CN111132013A - Indoor positioning method and device, storage medium and computer equipment - Google Patents
Indoor positioning method and device, storage medium and computer equipment Download PDFInfo
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- CN111132013A CN111132013A CN201911397612.8A CN201911397612A CN111132013A CN 111132013 A CN111132013 A CN 111132013A CN 201911397612 A CN201911397612 A CN 201911397612A CN 111132013 A CN111132013 A CN 111132013A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The invention provides an indoor positioning method, an indoor positioning device, a storage medium and computer equipment, which are used for positioning a mobile carrier, wherein the mobile carrier is provided with a plurality of positioning labels, and the method comprises the following steps: acquiring a positioning resolving result corresponding to each positioning label; performing fusion calculation on the positioning calculation results corresponding to the positioning labels; and positioning the mobile carrier according to the result of the fusion calculation. The method and the device can perform fusion calculation on the positioning calculation results of the positioning labels on the mobile carrier, so that the indoor positioning accuracy of the mobile carrier is effectively improved, and the positioning effect is effectively improved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to an indoor positioning method and apparatus, a storage medium, and a computer device.
Background
The positioning technology comprises outdoor positioning and indoor positioning, wherein in an outdoor positioning system, a global positioning system is adopted for positioning, and a global positioning differential system is adopted for estimating the course of a moving carrier; in an indoor positioning system, WiFi positioning, Radio Frequency Identification (RFID) positioning, Ultra Wide Band (UWB) positioning, infrared positioning, ultrasonic positioning, and the like are common.
In the related art, for indoor positioning, a plurality of positioning tags are usually mounted on a mobile carrier, and positioning calculation is performed on each positioning tag to calculate a direction vector between each tag, thereby estimating the attitude of the mobile carrier.
Through the technology, inaccurate positioning data can be caused by the movement of the mobile carrier, so that the indoor positioning is possibly not accurate enough, and the positioning effect is not good.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide an indoor positioning method, an indoor positioning device, a storage medium and computer equipment, which can perform fusion calculation on positioning calculation results of all positioning labels on a mobile carrier, so that the indoor positioning accuracy of the mobile carrier is effectively improved, and the positioning effect is effectively improved.
An indoor positioning method provided by an embodiment of a first aspect of the present invention is used for positioning a mobile carrier, where the mobile carrier is configured with a plurality of positioning tags, and the method includes: acquiring a positioning resolving result corresponding to each positioning label; performing fusion calculation on the positioning calculation results corresponding to the positioning labels; and positioning the mobile carrier according to the result of the fusion calculation.
According to the indoor positioning method provided by the embodiment of the first aspect of the invention, the positioning calculation results corresponding to the positioning labels on the mobile carrier are obtained, the positioning calculation results corresponding to the positioning labels are subjected to fusion calculation, and the mobile carrier is positioned according to the fusion calculation results, so that the positioning calculation results of the positioning labels on the mobile carrier can be subjected to fusion calculation, the indoor positioning accuracy of the mobile carrier is effectively improved, and the positioning effect is effectively improved.
An indoor positioning device provided by an embodiment of a second aspect of the present invention is configured to position a mobile carrier, where the mobile carrier is configured with a plurality of positioning tags, and the device includes: the acquisition module is used for acquiring positioning calculation results corresponding to the positioning labels; the fusion module is used for performing fusion calculation on the positioning calculation results corresponding to the positioning labels; and the positioning module is used for positioning the mobile carrier according to the result of the fusion calculation.
According to the indoor positioning device provided by the embodiment of the second aspect of the invention, the positioning calculation results corresponding to the positioning labels on the mobile carrier are obtained, the positioning calculation results corresponding to the positioning labels are subjected to fusion calculation, and the mobile carrier is positioned according to the fusion calculation results, so that the positioning calculation results of the positioning labels on the mobile carrier can be subjected to fusion calculation, the indoor positioning accuracy of the mobile carrier is effectively improved, and the positioning effect is effectively improved.
The computer readable storage medium according to the third embodiment of the present invention has a computer program stored thereon, where the computer program is executed by a processor to implement the indoor positioning method according to the first embodiment of the present invention.
The computer-readable storage medium provided by the embodiment of the third aspect of the present invention can perform fusion calculation on the positioning calculation results of the positioning tags on the mobile carrier by obtaining the positioning calculation results corresponding to the positioning tags on the mobile carrier, performing fusion calculation on the positioning calculation results corresponding to the positioning tags, and positioning the mobile carrier according to the fusion calculation results, thereby effectively improving the indoor positioning accuracy of the mobile carrier and effectively improving the positioning effect.
The computer equipment provided by the embodiment of the fourth aspect of the invention comprises a shell, a processor, a memory, a circuit board and a power supply circuit, wherein the circuit board is arranged inside a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; the power supply circuit is used for supplying power to each circuit or device of the computer equipment; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing: the embodiment of the first aspect of the invention provides an indoor positioning method.
According to the computer device provided by the embodiment of the fourth aspect of the invention, the positioning calculation results corresponding to the positioning labels on the mobile carrier are obtained, the positioning calculation results corresponding to the positioning labels are subjected to fusion calculation, and the mobile carrier is positioned according to the fusion calculation results, so that the positioning calculation results of the positioning labels on the mobile carrier can be subjected to fusion calculation, the indoor positioning accuracy of the mobile carrier is effectively improved, and the positioning effect is effectively improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of an indoor positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the location of a positioning tag on a mobile carrier according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning calculation result according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of an indoor positioning method according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of an indoor positioning apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an indoor positioning device according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart of an indoor positioning method according to an embodiment of the present invention.
Referring to fig. 1, the method includes:
s101: and acquiring a positioning calculation result corresponding to each positioning label.
The positioning tag may be a positioning tag based on WiFi positioning, or a positioning tag based on RFID (radio frequency identification), or a positioning tag based on UWB (ultra wide band), or a positioning tag based on ZigBee positioning, which is not limited in this respect.
The positioning calculation result of each positioning tag may be obtained based on TOA (time of arrival), TDOA (time difference of arrival), AOA (angle of arrival), fingerprint algorithm, and the like in the related art.
In the specific execution process, each positioning tag is subjected to positioning calculation through TOA, TDOA, AOA, fingerprint algorithm and the like, so that a plurality of positioning settlement results are obtained, the positioning calculation results are transmitted to a processor (or processors of other hardware equipment for executing indoor positioning) in the mobile carrier in real time, the processor performs fusion calculation on the positioning tag calculation results to obtain a fusion calculation result, and then the mobile carrier is positioned by adopting the fusion calculation result.
In the present embodiment, a positioning tag based on UWB positioning is described as an example of an indoor positioning system executing the indoor positioning method, in the indoor positioning system, a plurality of UWB positioning base stations may be preset, and a plurality of UWB positioning tags are configured on a mobile carrier, where the UWB positioning tags are configured at different positions on the mobile carrier and are separated by a certain distance, and a calculation result may be that an actual position of the positioning tag is mapped to position information of a set coordinate system, which is not limited herein.
In the specific implementation process, the UWB positioning tags can be controlled to send signals to the plurality of UWB positioning base stations, and the distances from the UWB positioning tags to the UWB positioning base stations are respectively measured according to the time when the signals sent by the UWB positioning tags reach the UWB positioning base stations and the signal transmission speed of the UWB positioning tags.
Further, a two-dimensional plane coordinate system or a three-dimensional space coordinate system is established according to the positions of the plurality of UWB base stations, and the coordinates of the UWB positioning tags are calculated according to the measured distances from the UWB positioning tags to the UWB positioning base stations, and the calculated coordinates of the UWB positioning tags can be used as a positioning calculation result.
In a specific execution process, a plurality of positioning labels configured on a mobile carrier are respectively calculated to obtain corresponding positioning calculation results, the positioning calculation results of the positioning labels are transmitted to an indoor positioning system, and the indoor positioning system stores the positioning calculation results.
S102: and performing fusion calculation on the positioning calculation results corresponding to the positioning labels.
The result of the fusion calculation in the embodiment of the present invention may be used to determine the posture of the moving carrier, or determine the position of the center of gravity of the moving carrier, or estimate the moving direction of the moving carrier, which is not limited in this respect.
The present example is described by taking calculation of the center of gravity of the moving carrier as an example, see fig. 2, fig. 2 is a schematic diagram of the positions of the positioning tags on the moving carrier in the embodiment of the present invention, a black circle is a positioning tag, three positioning tags are configured on the moving carrier, the positional relationship between the positioning tag 1, the positioning tag 2, and the positioning tag 3 is an equilateral triangle, each positioning tag is calculated, and the result thereof is see fig. 3, fig. 3 is a schematic diagram of the positioning calculation result in the embodiment of the present invention, the calculation result position of the positioning tag may generate a certain offset compared with the actual position of the positioning tag (the actual position may be, for example, the installation position of the positioning tag on the moving carrier, which is not limited), but the offset is within an allowable range, and the positioning calculation result of the positioning tag 1, the positioning calculation result of the positioning tag 2, and the positioning calculation result of the positioning tag 3 are fusion calculated, and obtaining the result of the fusion calculation, namely the gravity center position of the moving carrier.
It will be appreciated that the actual positions of the position tags on the same mobile carrier may or may not be the same for different mobile carriers, and therefore the results of the fusion calculations may or may not be the same for different usage scenarios.
In the embodiment of the present invention, the connection lines between the actual positions of the three positioning tags form an equilateral triangle for illustration, which may be any other possible usage scenarios, and is not limited to this.
S103: and positioning the mobile carrier according to the result of the fusion calculation.
Therefore, in the embodiment of the invention, by fusing the positioning settlement results, the installation error of each positioning label or the error of the positioning settlement result caused by the unstable motion of the mobile carrier can be reduced to a certain extent, and the positioning of the mobile carrier is supported by adopting the result of the fusion calculation, so that the positioning accuracy is effectively improved, more hardware transformation cost is not brought, only the operation logic of the fusion calculation needs to be written into the script, and the processor realizes the positioning of the mobile carrier by executing the operation logic of the script.
In the embodiment, the positioning calculation results corresponding to the positioning labels on the mobile carrier are obtained, the positioning calculation results corresponding to the positioning labels are subjected to fusion calculation, the mobile carrier is positioned according to the fusion calculation results, the positioning calculation results of the positioning labels on the mobile carrier can be subjected to fusion calculation, the indoor positioning accuracy of the mobile carrier is effectively improved, and the positioning effect is effectively improved.
Fig. 4 is a flowchart illustrating an indoor positioning method according to another embodiment of the present invention.
Referring to fig. 4, the method includes:
s401: and acquiring a positioning calculation result corresponding to each positioning label.
As an example, a positioning solution for each positioning tag on the mobile carrier may be obtained,
then, a positioning settlement result set is formed according to the positioning tags, and the set can be recorded as:
wherein i represents the ith positioning label, N is a positive integer greater than 1,
the x-axis coordinate value representing the ith positioning tag,
a y-axis coordinate value representing the ith positioning tag,
the values corresponding on the x-axis for the 1 st to nth position tags,
the corresponding values on the y-axis for the 1 st to nth position tags.
S402: the actual location of each location tag is determined.
The actual positions of the positioning tags (which may be, for example, the positions of the positioning tags mounted on the moving carrier, but not limited thereto) may be reasonably distributed according to the shape of the moving carrier, and on a two-dimensional plane, for a moving carrier with a regular shape, the positions of the positioning tags mounted on the moving carrier may be three vertex positions of an equilateral triangle, see fig. 2, or four vertices of a regular quadrangle, or vertices of other shapes, while for a moving carrier with an irregular shape, the positions of the positioning tags mounted on the moving carrier may be vertices of an arbitrary polygon, and for a moving carrier with a straight shape, the positioning tags may be mounted on both ends of the moving carrier, which is not limited thereto.
In a specific implementation, the following conditions may be satisfied for a plurality of positioning tag arrangements on a mobile carrier: the distance between any two of the plurality of positioning tags is greater than the sum of the errors of the positioning solution results of the positioning tags, wherein the errors of the positioning solution results of the positioning tags may be determined based on the 3 σ criterion, which is not limited herein.
As an example, for a flat cylindrical moving carrier, the positioning labels can be arranged with reference to fig. 3, three positioning labels are arranged along a circular edge in a cylinder, and the positioning labels 1, 2, 3 form a triangular shape in a two-dimensional plane.
S403: and determining a target calculation result according to the positioning calculation results.
In the embodiment of the invention, the average value of a plurality of positioning calculation results can be used as the target calculation result, so that the positioning time can be shortened, and the positioning efficiency can be effectively improved under the condition of ensuring the positioning accuracy.
As an example, the center of gravity of the positioning solution results of a plurality of positioning tags is calculated
The gravity center calculation method is that the average value of the positioning calculation results of all the positioning labels is calculated in the following way:
s404: and updating each positioning calculation result according to the target calculation result and the actual position to obtain a corresponding positioning output result.
The actual location is the actual location where the positioning tag is installed.
In the embodiment, it is considered that in the process of obtaining the positioning calculation result of the positioning tag, a certain offset may occur in the actual position of the positioning calculation result, therefore, the actual position of the positioning tag may be further adopted to correct the corresponding calculation result in the specific execution process, so as to obtain the offset of the positioning tag, and the corresponding positioning calculation result is corrected according to each offset, so as to update each positioning calculation result, obtain the positioning output result of each positioning tag, so as to correct the offset of the positioning calculation result, so as to obtain the more accurate position of the positioning tag, thereby improving the accuracy of indoor positioning of the mobile carrier, further avoiding collision of the mobile carrier in indoor movement, and improving the safety of operation of the mobile carrier.
In a specific execution process, a plurality of position combinations of the positioning tags can be determined according to the target calculation result and the actual position; the rotation angles of the same positioning tag relative to the gravity center position described by the target calculation result are different among the position combinations; determining a target position combination from the plurality of position combinations; and the position data of each positioning label in the target position combination is used as a positioning output result corresponding to each positioning label, and the positioning output result with more accurate precision is determined by comparing a plurality of position combinations of the positioning labels, so that the indoor positioning accuracy of the mobile carrier is improved.
The determining of the target position combination from the plurality of position combinations may specifically be fitting a cost function according to the plurality of position combinations in combination with a plurality of rotation angles; taking a target rotation angle which enables the output value of the cost function to meet a set condition; and taking the position combination corresponding to the target rotation angle as a target position combination.
The target distance may be determined according to the position data corresponding to the same positioning tag in different position combinations by fitting the cost function according to the position combinations and the rotation angles; according to the target distance corresponding to each positioning label, the method combines a plurality of rotation angle fitting cost functions, can estimate the reliability of the position of the positioning label in the mobile carrier through the calculated cost function, and takes the estimation result with the highest reliability as output, thereby further improving the accuracy of indoor positioning of the mobile carrier.
As an example, forEach positioning tag in the plurality of positioning tags is controlled to rotate around the gravity center at different rotation angles, so as to obtain position combinations of the positioning tags corresponding to different rotation angles, wherein the position combinations of the positioning tags corresponding to different rotation angles can be expressed as:
wherein, β is the rotation angle,
for the combination of the position data of the respective positioning tags at different rotation angles,
for the value of the center of gravity of each location tag on the x-axis,
for each value of the centre of gravity of the positioning tag on the y-axis, x0～xN-1For N corresponding values, y, of the position label on the moving carrier in the x-axis0～yN-1The corresponding values on the y-axis are for N positioning tags on the mobile carrier.
The determining of the target position combination from the plurality of position combinations may be fitting a cost function according to the plurality of position combinations in combination with a plurality of rotation angles; taking a target rotation angle which enables the output value of the cost function to meet a set condition; and taking the position combination corresponding to the target rotation angle as a target position combination.
Wherein fitting the cost function according to the plurality of position combinations in combination with the plurality of rotation angles may be exemplified as follows:
specifically, a target distance is determined according to position data of the same positioning tag corresponding to different position combinations, and a cost function is fitted according to the target distance corresponding to each positioning tag by combining a plurality of rotation angles.
The target distance is the square of the distance represented by the position data of each label in different position combinations, and the relationship of the target distance and the position data satisfies the following conditions:
a (i, β) is the square of the distance that location tag i is based on rotation angle β,
to locate the position data for tag i at rotational angle β,
and the position data described by the positioning settlement result output for the positioning label i.
As an example, the cost function is a sum of squares of distances corresponding to the plurality of positioning tags at each rotation angle, and the relationship satisfies:
j (β) is the value of the cost function at the angle of rotation β.
Further, the cost function
In the calculation of (3), the weight may be weighted by using the reliability of the positioning calculation result of each tag as a weight.
As an example, the confidence measure for location tag fusion is the inverse of the cost function.
Further, a cost function is taken
The target rotation angle β 1 satisfying the set conditions, and the position combination corresponding to the target rotation angle is set as the target position combination, and the position data of each positioning tag in the target position combination is set as the positioning output result corresponding to each positioning tag.
S405: and taking the output result of each positioning as the result of fusion calculation.
After the position data of each positioning tag in the target position combination is used as the positioning output result corresponding to each positioning tag, each positioning output result can be used as the result of fusion calculation to assist indoor positioning.
S406: and positioning the mobile carrier according to the result of the fusion calculation.
Therefore, in the embodiment of the invention, by fusing the positioning settlement results, the installation error of each positioning label or the error of the positioning settlement result caused by the unstable motion of the mobile carrier can be reduced to a certain extent, and the positioning of the mobile carrier is supported by adopting the result of the fusion calculation, so that the positioning accuracy is effectively improved, more hardware transformation cost is not brought, only the operation logic of the fusion calculation needs to be written into the script, and the processor realizes the positioning of the mobile carrier by executing the operation logic of the script.
In the embodiment, the average value of the positioning calculation results is used as the target calculation result, so that the positioning time can be shortened, and the positioning efficiency is effectively improved under the condition of ensuring the positioning accuracy. The positioning calculation results are updated to obtain corresponding positioning output results according to the combination of the target calculation results and the actual positions, so that the deviation of the positioning calculation results can be corrected to obtain more accurate positions of the positioning labels, the indoor positioning accuracy of the mobile carrier is improved, the collision of the mobile carrier in indoor movement is avoided, and the operation safety of the mobile carrier is improved. By comparing a plurality of position combinations of the positioning labels, the combination with more accurate precision is determined to output the positioning result, and the accuracy of indoor positioning of the mobile carrier is improved. And estimating the reliability of the position of the positioning label in the mobile carrier through the calculated cost function, and outputting the estimation result with the highest reliability, thereby further improving the accuracy of indoor positioning of the mobile carrier.
Fig. 5 is a schematic structural diagram of an indoor positioning apparatus according to an embodiment of the present invention.
Referring to fig. 5, the apparatus 500 includes:
an obtaining module 501, configured to obtain a positioning calculation result corresponding to each positioning tag;
a fusion module 502, configured to perform fusion calculation on the positioning calculation results corresponding to the positioning tags;
and a positioning module 503, configured to position the mobile carrier according to the result of the fusion calculation.
Optionally, in some embodiments, referring to fig. 6, the fusion module 502 includes:
the first determining submodule 5021 is used for determining the actual positions of the positioning tags;
the second determining submodule 5022 is used for determining a target calculation result according to the positioning calculation results;
the updating submodule 5023 is used for updating each positioning calculation result according to the target calculation result and the actual position to obtain a corresponding positioning output result;
and taking the output result of each positioning as the result of fusion calculation.
Optionally, in some embodiments, referring to fig. 6, the second determining sub-module 5022 is specifically configured to:
and taking the average value of the positioning calculation results as a target calculation result.
Optionally, in some embodiments, referring to fig. 6, the update submodule 5023 comprises:
the first determining unit 50231 is used for determining a plurality of position combinations of the positioning labels according to the target calculation result and the actual position; the rotation angles of the same positioning tag relative to the gravity center position described by the target calculation result are different among the position combinations;
a second determining unit 50232, configured to determine a target position combination from the plurality of position combinations;
an output unit 50233 is used for outputting the position data of each positioning label in the target position combination as the positioning output result corresponding to each positioning label.
Optionally, in some embodiments, referring to fig. 6, the second determining unit 50232 is specifically configured to:
fitting a cost function according to the position combination by combining a plurality of rotation angles;
taking a target rotation angle which enables the output value of the cost function to meet a set condition;
and taking the position combination corresponding to the target rotation angle as a target position combination.
Optionally, in some embodiments, referring to fig. 6, the second determining unit 50232 is further configured to:
determining a target distance according to the position data of the same positioning label corresponding to different position combinations;
and fitting a cost function by combining a plurality of rotation angles according to the target distance corresponding to each positioning label.
It should be noted that the explanation of the indoor positioning method in the foregoing embodiments of fig. 1 to fig. 4 also applies to the indoor positioning apparatus 500 of this embodiment, and the implementation principle is similar and will not be described again here.
In the embodiment, the average value of the positioning calculation results is used as the target calculation result, so that the positioning time can be shortened, and the positioning efficiency is effectively improved under the condition of ensuring the positioning accuracy. The positioning calculation results are updated to obtain corresponding positioning output results according to the combination of the target calculation results and the actual positions, so that the deviation of the positioning calculation results can be corrected to obtain more accurate positions of the positioning labels, the indoor positioning accuracy of the mobile carrier is improved, the collision of the mobile carrier in indoor movement is avoided, and the operation safety of the mobile carrier is improved. By comparing a plurality of position combinations of the positioning labels, the combination with more accurate precision is determined to output the positioning result, and the accuracy of indoor positioning of the mobile carrier is improved. And estimating the reliability of the position of the positioning label in the mobile carrier through the calculated cost function, and outputting the estimation result with the highest reliability, thereby further improving the accuracy of indoor positioning of the mobile carrier.
Fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Referring to fig. 7, the computer device 70 of the present embodiment includes: the device comprises a shell 701, a processor 702, a memory 703, a circuit board 704 and a power supply circuit 705, wherein the circuit board 704 is arranged in a space surrounded by the shell 701, and the processor 702 and the memory 703 are arranged on the circuit board 704; a power supply circuit 705 for supplying power to each circuit or device of the computer apparatus 70; the memory 703 is used to store executable program code; the processor 702 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 703, so as to execute:
acquiring a positioning calculation result corresponding to each positioning label, wherein each positioning label is arranged on a mobile carrier;
performing fusion calculation on the positioning calculation results corresponding to the positioning labels;
and positioning the mobile carrier according to the result of the fusion calculation.
It should be noted that the foregoing explanations of the indoor positioning method in the embodiments of fig. 1 to fig. 4 also apply to the computer device 70 of this embodiment, and the implementation principle is similar and will not be described herein again.
In the embodiment, the average value of the positioning calculation results is used as the target calculation result, so that the positioning time can be shortened, and the positioning efficiency is effectively improved under the condition of ensuring the positioning accuracy. The positioning calculation results are updated to obtain corresponding positioning output results according to the combination of the target calculation results and the actual positions, so that the deviation of the positioning calculation results can be corrected to obtain more accurate positions of the positioning labels, the indoor positioning accuracy of the mobile carrier is improved, the collision of the mobile carrier in indoor movement is avoided, and the operation safety of the mobile carrier is improved. By comparing a plurality of position combinations of the positioning labels, the combination with more accurate precision is determined to output the positioning result, and the accuracy of indoor positioning of the mobile carrier is improved. And estimating the reliability of the position of the positioning label in the mobile carrier through the calculated cost function, and outputting the estimation result with the highest reliability, thereby further improving the accuracy of indoor positioning of the mobile carrier.
In order to implement the foregoing embodiments, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the indoor positioning method of the foregoing method embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (14)
1. An indoor positioning method for positioning a mobile carrier, wherein the mobile carrier is configured with a plurality of positioning tags, the method comprising:
acquiring a positioning resolving result corresponding to each positioning label;
performing fusion calculation on the positioning calculation results corresponding to the positioning labels;
and positioning the mobile carrier according to the result of the fusion calculation.
2. The indoor positioning method according to claim 1, wherein the performing fusion calculation on the positioning calculation results corresponding to the positioning tags includes:
determining the actual position of each positioning label;
determining a target calculation result according to the positioning calculation results;
updating each positioning calculation result according to the target calculation result and the actual position to obtain a corresponding positioning output result;
and taking each positioning output result as a result of the fusion calculation.
3. The indoor positioning method of claim 2, wherein determining a target solution based on a plurality of positioning solutions comprises:
and taking the average value of the positioning calculation results as the target calculation result.
4. The indoor positioning method according to claim 2, wherein the updating each of the positioning calculation results to obtain a corresponding positioning output result according to the target calculation result in combination with the actual position includes:
determining a plurality of position combinations of the positioning labels according to the target calculation result and the actual position; the rotation angles of the same positioning labels relative to the gravity center position described by the target calculation result are different among the position combinations;
determining a target position combination from the plurality of position combinations;
and taking the position data of each positioning label in the target position combination as a positioning output result corresponding to each positioning label.
5. The indoor positioning method of claim 4, wherein said determining a target position combination from said plurality of position combinations comprises:
fitting a cost function according to the position combinations by combining the rotation angles;
taking a target rotation angle which enables the output value of the cost function to meet a set condition;
and taking the position combination corresponding to the target rotation angle as the target position combination.
6. The indoor positioning method of claim 4, wherein said fitting a cost function according to the plurality of position combinations in combination with a plurality of the rotation angles comprises:
determining a target distance according to the position data of the same positioning label corresponding to different position combinations;
and fitting the cost function by combining the plurality of rotation angles according to the target distance corresponding to each positioning label.
7. An indoor positioner for fixing a position a mobile carrier, the mobile carrier is last to be configured with a plurality of location labels, its characterized in that, the device includes:
the acquisition module is used for acquiring positioning calculation results corresponding to the positioning labels;
the fusion module is used for performing fusion calculation on the positioning calculation results corresponding to the positioning labels;
and the positioning module is used for positioning the mobile carrier according to the result of the fusion calculation.
8. The indoor positioning apparatus of claim 7, wherein the fusion module comprises:
the first determining submodule is used for determining the actual position of each positioning label;
the second determining submodule is used for determining a target calculation result according to the positioning calculation results;
the updating submodule is used for updating each positioning calculation result according to the target calculation result and the actual position to obtain a corresponding positioning output result;
and taking each positioning output result as a result of the fusion calculation.
9. The indoor positioning apparatus of claim 8, wherein the second determination submodule is specifically configured to:
and taking the average value of the positioning calculation results as the target calculation result.
10. The indoor positioning apparatus of claim 8, wherein the update submodule comprises:
the first determining unit is used for determining a plurality of position combinations of the positioning labels according to the target calculation result and the actual position; the rotation angles of the same positioning labels relative to the gravity center position described by the target calculation result are different among the position combinations;
a second determination unit configured to determine a target position combination from the plurality of position combinations;
and the output unit is used for taking the position data of each positioning label in the target position combination as a positioning output result corresponding to each positioning label.
11. The indoor positioning apparatus of claim 10, wherein the second determining unit is specifically configured to:
fitting a cost function according to the position combinations by combining the rotation angles;
taking a target rotation angle which enables the output value of the cost function to meet a set condition;
and taking the position combination corresponding to the target rotation angle as the target position combination.
12. The indoor positioning apparatus of claim 10, wherein the second determining unit is further configured to:
determining a target distance according to the position data of the same positioning label corresponding to different position combinations;
and fitting the cost function by combining the plurality of rotation angles according to the target distance corresponding to each positioning label.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the indoor positioning method according to any one of claims 1 to 6.
14. A computer device comprising a housing, a processor, a memory, a circuit board, and a power circuit, wherein the circuit board is disposed inside a space enclosed by the housing, the processor and the memory being disposed on the circuit board; the power supply circuit is used for supplying power to each circuit or device of the computer equipment; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing:
acquiring a positioning calculation result corresponding to each positioning label, wherein each positioning label is arranged on a mobile carrier;
performing fusion calculation on the positioning calculation results corresponding to the positioning labels;
and positioning the mobile carrier according to the result of the fusion calculation.
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