srs signals)；
303. terminals send user equipment positioning signal according to configuration before to base station；
The srs signals that 304. base station measurements receive；
305. base stations send metrical information to location-server；
306. location-servers in the metrical information that receives user equipment positioning signal in location database
Finger print information is matched；
If 307. successful match, the location information of corresponding punctuate is sent to terminal by location-server, is not otherwise sent out
Send corresponding message；
308. terminals update pointing information；
309. terminals reposition the alignment sensor of itself；
310. terminals estimate the absolute position of itself；
311. terminals feed back the location information of oneself according to the request of location-server.
Specifically, within step 306, if can be by the finger print information in user equipment positioning signal and location database
Successful match, it is related with the location of user equipment.If the user equipment is in the first intensive room area of fingerprint,
Then have prodigious possible successful match, if the user equipment is in the second sparse room area of fingerprint, may
With less than suitable finger print information.When matching is less than suitable finger print information, user equipment can be passed in conjunction with the positioning of itself
Sensor and the last punctuate location information received, estimate itself present position.
The positioning scenarios in several typical first room areas are described in detail separately below.
The indoor positioning of 1 doorway position of embodiment
As shown in figure 5, in the present embodiment, there are 3 base stations, i.e. eNodeB1, eNodeB2, eNodeB3 in the wireless network；
One location-server and a terminal.Positioning scene is disengaging doorway.
Below by taking situation is entered in doorway position as an example, indoor orientation method provided in an embodiment of the present invention is carried out specifically
It is bright.
The common move mode in doorway position is：Into and out of moving left and right for door and doorway direction.
Off-line phase server database moves left and right 4 direction storages 4L in real time according to entering, going out with doorway
Sounding signals and its directional information.
Tuning on-line stage, UE send sounding signals to base station, when advancing to doorway position, base according to clock interval
Stand and receive and the sounding signals of measuring terminals transmitting, continuously uploaded using 10ms as interval the real-time sounding signals of L to
Server database.Server matches the L received real-time sounding signals with database.Matching rule packet
It includes：The absolute value matching for carrying out L real-time sounding signals first, determines after having doorway position possibility；In real time to L
Sounding signals are matched into line direction；When matching is above thresholding, position is demarcated.Server sends the position coordinates of calibration
To UE.
The punctuate that UE receives server assert coordinate, while being reset to sensor.UE converged services devices punctuate positioning and
Sensor positions, and exports the real-time location coordinates of UE.
The indoor positioning of 2 elevator position of embodiment
The implementation case includes base station, terminal and server equipment.
As shown in fig. 6, having 3 base stations, i.e. eNodeB1, eNodeB2, eNodeB3 in the wireless network；One positioning clothes
Business device and a terminal.Positioning scene is elevator up-down.
Below by taking elevator position uplink and downlink situation as an example, indoor orientation method provided in an embodiment of the present invention is said
It is bright.
The common move mode of elevator position is：Into and out of moving up and down for elevator and elevator direction.
Off-line phase server database stores 4L according into and out of 4 directions that move up and down in elevator and elevator direction
Real-time sounding signals and its directional information.
In the tuning on-line stage, when UE is in ascending for elevator position, UE continues to send sounding signals according to clock interval
To base station, base station receives and the sounding signals of measuring terminals transmitting, and L are continuously uploaded using 10ms as interval in real time
Sounding signals are to server database.By the L received, sounding signals and database carry out server in real time
Match.Since to move up and down middle reception different base station changed power direction apparent for elevator, so being matched according to following matching rule：L
The absolute value of a real-time sounding signals is matched and is matched by the L directions that sounding signals obtain in real time；Matching is equal
When higher than thresholding, position is demarcated.The position coordinates of calibration are sent to UE by server.
The punctuate that UE receives server assert elevator coordinate, while being reset to sensor.The punctuate of UE converged services devices is fixed
Position and sensor positioning, export the real-time location coordinates of UE.
The positioning of 3 corner location of embodiment
The implementation case includes base station, terminal and server equipment.
As shown in fig. 7, having 3 base stations, i.e. eNodeB1, eNodeB2, eNodeB3 in the wireless network；One positioning clothes
Business device and a terminal.Positioning scene is passed through for turning.
Below by taking corner location traffic status clockwise as an example, the sparse fingerprint location of network side is merged with mobile phone sensor
Positioning illustrates.
The common move mode of corner location is：It moves clockwise and anticlockwise.Off-line phase server database according to it is suitable,
2L real-time sounding signals of 2 directions storage counterclockwise and its directional information.
Tuning on-line stage, UE when advancing to corner location continue to send sounding signals to base according to clock interval
It stands, base station receives and the sounding signals of measuring terminals transmitting, and L real-time sounding are continuously uploaded using 10ms as interval
Signal is to server database.Server matches the L received real-time sounding signals with database.Due to turning
Angle Position generally entails the disappearance and appearance of certain diameters, so matching rule includes：The absolute value of L real-time sounding signals
Matching, after determining turning matching position possibility；Match the violent change situation of respective base station energy；Matching is above thresholding
When, demarcate position.The position coordinates of calibration are sent to UE by server.
The punctuate that UE receives server assert coordinate, while being reset to sensor.UE converged services devices punctuate positioning and
Sensor positions, and exports the real-time location coordinates of UE.
Correspondingly, as shown in figure 8, the embodiment of the present invention also provides a kind of indoor positioning device 4, including：
Receiving unit 41 is serviced, for receiving the user equipment that the wireless location node measures from wireless location node
Positioning signal, the user equipment positioning signal are the uplink letter that the user equipment is sent to wireless location node timing
Number；
Service transmission unit 42, if for the user equipment positioning signal intensity and variation tendency all in advance
It is stored in the preset fingerprint information match of the first room area in server fingerprint database, by the preset fingerprint information pair
The punctuate location information answered is sent to the user equipment；
Wherein, the finger print information of the first room area and the second room area is stored in the location fingerprint data library,
The fingerprint density of first room area be greater than or equal to first threshold, the fingerprint density of second room area be less than or
Equal to second threshold；The first threshold is more than the second threshold.
Indoor positioning device 4 provided in an embodiment of the present invention, due to positioning signal timing send, have it is multiple, with finger
When line information is matched, each positioning signal strength not only can be individually matched, multiple positioning signals can also be combined each other
Between variation tendency carry out finger print information matching therefore user equipment position can be more precisely matched to
Corresponding finger print information, and make the user by the corresponding punctuate location information of the finger print information is sent to the user equipment
Equipment knows the indoor location where itself.Again since the fingerprint density of the first room area and the fingerprint of the second room area are close
Degree is different, it is only necessary to dispose more intensive finger print information in key position, and dispose more sparse fingerprint in other positions
Information, you can the user equipment of all areas range is accurately positioned, in the feelings that resource consumption is greatly saved
Under condition, locating effect is significantly improved.
Optionally, first room area includes following at least one：Doorway region, elevator region, corner region, card
Seat region.
Optionally, the wireless location node includes following one or more：Base station, wireless router, computer.
Further, described device further includes：
Strength matching unit, for receiving the user equipment that the wireless location node measures from wireless location node
After positioning signal, before the corresponding location information of the preset fingerprint information is sent to the user equipment, described in matching
The intensity of user equipment positioning signal and corresponding fingerprint signal in the location fingerprint data library；
It is fixed to match the user equipment if being less than preset strength threshold value for strength matching difference for trend matching unit
The variation tendency of variation tendency and corresponding fingerprint signal in the location fingerprint data library between the signal of position；
Determination unit determines the user equipment positioning letter if being less than default change threshold for trend matching difference
Number intensity and variation tendency all with the preset fingerprint information match in the location fingerprint data library.
Optionally, the variation tendency includes direction change trend and/or variation trends.
Optionally, matched mode includes at least one of probability match, machine learning and path fitting.
Optionally, the second threshold is equal to 0.
Correspondingly, as shown in figure 9, the embodiment of the present invention also provides a kind of indoor positioning device 5, including：
Terminal transmission unit 51, for sending user equipment positioning signal to wireless location node timing, so that institute
It states wireless location node and measures the user equipment positioning signal and to location-server report measurement results；
Terminal receiving unit 52, for receiving the location-server according to the measurement result and location fingerprint data library
In finger print information determine punctuate location information；
Terminal determination unit 53, for determining current location with the punctuate location information；
Wherein, the location fingerprint data lab setting is deposited in the location-server in the location fingerprint data library
The finger print information of the first room area and the second room area is contained, the fingerprint density of first room area is greater than or equal to
The fingerprint density of first threshold, second room area is less than or equal to second threshold；The first threshold is more than described the
Two threshold values.
Indoor positioning device 5 provided in an embodiment of the present invention, user equipment can send to wireless location node timing and use
Family equipment positioning signal, so that the wireless location node measures the user equipment positioning signal and reported to location-server
Then it is true according to the finger print information in the measurement result and location fingerprint data library to receive the location-server for measurement result
Fixed punctuate location information.Since positioning signal is that timing is sent, each a period of time will send one, in positioning service
When device progress finger print information is matched, each positioning signal strength not only can be individually matched, it can be with alignment by union signal
Variation tendency each other carries out the matching of finger print information, therefore, can be by user equipment position more precisely
It is fitted on corresponding finger print information, it, can be by the mark when user equipment receives the corresponding punctuate location information of the finger print information
Dot position information is as the indoor location where itself.Again due to the fingerprint density of the first room area and second room area
Fingerprint density is different, it is only necessary to dispose more intensive finger print information in key position, and be disposed in other positions more sparse
Finger print information, you can the user equipment of all areas range is accurately positioned, to disappear resource is greatly saved
In the case of consumption, locating effect is significantly improved.
Further, positioning device 5 provided by the invention, may also include：Unit is reset, for receiving the positioning clothes
It is engaged in after punctuate location information of the device according to the finger print information determination in the measurement result and location fingerprint data library, by itself
Alignment sensor initial position co-ordinates reset.
Optionally, terminal determination unit 53, it may also be used in the case where the punctuate location information can not be received, use
The alignment sensor and the last punctuate location information received determine current location.
Optionally, terminal transmission unit 51 is particularly used in and sends 2 to the wireless location node with 10 milliseconds for interval
To 6 user equipment positioning signals.
Correspondingly, the present invention also provides a kind of server, include any indoor positioning device of previous embodiment offer
4, therefore can also realize corresponding technique effect, detailed description has been carried out above, details are not described herein again.
Correspondingly, the present invention also provides a kind of mobile terminal, including any indoor positioning that previous embodiment provides fills
5 are set, therefore can also realize corresponding technique effect, detailed description has been carried out above, details are not described herein again.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
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.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal equipment (can be mobile phone, computer, clothes
Be engaged in device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (18)
1. a kind of indoor orientation method, which is characterized in that including：
The user equipment positioning signal that the wireless location node measures is received from wireless location node, the user equipment is fixed
Position signal is the uplink signal that the user equipment is sent to wireless location node timing；
If the intensity and variation tendency of the user equipment positioning signal all be pre-stored within server fingerprint database
In the first room area preset fingerprint information match, by the corresponding punctuate location information of the preset fingerprint information to described
User equipment is sent；
Wherein, the finger print information of the first room area and the second room area is stored in the location fingerprint data library, it is described
The fingerprint density of first room area is greater than or equal to first threshold, and the fingerprint density of second room area is less than or equal to
Second threshold；The first threshold is more than the second threshold.
2. according to the method described in claim 1, it is characterized in that, first room area includes following at least one：Door
Mouth region domain, elevator region, corner region, deck region.
3. method according to any one of claim 1 to 2, which is characterized in that receive the nothing from wireless location node
After the user equipment positioning signal that line positioning node measures, by the corresponding location information of the preset fingerprint information to described
Before user equipment is sent, the method further includes：
Match the intensity of the user equipment positioning signal and corresponding fingerprint signal in the location fingerprint data library；
If strength matching difference is less than preset strength threshold value, match variation tendency between the user equipment positioning signal with
The variation tendency of corresponding fingerprint signal in the location fingerprint data library；
If trend, which matches difference, is less than default change threshold, determine that the intensity of the user equipment positioning signal and variation become
Gesture all with the preset fingerprint information match in the location fingerprint data library.
4. according to the method described in claim 3, it is characterized in that, the variation tendency includes direction change trend and/or strong
Spend variation tendency.
5. according to the method described in claim 3, it is characterized in that, matched mode includes probability match, machine learning and road
At least one of diameter fitting.
6. according to the method described in claim 1, it is characterized in that, the second threshold is equal to 0.
7. a kind of indoor orientation method, which is characterized in that including：
User equipment positioning signal is sent to wireless location node timing, so that the wireless location node measures the user and sets
Standby positioning signal and to location-server report measurement results；
Receive the punctuate that the location-server is determined according to the finger print information in the measurement result and location fingerprint data library
Location information；
Current location is determined with the punctuate location information；
Wherein, the location fingerprint data lab setting is stored in the location-server in the location fingerprint data library
The fingerprint density of the finger print information of first room area and the second room area, first room area is greater than or equal to first
The fingerprint density of threshold value, second room area is less than or equal to second threshold；The first threshold is more than second threshold
Value.
8. the method according to the description of claim 7 is characterized in that the reception location-server is tied according to the measurement
After the punctuate location information that finger print information in fruit and location fingerprint data library determines, the method further includes：
The initial position co-ordinates of the alignment sensor of itself are reset.
9. according to the method described in claim 8, it is characterized in that, further including：
In the case where the punctuate location information can not be received, the alignment sensor and the last mark received are used
Dot position information determines current location.
10. the method according to any one of claim 7 to 9, which is characterized in that described to be sent out to wireless location node timing
The user equipment positioning signal is sent to include：
With 10 milliseconds 2 to 6 user equipment positioning signals are sent to the wireless location node for interval.
11. a kind of indoor positioning device, which is characterized in that including：
Receiving unit is serviced, letter is positioned for receiving the user equipment that the wireless location node measures from wireless location node
Number, the user equipment positioning signal is the uplink signal that the user equipment is sent to wireless location node timing；
Service transmission unit, if intensity and variation tendency for the user equipment positioning signal all be pre-stored within
The preset fingerprint information match of first room area in server fingerprint database, by the corresponding mark of the preset fingerprint information
Dot position information is sent to the user equipment；
Wherein, the finger print information of the first room area and the second room area is stored in the location fingerprint data library, it is described
The fingerprint density of first room area is greater than or equal to first threshold, and the fingerprint density of second room area is less than or equal to
Second threshold；The first threshold is more than the second threshold.
12. according to the devices described in claim 11, which is characterized in that further include：
Strength matching unit, for receiving the user equipment positioning that the wireless location node measures from wireless location node
After signal, before the corresponding location information of the preset fingerprint information is sent to the user equipment, the user is matched
The intensity of equipment positioning signal and corresponding fingerprint signal in the location fingerprint data library；
Trend matching unit matches the user equipment positioning letter if being less than preset strength threshold value for strength matching difference
The variation tendency of variation tendency and corresponding fingerprint signal in the location fingerprint data library between number；
Determination unit determines the user equipment positioning signal if being less than default change threshold for trend matching difference
Intensity and variation tendency all with the preset fingerprint information match in the location fingerprint data library.
13. device according to claim 12, which is characterized in that the variation tendency include direction change trend and/or
Variation trends.
14. a kind of indoor positioning device, which is characterized in that including：
Terminal transmission unit, for sending user equipment positioning signal to wireless location node timing, so that the wireless location
Node measures the user equipment positioning signal and to location-server report measurement results；
Terminal receiving unit, for receiving the location-server according to the finger in the measurement result and location fingerprint data library
The punctuate location information that line information determines；
Terminal determination unit, for determining current location with the punctuate location information；
Wherein, the location fingerprint data lab setting is stored in the location-server in the location fingerprint data library
The fingerprint density of the finger print information of first room area and the second room area, first room area is greater than or equal to first
The fingerprint density of threshold value, second room area is less than or equal to second threshold；The first threshold is more than second threshold
Value.
15. device according to claim 14, which is characterized in that further include：
Unit is reset, for receiving the location-server according to the fingerprint in the measurement result and location fingerprint data library
After the punctuate location information that information determines, the initial position co-ordinates of the alignment sensor of itself are reset.
16. device according to claim 15, which is characterized in that the terminal determination unit is additionally operable to not receive
In the case of the punctuate location information, determined using the alignment sensor and the last punctuate location information received
Current location.
17. a kind of server, which is characterized in that including the indoor positioning device described in any one of claim 11 to 13.
18. a kind of user equipment, which is characterized in that including the indoor positioning device described in any one of claim 14 to 16.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021975.8A CN108377546A (en) | 2016-11-21 | 2016-11-21 | A kind of indoor orientation method and device, server, user equipment |
| PCT/CN2017/100404 WO2018090696A1 (en) | 2016-11-21 | 2017-09-04 | Indoor positioning method, apparatus, server and user equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021975.8A CN108377546A (en) | 2016-11-21 | 2016-11-21 | A kind of indoor orientation method and device, server, user equipment |
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| Publication Number | Publication Date |
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| CN108377546A true CN108377546A (en) | 2018-08-07 |
Family
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|---|---|---|---|
| CN201611021975.8A Pending CN108377546A (en) | 2016-11-21 | 2016-11-21 | A kind of indoor orientation method and device, server, user equipment |
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| CN (1) | CN108377546A (en) |
| WO (1) | WO2018090696A1 (en) |
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| CN113079457B (en) * | 2021-03-08 | 2022-07-29 | 深圳市鹰硕技术有限公司 | Whale algorithm-based bimodal indoor positioning method and device |
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