CN109932685A - A kind of localization method, mobile terminal and indoor locating system - Google Patents
A kind of localization method, mobile terminal and indoor locating system Download PDFInfo
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- CN109932685A CN109932685A CN201910253167.1A CN201910253167A CN109932685A CN 109932685 A CN109932685 A CN 109932685A CN 201910253167 A CN201910253167 A CN 201910253167A CN 109932685 A CN109932685 A CN 109932685A
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Abstract
The invention discloses a kind of localization method, mobile terminal and indoor locating systems, the described method includes: receiving the location information that indoor locating system is sent, the location information includes the almanac data of target navigation satellite, and the target navigation satellite is the navigation satellite that the indoor locating system receives signal at locating building；In the case where the mobile terminal is moved to the building outside from the interior of building, outdoor satellite positioning is carried out according to the almanac data.When the present invention guarantees that mobile terminal is moved to outside building from interior of building, the almanac data for the target navigation satellite that can be sent according to indoor locating system, the target navigation satellite is directly searched, quickly positioning is realized, blind search navigation satellite is avoided to cause to position slow problem.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of localization methods, mobile terminal and indoor locating system.
Background technique
Positioning system has a wide range of applications, such as: the scenes such as navigation, shopping, finance, Internet of Things, engineering construction need
Positioning system is used to obtain current position data.Positioning system is broadly divided into outdoor positioning system and indoor positioning system at present
System.Wherein, the covering of outdoor positioning system is wide, can guarantee the effective position of outdoor environment (namely outside building)；Indoors
There may be the navigation satellite signal of outdoor positioning system is weak under environment (namely interior of building), or navigation cannot be received
The problem of satellite-signal, such indoor locating system can effectively solve and can not be carried out by outdoor positioning system under environment indoors
The problem of positioning, is complemented each other by indoor positioning and outdoor positioning, to guarantee the coverage area of positioning system.But it is mobile
For terminal when being moved to outdoor environment from indoor environment, mobile terminal needs to re-search for navigation satellite, then is positioned, and causes
Positioning is slow.Such as: mobile terminal is moved in the case that outdoor environment needs navigation routine from indoor environment, indoor positioning system
System cannot provide positioning, but outdoor positioning searches out navigation satellite signal not yet, need to wait mobile terminal to search to navigation
Satellite-signal just can determine that navigation circuit, there is positioning when being transferred to outdoor environment from indoor environment in this way after repositioning
Slow problem, is unfavorable for user experience.
Summary of the invention
The present invention provides a kind of localization method, mobile terminal and indoor locating systems, to solve mobile terminal from building
In the case where being moved to building outside inside object, there is a problem of that positioning is slow.
In order to solve the above-mentioned technical problem, the present invention is implemented as follows:
In a first aspect, being applied to mobile terminal the embodiment of the invention provides a kind of localization method, which comprises
The location information that indoor locating system is sent is received, the location information includes the ephemeris number of target navigation satellite
According to the target navigation satellite is the navigation satellite that the indoor locating system receives signal at locating building；
In the case where the mobile terminal is moved to the building outside from the interior of building, according to the star
It counts one by one according to progress outdoor satellite positioning.
Second aspect, the embodiment of the invention also provides a kind of mobile terminal, the mobile terminal includes:
Receiving module, for receiving the location information of indoor locating system transmission, the location information includes target navigation
The almanac data of satellite, the target navigation satellite are that the indoor locating system receives leading for signal at locating building
Navigate satellite；
First locating module, for being moved to outside the building in the mobile terminal from the interior of building
In the case of, outdoor satellite positioning is carried out according to the almanac data.
The third aspect the embodiment of the invention also provides a kind of mobile terminal, including processor, memory and is stored in institute
The computer program that can be run on memory and on the processor is stated, when the computer program is executed by the processor
The step of realizing localization method as described above.
Fourth aspect, it is described computer-readable to deposit the embodiment of the invention also provides a kind of computer readable storage medium
Computer program is stored on storage media, the computer program realizes localization method as described above when being executed by processor
Step.
5th aspect, the embodiment of the invention also provides a kind of localization methods, are applied to indoor locating system, the method
Include:
Obtain the almanac data for the target navigation satellite that the indoor locating system receives at locating building；
Location information is sent to mobile terminal, the location information includes the almanac data of the target navigation satellite.
6th aspect, the embodiment of the invention also provides a kind of indoor locating system, the indoor locating system includes:
Module is obtained, for obtaining target navigation satellite that the indoor locating system receives at locating building
Almanac data；
Sending module, for sending location information to mobile terminal, the location information includes the target navigation satellite
Almanac data.
7th aspect, the embodiment of the invention also provides a kind of indoor locating systems, including processor, memory and storage
On the memory and the computer program that can run on the processor, the computer program are held by the processor
The step of localization method as described above is realized when row.
Eighth aspect, it is described computer-readable to deposit the embodiment of the invention also provides a kind of computer readable storage medium
Computer program is stored on storage media, the computer program realizes localization method as described above when being executed by processor
Step.
In embodiments of the present invention, in the case where mobile terminal is in interior of building, indoor positioning system can be received
The almanac data for the target navigation satellite that system is sent, when being moved to outside building in order to mobile terminal from interior of building,
The almanac data for the target navigation satellite that can be sent according to indoor locating system, directly searches the target navigation satellite, guarantees
Quickly positioning, avoids blind search navigation satellite from causing to position slow problem.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 shows one of the flow charts of the mobile terminal side localization method of the embodiment of the present invention；
Fig. 2 indicates the two of the flow chart of the mobile terminal side localization method of the embodiment of the present invention；
Fig. 3 indicates the block diagram of the mobile terminal of the embodiment of the present invention；
Fig. 4 indicates the hardware structural diagram of the mobile terminal of the embodiment of the present invention；
Fig. 5 indicates the flow chart of the localization method of the indoor locating system side of the embodiment of the present invention；
Fig. 6 indicates the block diagram of the indoor locating system of the embodiment of the present invention；
Fig. 7 indicates the block diagram of the positioning system of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Such as Fig. 1, the embodiment of the invention provides a kind of localization methods, are applied to mobile terminal, which comprises
Step 11: receiving the location information that indoor locating system is sent.
Wherein, the location information includes the almanac data of target navigation satellite, and the target navigation satellite is the room
Interior positioning system receives the navigation satellite of signal at locating building.
Specifically, almanac data may include the satellite number of the target navigation satellite, elevation angle etc..
Step 12: in the case where the mobile terminal is moved to the building outside from the interior of building, root
Outdoor satellite positioning is carried out according to the almanac data.
In the embodiment, in the case where mobile terminal is in interior of building, indoor locating system transmission can be received
Target navigation satellite almanac data, when being moved to outside building in order to mobile terminal from interior of building, Neng Gougen
According to the almanac data for the target navigation satellite that indoor locating system is sent, the target navigation satellite is directly searched, it is quickly fixed to guarantee
Position, avoids blind search navigation satellite from causing to position slow problem.
Specifically, above-mentioned steps 11 can specifically include: receiving the location information of the indoor locating system broadcast transmission.
Optionally, it is in the broadcast message that can not connect broadcast that the location information, which is carried in broadcast type,.
Specifically, indoor locating system can be with wireless telecommunications, base station location, inertial navigation positioning, Wi-Fi, bluetooth, infrared
The technologies such as line, ultra wide band (Ultra Wideband, UWB), ZigBee protocol (Zigbee) set fixed station indoors to carry out
The system of indoor positioning.
Such as: it is based on Bi Ken (Beacon) the indoor positioning system of bluetooth low energy consumption (Bluetooth Low Energy, BLE)
System, has the advantages that at low cost, positioning accuracy is high.Beacon system is the product based on BLE protocol frame, can be sent
Beacon signal carries out indoor positioning, and there is BLE system the data broadcasting of itself to send framework, convenient broadcast number in real time
According to.
Such as: the general-purpose accessing agreement (GAP) of host (Host) layer is broadcasted for connecting preceding data broadcasting in BLE system
Type includes:
General (GAP_ADTYPE_ADV_IND), general broadcast can be scanned, and can be connected；
(GAP_ADTYPE_ADV_DIRECT_IND) of orientation, the broadcast of orientation can not be scanned, can be connected；
Not attachable (GAP_ADTYPE_ADV_DISCOVER_IND), not attachable broadcast can be scanned, can not be by
Connection；
Findable (GAP_ADTYPE_ADV_NONCONN_IND), it is possible to find broadcast can not be scanned, can not be connected
It connects.
Specifically, small base station used for positioning is defended to mobile terminal broadcast transmission comprising target navigation in the BLE system of interior
The location information of the almanac data of star.Wherein, the host of the small base station maintains broadcast state, using broadcast state link-layer frame structure
In broadcast data send the location information of the almanac data comprising target navigation satellite, such as: using broadcast can not be connected
To send location information.Wherein, can not connect broadcast indicates that broadcast event can not be connected by being not desired to connected equipment use.It is this
The typical case of broadcast includes that equipment merely desires to broadcast data, and is not desired to scanned or connects.It can be used for only transmitter and do not have
There is the broadcast type of receiver device.Broadcasting equipment, which can not be connected, will not enter connected state, and therefore, it can only be wanted according to host
It asks and switches between broadcast state and ready state.
The embodiment of the invention also provides a kind of localization methods, are applied to mobile terminal, which comprises
The location information that indoor locating system is sent is received, the location information includes the ephemeris number of target navigation satellite
According to the target navigation satellite is the navigation satellite that the indoor locating system receives signal at locating building；
If the signal strength that the mobile terminal receives the satellite-signal of navigation satellite is greater than preset threshold, it is determined that institute
Mobile terminal is stated to be moved to outside the building from the interior of building；
In the case where the mobile terminal is moved to the building outside from the interior of building, according to the star
It counts one by one according to progress outdoor satellite positioning.
In the embodiment, preset threshold can be in Shi Suoneng outside building according to mobile terminal and receive navigation satellite
Satellite-signal signal strength determine.In this way, guaranteeing movement when the signal strength of the satellite-signal is greater than preset threshold
In the case that terminal is in building outside, outdoor satellite positioning is just carried out according to the satellite-signal of the target navigation satellite,
Avoiding mobile terminal that from may searching satellite-signal in interior of building leads to position inaccurate, to improve positioning accuracy.
And the almanac data of target navigation satellite is to pass through indoor locating system in the case where mobile terminal is in interior of building
It receives, when guaranteeing that mobile terminal is moved to outside building from interior of building, can directly be searched according to the almanac data
The rope target navigation satellite guarantees quickly positioning, blind search navigation satellite is avoided to cause to position slow problem.
The embodiment of the invention also provides a kind of localization methods, are applied to mobile terminal, which comprises
The location information that indoor locating system is sent is received, the location information includes the ephemeris number of target navigation satellite
According to the target navigation satellite is the navigation satellite that the indoor locating system receives signal at locating building；
Store the almanac data of the target navigation satellite；
In the case where the mobile terminal is moved to the building outside from the interior of building, reading is stored
Target navigation satellite almanac data；
According to the almanac data of the target navigation satellite of reading, outdoor satellite positioning is carried out.
In the embodiment, in the case where mobile terminal is in interior of building, indoor locating system transmission can be received
Target navigation satellite almanac data and stored, in order to which mobile terminal is moved to outside building from interior of building
When, the target navigation satellite can be directly searched by the almanac data of the stored target navigation satellite of reading, guaranteed quick
Positioning, avoids blind search navigation satellite from causing to position slow problem.
In addition, the location information also includes the indoor positioning data of the indoor locating system.Wherein, the indoor positioning
Data can carry in the signaling that positioning system is sent to mobile terminal indoors, such as: the instruction of received signal intensity
(Received Signal Strength Indication, RSSI).
Above-mentioned reception indoor locating system send location information the step of after, the method can also include:
In the case where the mobile terminal is in the interior of building, carried out according to the indoor positioning data indoor
Positioning.
Specifically, the signal strength in the satellite-signal of the navigation satellite searched is less than or equal to preset threshold, or
In the case that person does not search the satellite-signal, indoor positioning is carried out according to the indoor positioning data.
In the embodiment, when the signal strength of the satellite-signal is less than or equal to preset threshold, guarantee mobile whole
In the case that end is in interior of building, indoor positioning is carried out according to the indoor positioning data, mobile terminal is avoided to build
Lead to position inaccurate when may search satellite-signal inside object, to improve positioning accuracy.
Certainly, after above-mentioned steps 11, the target that positioning system can receive at locating building indoors is led
When boat satellite updates, the star comprising updated target navigation satellite that the indoor locating system is sent can also be received
It counts the location information of evidence one by one, and stores.
In this way when the position of navigation satellite updates, mobile terminal can be by indoor locating system real-time reception more
The almanac data of target navigation satellite after new, in this way, being moved to described build from the interior of building in the mobile terminal
When building beyond the region of objective existence portion, according to the almanac data of updated target navigation satellite, updated target navigation satellite is directly searched, is protected
Demonstrate,prove quick, the precise positioning when navigation satellite updates.
Such as Fig. 2, the embodiment of the invention also provides a kind of localization methods, are applied to mobile terminal, which comprises
Step 21: receiving the location information that indoor locating system is periodically sent.
Such as: receive the location information that the indoor locating system every prescribed time period is sent；Wherein, the positioning letter
Breath includes the almanac data of target navigation satellite, and the target navigation satellite is the indoor locating system at locating building
Receive the navigation satellite of signal.
In the embodiment, when the position of navigation satellite updates, mobile terminal can pass through indoor locating system reality
When receive the almanac data of updated target navigation satellite.
Step 22: according to the location information that the last time receives, updating the almanac data of the target navigation satellite.
Step 23: in the case where the mobile terminal is moved to the building outside from the interior of building, root
Outdoor satellite positioning is carried out according to the almanac data.
In the embodiment, when the position of navigation satellite updates, mobile terminal can pass through indoor locating system reality
When receive the almanac data of updated target navigation satellite, in this way, mobile from the interior of building in the mobile terminal
When outside to the building, according to the almanac data of updated target navigation satellite, directly searches updated target and lead
Navigate satellite, guarantees quick, the precise positioning when navigation satellite updates.
Wherein, before above-mentioned steps 23, the method can also be specifically included:
If the signal strength that the mobile terminal receives the satellite-signal of navigation satellite is greater than preset threshold, it is determined that institute
Mobile terminal is stated to be moved to outside the building from the interior of building.
In the embodiment, preset threshold can be in the satellite letter that Shi Suoneng is received outside building according to mobile terminal
Number signal strength determine.In this way, guaranteeing that mobile terminal is in when the signal strength of the satellite-signal is greater than preset threshold
In the case where building outside, outdoor satellite positioning is just carried out according to the satellite-signal of the target navigation satellite, avoids moving
Terminal, which may search satellite-signal in interior of building, leads to position inaccurate, to improve positioning accuracy.
Further, after above-mentioned steps 22, the method also includes: store the ephemeris number of the target navigation satellite
According to, can be according to the star of the target navigation satellite stored when being transferred to outdoor environment from indoor environment in order to mobile terminal
It counts evidence one by one, directly searches the target navigation satellite, guarantee quickly positioning.
Further, it above-mentioned the step of outdoor satellite positioning is carried out according to the almanac data, can specifically include:
Read the almanac data of stored target navigation satellite；
According to the almanac data of the target navigation satellite of reading, outdoor satellite positioning is carried out.
In the embodiment, when the position of navigation satellite updates, mobile terminal can pass through indoor locating system reality
When receive the almanac data of updated target navigation satellite, in this way, mobile from the interior of building in the mobile terminal
When outside to the building, according to the almanac data of updated target navigation satellite, directly searches updated target and lead
Navigate satellite, guarantees quick, the precise positioning when navigation satellite updates.
In addition, the location information also includes the indoor positioning data of the indoor locating system.Wherein, the indoor positioning
Data can carry in the signaling that positioning system is sent to mobile terminal indoors, such as: RSSI.
After above-mentioned steps 21, the method can also include:
In the case where the mobile terminal is in the interior of building, carried out according to the indoor positioning data indoor
Positioning.
Specifically, the signal strength in the satellite-signal of the navigation satellite searched is less than or equal to preset threshold, or
In the case that person does not search the satellite-signal, indoor positioning is carried out according to the indoor positioning data.
In the embodiment, when the signal strength of the satellite-signal is less than or equal to preset threshold, guarantee mobile whole
In the case that end is in interior of building, indoor positioning is carried out according to the indoor positioning data, mobile terminal is avoided to build
Lead to position inaccurate when may search satellite-signal inside object, to improve positioning accuracy.
Such as Fig. 3, the embodiment of the invention also provides mobile terminal 300, the mobile terminal 300 includes:
Receiving module 310, for receiving the location information of indoor locating system transmission, the location information is led comprising target
The almanac data of boat satellite, the target navigation satellite are that the indoor locating system receives signal at locating building
Navigation satellite；
First locating module 320, for being moved to outside the building in the mobile terminal from the interior of building
In the case where portion, outdoor satellite positioning is carried out according to the almanac data.
Wherein, the receiving module 310 may include:
First receiving unit, for receiving the location information of the indoor locating system broadcast transmission.
Wherein, it is in the broadcast message that can not connect broadcast that the location information, which can be carried in broadcast type,.
Wherein, the receiving module 310 may include:
Second receiving unit, the location information periodically sent for receiving the indoor locating system；
Updating unit, the location information for being received according to the last time, updates the ephemeris of the target navigation satellite
Data.
Wherein, the mobile terminal 300 can also include:
Memory module, for storing the target navigation and defending after receiving the location information that indoor locating system is sent
The almanac data of star；
First locating module 320 may include:
Reading unit, for reading the almanac data of stored target navigation satellite；
First positioning unit carries out outdoor satellite positioning for the almanac data according to the target navigation satellite of reading.
Wherein the mobile terminal 300 can also include:
Determining module, if being greater than for the signal strength that the mobile terminal receives the satellite-signal of navigation satellite default
Threshold value, it is determined that the mobile terminal is moved to outside the building from the interior of building.
Mobile terminal provided in an embodiment of the present invention can be realized what mobile terminal in the embodiment of the method for Fig. 1, Fig. 2 was realized
Each process, to avoid repeating, which is not described herein again.
Mobile terminal 300 in the embodiment of the present invention can be received in the case where mobile terminal is in interior of building
The almanac data for the target navigation satellite that indoor locating system is sent, in order to which mobile terminal is moved to building from interior of building
When beyond the region of objective existence portion, the almanac data for the target navigation satellite that can be sent according to indoor locating system directly searches the target navigation
Satellite guarantees quickly positioning, blind search navigation satellite is avoided to cause to position slow problem.
A kind of hardware structural diagram of Fig. 4 mobile terminal of each embodiment to realize the present invention.
The mobile terminal 400 includes but is not limited to: radio frequency unit 401, network module 402, audio output unit 403, defeated
Enter unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, processor
The components such as 410 and power supply 411.It will be understood by those skilled in the art that mobile terminal structure shown in Fig. 4 is not constituted
Restriction to mobile terminal, mobile terminal may include than illustrating more or fewer components, perhaps combine certain components or
Different component layouts.In embodiments of the present invention, mobile terminal include but is not limited to mobile phone, tablet computer, laptop,
Palm PC, vehicle mobile terminals, wearable device and pedometer etc..
It should be appreciated that in the embodiment of the present invention, mobile terminal is in the effective position of outdoor environment, that is, mobile terminal exists
Effective position outside building, the effective position of mobile terminal environment indoors, that is, mobile terminal is in interior of building
Effective position.
Wherein, radio frequency unit 401, for receiving the location information of indoor locating system transmission, the location information includes
The almanac data of target navigation satellite, the target navigation satellite are that the indoor locating system receives at locating building
The navigation satellite of signal；
Processor 410, for being moved to from the interior of building feelings outside the building in the mobile terminal
Under condition, outdoor satellite positioning is carried out according to the almanac data.
Mobile terminal 400 in the embodiment of the present invention can be received in the case where mobile terminal is in interior of building
The almanac data for the target navigation satellite that indoor locating system is sent, in order to which mobile terminal is moved to building from interior of building
When beyond the region of objective existence portion, the almanac data for the target navigation satellite that can be sent according to indoor locating system directly searches the target navigation
Satellite guarantees quickly positioning, blind search navigation satellite is avoided to cause to position slow problem.
It should be understood that the embodiment of the present invention in, radio frequency unit 401 can be used for receiving and sending messages or communication process in, signal
Send and receive, specifically, by from base station downlink data receive after, to processor 410 handle；In addition, by uplink
Data are sent to base station.In general, radio frequency unit 401 includes but is not limited to antenna, at least one amplifier, transceiver, coupling
Device, low-noise amplifier, duplexer etc..In addition, radio frequency unit 401 can also by wireless communication system and network and other set
Standby communication.
Mobile terminal provides wireless broadband internet by network module 402 for user and accesses, and such as user is helped to receive
It sends e-mails, browse webpage and access streaming video etc..
Audio output unit 403 can be received by radio frequency unit 401 or network module 402 or in memory 409
The audio data of storage is converted into audio signal and exports to be sound.Moreover, audio output unit 403 can also be provided and be moved
The relevant audio output of specific function that dynamic terminal 400 executes is (for example, call signal receives sound, message sink sound etc.
Deng).Audio output unit 403 includes loudspeaker, buzzer and receiver etc..
Input unit 404 is for receiving audio or video signal.Input unit 404 may include graphics processor
(Graphics Processing Unit, GPU) 4041 and microphone 4042, graphics processor 4041 is in video acquisition mode
Or the image data of the static images or video obtained in image capture mode by image capture apparatus (such as camera) carries out
Reason.Treated, and picture frame may be displayed on display unit 406.Through graphics processor 4041, treated that picture frame can be deposited
Storage is sent in memory 409 (or other storage mediums) or via radio frequency unit 401 or network module 402.Mike
Wind 4042 can receive sound, and can be audio data by such acoustic processing.Treated audio data can be
The format output that mobile communication base station can be sent to via radio frequency unit 401 is converted in the case where telephone calling model.
Mobile terminal 400 further includes at least one sensor 405, such as optical sensor, motion sensor and other biographies
Sensor.Specifically, optical sensor includes ambient light sensor and proximity sensor, wherein ambient light sensor can be according to environment
The light and shade of light adjusts the brightness of display panel 4061, and proximity sensor can close when mobile terminal 400 is moved in one's ear
Display panel 4061 and/or backlight.As a kind of motion sensor, accelerometer sensor can detect in all directions (general
For three axis) size of acceleration, it can detect that size and the direction of gravity when static, can be used to identify mobile terminal posture (ratio
Such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap)；It passes
Sensor 405 can also include fingerprint sensor, pressure sensor, iris sensor, molecule sensor, gyroscope, barometer, wet
Meter, thermometer, infrared sensor etc. are spent, details are not described herein.
Display unit 406 is for showing information input by user or being supplied to the information of user.Display unit 406 can wrap
Display panel 4061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode can be used
Forms such as (Organic Light-Emitting Diode, OLED) configure display panel 4061.
User input unit 407 can be used for receiving the number or character information of input, and generate the use with mobile terminal
Family setting and the related key signals input of function control.Specifically, user input unit 407 include touch panel 4071 and
Other input equipments 4072.Touch panel 4071, also referred to as touch screen collect the touch operation of user on it or nearby
(for example user uses any suitable objects or attachment such as finger, stylus on touch panel 4071 or in touch panel 4071
Neighbouring operation).Touch panel 4071 may include both touch detecting apparatus and touch controller.Wherein, touch detection
Device detects the touch orientation of user, and detects touch operation bring signal, transmits a signal to touch controller；Touch control
Device processed receives touch information from touch detecting apparatus, and is converted into contact coordinate, then gives processor 410, receiving area
It manages the order that device 410 is sent and is executed.Furthermore, it is possible to more using resistance-type, condenser type, infrared ray and surface acoustic wave etc.
Seed type realizes touch panel 4071.In addition to touch panel 4071, user input unit 407 can also include other input equipments
4072.Specifically, other input equipments 4072 can include but is not limited to physical keyboard, function key (such as volume control button,
Switch key etc.), trace ball, mouse, operating stick, details are not described herein.
Further, touch panel 4071 can be covered on display panel 4061, when touch panel 4071 is detected at it
On or near touch operation after, send processor 410 to determine the type of touch event, be followed by subsequent processing device 410 according to touching
The type for touching event provides corresponding visual output on display panel 4061.Although in Fig. 4, touch panel 4071 and display
Panel 4061 is the function that outputs and inputs of realizing mobile terminal as two independent components, but in some embodiments
In, can be integrated by touch panel 4071 and display panel 4061 and realize the function that outputs and inputs of mobile terminal, it is specific this
Place is without limitation.
Interface unit 408 is the interface that external device (ED) is connect with mobile terminal 400.For example, external device (ED) may include having
Line or wireless head-band earphone port, external power supply (or battery charger) port, wired or wireless data port, storage card end
Mouth, port, the port audio input/output (I/O), video i/o port, earphone end for connecting the device with identification module
Mouthful etc..Interface unit 408 can be used for receiving the input (for example, data information, electric power etc.) from external device (ED) and
By one or more elements that the input received is transferred in mobile terminal 400 or can be used in 400 He of mobile terminal
Data are transmitted between external device (ED).
Memory 409 can be used for storing software program and various data.Memory 409 can mainly include storing program area
The storage data area and, wherein storing program area can (such as the sound of application program needed for storage program area, at least one function
Sound playing function, image player function etc.) etc.；Storage data area can store according to mobile phone use created data (such as
Audio data, phone directory etc.) etc..In addition, memory 409 may include high-speed random access memory, it can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.
Processor 410 is the control centre of mobile terminal, utilizes each of various interfaces and the entire mobile terminal of connection
A part by running or execute the software program and/or module that are stored in memory 409, and calls and is stored in storage
Data in device 409 execute the various functions and processing data of mobile terminal, to carry out integral monitoring to mobile terminal.Place
Managing device 410 may include one or more processing units；Preferably, processor 410 can integrate application processor and modulatedemodulate is mediated
Manage device, wherein the main processing operation system of application processor, user interface and application program etc., modem processor is main
Processing wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor 410.
Mobile terminal 400 can also include the power supply 411 (such as battery) powered to all parts, it is preferred that power supply 411
Can be logically contiguous by power-supply management system and processor 410, to realize management charging by power-supply management system, put
The functions such as electricity and power managed.
In addition, mobile terminal 400 includes some unshowned functional modules, details are not described herein.
Preferably, the embodiment of the present invention also provides a kind of mobile terminal, including processor 410, and memory 409 is stored in
On memory 409 and the computer program that can run on the processor 410, the computer program are executed by processor 410
Each process of the above-mentioned localization method embodiment of Shi Shixian, and identical technical effect can be reached, to avoid repeating, here no longer
It repeats.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the computer program realize each process of above-mentioned localization method embodiment when being executed by processor, and can reach
Identical technical effect, to avoid repeating, which is not described herein again.Wherein, the computer readable storage medium is deposited Ru read-only
Reservoir (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation RAM),
Magnetic or disk etc..
Such as Fig. 5, the embodiment of the invention also provides a kind of localization methods, are applied to indoor locating system, the method packet
It includes:
Step 51: obtaining the ephemeris number for the target navigation satellite that the indoor locating system receives at locating building
According to.
Such as: indoor locating system can obtain the indoor locating system at locating building by outdoor positioning system
The almanac data for the target navigation satellite that can be received.The almanac data may include that the satellite of the target navigation satellite is compiled
Number, the elevation angle etc..
Wherein, outdoor positioning system can be with global positioning system (Global Positioning System, GPS),
Based on Global Navigation Satellite System (Global Navigation Satellite System, GNSS), big-dipper satellite positioning etc.,
Supplemented by mobile network base station, Wireless Fidelity (Wi-Fi) positioning etc., the positioning system of composition.
Step 52: sending location information to mobile terminal, the location information includes the ephemeris of the target navigation satellite
Data.
In the embodiment, indoor locating system is by the ephemeris number for the target navigation satellite that can be received at locating building
According to mobile terminal is sent to, so that mobile terminal in the case where being in interior of building, can receive indoor locating system hair
The almanac data of the target navigation satellite sent can when guaranteeing that mobile terminal is moved to outside building from interior of building
According to the almanac data for the target navigation satellite that indoor locating system is sent, the target navigation satellite is directly searched, is realized quick
Positioning, avoids blind search navigation satellite from causing to position slow problem.
Above-mentioned steps 52 can specifically include: location information described in Xiang Suoshu mobile terminal broadcast transmission.
Optionally, it is in the broadcast message that can not connect broadcast that the location information, which is carried in broadcast type,.
Specifically, the indoor locating system can be with wireless telecommunications, base station location, inertial navigation are fixed, Wi-Fi, bluetooth, infrared
The system that the technologies such as line, UWB, Zigbee set fixed station to carry out indoor positioning indoors.
Such as: the Beacon indoor locating system based on BLE has the advantages that at low cost, positioning accuracy is high.Beacon system
System is the product based on BLE protocol frame, can send Beacon signal and carry out indoor positioning, and BLE system has itself
Data broadcasting sends framework, facilitates real-time broadcast data.
Such as: the general-purpose accessing agreement (GAP) of host (Host) layer is broadcasted for connecting preceding data broadcasting in BLE system
Type includes:
General (GAP_ADTYPE_ADV_IND), general broadcast can be scanned, and can be connected；
(GAP_ADTYPE_ADV_DIRECT_IND) of orientation, the broadcast of orientation can not be scanned, can be connected；
Not attachable (GAP_ADTYPE_ADV_DISCOVER_IND), not attachable broadcast can be scanned, can not be by
Connection；
Findable (GAP_ADTYPE_ADV_NONCONN_IND), it is possible to find broadcast can not be scanned, can not be connected
It connects.
Specifically, small base station used for positioning is defended to mobile terminal broadcast transmission comprising target navigation in the BLE system of interior
The location information of the almanac data of star.Wherein, the host of the small base station maintains broadcast state, using broadcast state link-layer frame structure
In broadcast data send the location information of the almanac data comprising target navigation satellite, such as: using broadcast can not be connected
To send location information.Wherein, can not connect broadcast indicates that broadcast event can not be connected by being not desired to connected equipment use.It is this
The typical case of broadcast includes that equipment merely desires to broadcast data, and is not desired to scanned or connects.It can be used for only transmitter and do not have
There is the broadcast type of receiver device.Broadcasting equipment, which can not be connected, will not enter connected state, and therefore, it can only be wanted according to host
It asks and switches between broadcast state and ready state.
Specifically, above-mentioned steps 52 can also be accomplished by the following way:
Mode one: location information to mobile terminal period is sent.
Such as: indoor locating system every prescribed time period sends location information to shaft end, which includes described
The almanac data for the newest target navigation satellite that indoor locating system can receive at locating building.
In the embodiment, when the position of navigation satellite updates, guarantee that indoor locating system can will be updated
The almanac data of target navigation satellite is sent to mobile terminal, so that the updated target navigation satellite of mobile terminal real-time reception
Almanac data, to guarantee precise positioning.
Mode two: in the target navigation satellite for detecting that the indoor locating system can receive at locating building
When updating, the almanac data of updated target navigation satellite is sent to mobile terminal, so that mobile terminal connects in real time
The almanac data for receiving updated target navigation satellite, to guarantee precise positioning.
Wherein, the indoor locating system may include satellite receiver；Above-mentioned steps 51 can specifically include: pass through institute
State the almanac data that satellite receiver receives the target navigation satellite.
Specifically, satellite receiver obtains the almanac data of target navigation satellite in outdoor positioning system, it is sent to interior
The almanac data of the target navigation satellite is embedded into indoor locating system by the central controller of positioning system, central controller
Data packet in.
Optionally, the location information also includes the indoor positioning data of the indoor locating system.Positioning system indoors
It, can be by the target navigation satellite in indoor locating system and data packet when uniting to mobile terminal broadcast transmission location information
Almanac data be transferred to mobile terminal together.In this way, mobile terminal when being in interior of building, is on the one hand determined by indoor
The indoor positioning data that position system is sent carry out indoor positioning, and another convenience can also receive the mesh of indoor locating system transmission
The almanac data of navigation satellite is marked, it, can be according to room when being moved to outside building in order to mobile terminal from interior of building
The almanac data for the target navigation satellite that interior positioning system is sent directly searches the target navigation satellite, guarantees quickly positioning, keeps away
Exempting from blind search navigation satellite causes to position slow problem.
Such as Fig. 6, the embodiment of the invention also provides a kind of indoor locating systems 600, comprising:
Module 610 is obtained, is defended for obtaining the target navigation that the indoor locating system receives at locating building
The almanac data of star；
Sending module 620, for sending location information to mobile terminal, the location information includes that the target navigation is defended
The almanac data of star.
Wherein, the sending module 620 may include:
First transmission unit is used for location information described in the mobile terminal broadcast transmission.
Wherein, it is in the broadcast message that can not connect broadcast that the location information, which can be carried in broadcast type,.
Wherein, the indoor locating system includes satellite receiver；
The acquisition module 610 may include:
Acquiring unit, for receiving the almanac data of the target navigation satellite by the satellite receiver.
Wherein, the sending module 620 may include:
Second transmission unit, for mobile terminal period sending location information.
Wherein, the location information can also include the indoor positioning data of the indoor locating system.
It is real that indoor locating system provided in an embodiment of the present invention can be realized indoor locating system in the embodiment of the method for Fig. 5
Existing each process, to avoid repeating, which is not described herein again.
Indoor locating system 600 in the embodiment of the present invention, the target navigation that can be received at locating building are defended
The almanac data of star, and by the way that the almanac data is sent to mobile terminal, so that mobile terminal is being in interior of building
In the case of, the almanac data of the target navigation satellite of indoor locating system transmission can be received, to guarantee mobile terminal from building
When being moved to inside object outside building, the almanac data for the target navigation satellite that can be sent according to indoor locating system, directly
It connects and searches for the target navigation satellite, realize quickly positioning, blind search navigation satellite is avoided to cause to position slow problem.
Preferably, the embodiment of the present invention also provides a kind of indoor locating system, including processor, and memory is stored in
On reservoir and the computer program that can run on the processor, which realizes above-mentioned fixed when being executed by processor
Each process of position embodiment of the method, and identical technical effect can be reached, to avoid repeating, which is not described herein again.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the computer program realize each process of above-mentioned localization method embodiment when being executed by processor, and can reach
Identical technical effect, to avoid repeating, which is not described herein again.Wherein, the computer readable storage medium is deposited Ru read-only
Reservoir (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation RAM),
Magnetic or disk etc..
Such as Fig. 7, the embodiment of the invention also provides a kind of positioning system, the positioning system includes: indoor locating system
And mobile terminal.
Indoor locating system includes: satellite receiver 72, satellite collection controller 73 and central controller 74；Its centre halfback
Star collection controller 73 is connect with satellite receiver 72 and central controller 74 respectively.
Optionally, satellite receiver 72 is set to the top of building 71, the quantity of specific satellite receiver 72 and
Set-up mode can be determined according to building.
Wherein, the target that satellite receiver 72 obtains the indoor locating system and can receive at locating building is led
The almanac data of boat satellite, and it is sent to satellite collection controller 73；Satellite collection controller 73 is for collecting satellite receiver
The almanac data for the target navigation satellite that 72 indoor locating systems obtained can receive at locating building, concurrently
Give central controller 74；The almanac data of the target navigation satellite received is embedded into indoor positioning system by central controller 74
In the data packet of system, and it is broadcast to mobile terminal 75.
In this way, mobile terminal 75 in the case where being in interior of building, can receive the mesh of indoor locating system transmission
The almanac data for marking navigation satellite can when being moved to 71 outside of building inside building 71 in order to mobile terminal 75
According to the almanac data for the target navigation satellite that indoor locating system is sent, the target navigation satellite is directly searched, is guaranteed quick
Positioning, avoids blind search navigation satellite from causing to position slow problem.
Specifically, the interactive process of mobile terminal and indoor locating system can be found in the localization method of above-mentioned mobile terminal side
And the localization method of indoor locating system side, details are not described herein again.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include 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 being somebody's turn to do
There is also other identical elements in the process, method of element, 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 be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a mobile terminal (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form belongs within protection of the invention.
Claims (24)
1. a kind of localization method is applied to mobile terminal, which is characterized in that the described method includes:
The location information that indoor locating system is sent is received, the location information includes the almanac data of target navigation satellite, institute
Stating target navigation satellite is the navigation satellite that the indoor locating system receives signal at locating building；
In the case where the mobile terminal is moved to the building outside from the interior of building, according to the ephemeris number
According to progress outdoor satellite positioning.
2. localization method according to claim 1, which is characterized in that the positioning letter for receiving indoor locating system and sending
Breath, comprising:
Receive the location information of the indoor locating system broadcast transmission.
3. localization method according to claim 2, which is characterized in that the location information carrying is in broadcast type can not
In the broadcast message for connecting broadcast.
4. localization method according to claim 1, which is characterized in that the positioning letter for receiving indoor locating system and sending
Breath, comprising:
Receive the location information that the indoor locating system is periodically sent；
According to the location information that the last time receives, the almanac data of the target navigation satellite is updated.
5. localization method according to claim 1 or 4, which is characterized in that described to receive determining for indoor locating system transmission
After the information of position, further includes:
Store the almanac data of the target navigation satellite；
It is described that outdoor satellite positioning is carried out according to the almanac data, comprising:
Read the almanac data of stored target navigation satellite；
According to the almanac data of the target navigation satellite of reading, outdoor satellite positioning is carried out.
6. localization method according to claim 1, which is characterized in that it is described in the mobile terminal out of described building
In the case that portion is moved to the building outside, before almanac data progress outdoor satellite positioning, further includes:
If the signal strength that the mobile terminal receives the satellite-signal of navigation satellite is greater than preset threshold, it is determined that the shifting
Dynamic terminal is moved to outside the building from the interior of building.
7. a kind of mobile terminal, which is characterized in that the mobile terminal includes:
Receiving module, for receiving the location information of indoor locating system transmission, the location information includes target navigation satellite
Almanac data, the target navigation satellite is that the indoor locating system receives the navigation of signal at locating building and defends
Star；
First locating module, for being moved to from the interior of building situation outside the building in the mobile terminal
Under, outdoor satellite positioning is carried out according to the almanac data.
8. mobile terminal according to claim 7, which is characterized in that the receiving module includes:
First receiving unit, for receiving the location information of the indoor locating system broadcast transmission.
9. mobile terminal according to claim 8, which is characterized in that the location information carrying is in broadcast type can not
In the broadcast message for connecting broadcast.
10. mobile terminal according to claim 7, which is characterized in that the receiving module includes:
Second receiving unit, the location information periodically sent for receiving the indoor locating system；
Updating unit, the location information for being received according to the last time, updates the almanac data of the target navigation satellite.
11. the mobile terminal according to claim 7 or 10, which is characterized in that the mobile terminal further include:
Memory module, for storing the almanac data of the target navigation satellite；
First locating module includes:
Reading unit, for reading the almanac data of stored target navigation satellite；
First positioning unit carries out outdoor satellite positioning for the almanac data according to the target navigation satellite of reading.
12. mobile terminal according to claim 7, which is characterized in that the mobile terminal further include:
Determining module, if being greater than default threshold for the signal strength that the mobile terminal receives the satellite-signal of navigation satellite
Value, it is determined that the mobile terminal is moved to outside the building from the interior of building.
13. a kind of mobile terminal, which is characterized in that including processor, memory and be stored on the memory and can be in institute
The computer program run on processor is stated, such as claim 1 to 6 is realized when the computer program is executed by the processor
Any one of described in localization method the step of.
14. a kind of localization method is applied to indoor locating system, which is characterized in that the described method includes:
Obtain the almanac data for the target navigation satellite that the indoor locating system receives at locating building；
Location information is sent to mobile terminal, the location information includes the almanac data of the target navigation satellite.
15. localization method according to claim 14, which is characterized in that described to send location information, packet to mobile terminal
It includes:
To location information described in the mobile terminal broadcast transmission.
16. localization method according to claim 15, which is characterized in that it is not that the location information, which is carried in broadcast type,
It can connect in the broadcast message of broadcast.
17. localization method according to claim 14, which is characterized in that described to send location information, packet to mobile terminal
It includes:
To mobile terminal period send location information.
18. localization method according to claim 14, which is characterized in that the indoor locating system includes satellite reception
Device；
The almanac data for obtaining the target navigation satellite that the indoor locating system receives at locating building, packet
It includes:
The almanac data of the target navigation satellite is received by the satellite receiver.
19. a kind of indoor locating system, which is characterized in that the indoor locating system includes:
Module is obtained, for obtaining the ephemeris for the target navigation satellite that the indoor locating system receives at locating building
Data；
Sending module, for sending location information to mobile terminal, the location information includes the star of the target navigation satellite
Count evidence one by one.
20. indoor locating system according to claim 19, which is characterized in that the sending module includes:
First transmission unit is used for location information described in the mobile terminal broadcast transmission.
21. indoor locating system according to claim 20, which is characterized in that the location information is carried in broadcast type
For that can not connect in the broadcast message of broadcast.
22. indoor locating system according to claim 19, which is characterized in that the sending module includes:
Second transmission unit, for mobile terminal period sending location information.
23. indoor locating system according to claim 19, which is characterized in that the indoor locating system includes that satellite connects
Receive device；
The acquisition module includes:
Acquiring unit, for receiving the almanac data of the target navigation satellite by the satellite receiver.
24. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the positioning as described in any one of claim 1 to 6,14 to 18 when the computer program is executed by processor
The step of method.
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| CN201910253167.1A CN109932685A (en) | 2019-03-29 | 2019-03-29 | A kind of localization method, mobile terminal and indoor locating system |
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| CN201910253167.1A CN109932685A (en) | 2019-03-29 | 2019-03-29 | A kind of localization method, mobile terminal and indoor locating system |
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Application publication date: 20190625 |