CN113923587A - Positioning method, system and device - Google Patents
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Abstract
The application discloses a positioning method, a positioning system and a positioning device, and relates to the technical field of positioning. In the application, in a traffic junction room, a positioning server receives first measurement information, second measurement information and third measurement information; positioning the terminal according to the first measurement information and a short-distance communication signal feature library to obtain a first positioning position; positioning the terminal according to the second measurement information and the third measurement information to obtain a second positioning position; and performing weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, wherein the third positioning position is a positioning result of the terminal. By adopting the method and the device, the indoor positioning precision can be improved.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method, system and apparatus.
Background
In a daily comprehensive transportation junction, indoor positioning is an effective way for indoor navigation and passenger flow analysis of the comprehensive transportation junction. The indoor positioning method carries out reasonable path planning by providing the passengers and the position information of the passengers to arrive at the destination in real time, reduces the time required by the passengers to arrive at the destination, and improves the traveling experience and management of the passengers.
Indoor positioning is affected by base station deployment cost, positioning accuracy and positioning coverage. The existing indoor positioning technology usually needs to build a large number of base stations, and high-precision positioning is difficult to realize by adopting single signal source positioning. High-precision indoor positioning technologies all require expensive additional auxiliary equipment or a large amount of manual processing in the early stage.
Therefore, how to improve the indoor positioning accuracy is a problem to be solved at present.
Disclosure of Invention
Exemplary embodiments of the present application provide a positioning method, system and apparatus for improving indoor positioning accuracy.
In a first aspect, a positioning method is provided, which is applied to position positioning of a terminal in a transportation junction, and includes: a positioning server receives first measurement information, second measurement information and third measurement information, wherein the first measurement information comprises measurement information of a signal sent by a terminal to a short-distance communication network device, the second measurement information comprises measurement information of a signal sent by the terminal to a cellular communication network device, and the third measurement information comprises measurement information of a signal sent by the cellular communication network device to the terminal; the positioning server positions the terminal according to the first measurement information and a short-distance communication signal feature library to obtain a first positioning position, wherein the short-distance communication signal feature library is used for storing coordinates of sampling points and signal receiving intensity information corresponding to the sampling points; the positioning server positions the terminal according to the second measurement information and the third measurement information to obtain a second positioning position; and the positioning server performs weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, wherein the third positioning position is a positioning result of the terminal.
In one possible implementation, the performing, by the positioning server, a weighted summation according to the first positioning location and a first confidence factor used for weighting the first positioning location, and according to the second positioning location and a second confidence factor used for weighting the second positioning location, includes: the positioning server multiplies the horizontal coordinate of the first positioning position by the first confidence factor to obtain a first product, multiplies the horizontal coordinate of the second positioning position by the second confidence factor to obtain a second product, and adds the first product and the second product to obtain the horizontal coordinate of the third positioning position; the positioning server multiplies the vertical coordinate of the first positioning position by the first confidence factor to obtain a third product, multiplies the vertical coordinate of the second positioning position by the second confidence factor to obtain a fourth product, and adds the third product and the fourth product to obtain the vertical coordinate of the third positioning position.
In one possible implementation, the horizontal coordinate of the third location position satisfies the following formula:
X＝εbXb+ε5X5
wherein X is the horizontal coordinate of the third positioning position, epsilonbIs the first confidence factor, XbIs the horizontal coordinate, epsilon, of said first location5Is said second confidence factor, X5Is the horizontal coordinate of the second location;
the vertical coordinate of the third location position satisfies the following formula:
Y＝εbYb+ε5Y5
wherein Y is the vertical coordinate of the third positioning position, εbIs the first confidence factor, YbIs the vertical coordinate, epsilon, of said first location position5Is the second confidence factor, Y5Is the vertical coordinate of the second location;
in one possible implementation, the first confidence factor and the second confidence factor may be obtained by: acquiring first sample data, second sample data and third sample data; the first sample data comprises a first positioning position obtained by n times of position positioning process, the second sample data comprises a second positioning position obtained by n times of position positioning process, the third sample data comprises a third positioning position obtained by n times of position positioning process, and n is an integer greater than 1; determining a prior distribution of a first positioning position according to the first sample data, determining a prior distribution of a second positioning position according to the second sample data, and determining a prior distribution of a third positioning position according to the third sample data; obtaining a first probability that the first sample data and the third sample data belong to the same distribution under the condition of the first sample data according to the prior distribution of the first positioning position and the prior distribution of the third positioning position, and obtaining a second probability that the second sample data and the third sample data belong to the same distribution under the condition of the second sample data according to the prior distribution of the second positioning position and the prior distribution of the third positioning position; determining the first confidence factor and the second confidence factor according to the first probability and the second probability.
In one possible implementation, the first confidence factor satisfies the following equation:
wherein epsilonbIs the first confidence factor, alphabIs the first probability, α5Is said second summaryRate;
the second confidence factor satisfies the following equation:
wherein epsilonbIs the second confidence factor, alphabIs the first probability, α5Is the second probability.
In a possible implementation manner, after obtaining the third positioning location, the method further includes: and the positioning server sends the third positioning position to the terminal.
In one possible implementation, the first measurement information includes signal reception strength information; the second measurement information comprises first time information for indicating a time length from the terminal receiving a signal transmitted by a cellular communication network device for positioning to a response signal transmitted to the cellular communication network device for positioning, the cellular communication network device for positioning being determined by the positioning server; the third measurement information comprises second time information, and the second time information is used for indicating the time from the time that the cellular communication network device for positioning sends a signal to the terminal to the time that a response signal sent by the terminal is received.
In a second aspect, there is provided a positioning server, comprising: the system comprises a receiving module, a positioning module and a fusion processing module; a receiving module configured to obtain first measurement information, second measurement information and third measurement information, wherein the first measurement information comprises measurement information of a signal transmitted by a terminal to a short-range communication network device, the second measurement information comprises measurement information of a signal transmitted by the terminal to a cellular communication network device, and the third measurement information comprises measurement information of a signal transmitted by the cellular communication network device to the terminal; the positioning module comprises a short-range communication positioning module and a cellular communication positioning module, the short-range communication positioning module is configured to position the terminal according to the first measurement information and the short-range communication signal feature library to obtain a first positioning position, and the cellular communication positioning module is configured to position the terminal according to the second measurement information and the third measurement information to obtain a second positioning position; and the fusion processing module is configured to perform weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position, so as to obtain a third positioning position, wherein the third positioning position is a positioning result of the terminal.
In a third aspect, a communication apparatus is provided that includes a memory and a processor; the processor is configured to read the computer instructions and execute the method according to any one of the first aspect.
In a fourth aspect, there is provided a computer-readable storage medium having stored thereon computer-executable instructions for causing the computer to perform the method of any of the first aspects above.
In a fifth aspect, there is provided a computer program product which, when invoked by a computer, causes the computer to perform the method of any of the first aspects above.
In the embodiment of the application, in a transportation junction room, a positioning server receives first measurement information, second measurement information and third measurement information, and positions a terminal according to the first measurement information and a short-distance communication signal feature library to obtain a first positioning position; positioning the terminal according to the second measurement information and the third measurement information to obtain a second positioning position; and carrying out weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, and setting the third positioning position as a positioning result of the terminal, so that the indoor positioning precision is improved, and accurate position information is provided for the terminal.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a diagram illustrating a system architecture to which embodiments of the present application are applicable;
fig. 2 is a schematic flow chart illustrating a positioning method provided by an embodiment of the present application;
FIG. 3 illustrates an algorithmic schematic of trilateration location of a second location;
fig. 4 is a schematic structural diagram illustrating a positioning server provided in an embodiment of the present application;
fig. 5 schematically illustrates a structure of a communication apparatus provided in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a positioning method, a positioning system and a positioning device, which are used for improving the indoor positioning precision. In the embodiment of the application, the first positioning position of the terminal is obtained based on the short-distance communication network positioning technology, the second positioning position of the terminal is obtained based on the cellular communication network positioning technology, and the first positioning position and the second positioning position are fused to obtain the positioning result of the terminal so as to improve the indoor positioning precision.
The technical solutions in the embodiments of the present application will be described in detail and clearly with reference to the accompanying drawings. In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" in the text is only an association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: three cases of a alone, a and B both, and B alone exist, and in addition, "a plurality" means two or more than two in the description of the embodiments of the present application.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of embodiments of the application, unless stated otherwise, "plurality" means two or more.
In order to better understand the embodiments of the present application, the parameters mentioned in the embodiments of the present application will be explained first.
(1) The first signal is sent by the short-range communication network equipment. The short-range communication network device may specifically comprise a bluetooth positioning beacon. For convenience, the first signal is described as a bluetooth signal as an example.
(2) A second signal, emitted by the cellular communication network device. The cellular communication network device may comprise a 5G base station. For convenience, the second signal is described as a 5G signal as an example herein.
(3) The first measurement information is obtained by measuring a signal sent by the short-distance communication network equipment by the terminal. The first measurement information is used to indicate a Signal reception Strength, and may specifically include a Received Signal Strength Indication (RSSI), for example. The terminal may send the first measurement information to the cellular communication network device, which sends it to the location server. For convenience, the first measurement information is also referred to herein as RSSI 1.
(4) The second measurement information is obtained by the terminal detecting the signal sent by the cellular communication network device. The second measurement information includes first time information indicating: in the positioning process, the terminal receives the time length from the signal transmitted by the cellular communication network device for positioning (such as the 5G base station) to the response signal transmitted to the cellular communication network device for positioning. The terminal may send the second measurement information to the location server via the cellular communication network device for positioning.
(5) The third measurement information is obtained by detecting the response signal sent by the terminal by the cellular communication network equipment. The third measurement information includes second time information indicating: in the positioning process, the time from when the cellular communication network device for positioning (such as the 5G base station) transmits a signal to the terminal to when the response signal transmitted by the terminal is received may include, for example, the time when the cellular communication network device receives the signal transmitted by the terminal in the positioning process. The cellular communication network device for positioning may send the third measurement information to the positioning server.
Fig. 1 schematically illustrates a system architecture diagram applicable to the embodiment of the present application, and as shown in fig. 1, the system architecture diagram includes: terminal 101, network device 102, positioning server 103, bluetooth positioning beacon 104. The terminal 101 communicates with the network device 102 and the bluetooth positioning beacon 104 in a wireless manner, and the network device 102 communicates with the positioning server 103 in a wired manner. In the embodiment of the present application, the number of the network devices and the other devices is not limited, and fig. 1 only describes one network device as an example.
Terminal 101, is a device that can provide voice and/or data connectivity to a user. For example, the terminal device includes a handheld device, an in-vehicle device, and the like having a wireless connection function. Currently, the terminal device may be: a mobile phone (mobile phone), a tablet computer, a notebook computer, a palm top computer, a Mobile Internet Device (MID), a wearable device, a Virtual Reality (VR) device, an Augmented Reality (AR) device, a wireless terminal in industrial control (industrial control), a wireless terminal in self-driving (self-driving), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), or a wireless terminal in smart home (smart home), etc.
The network device 102 is a device for providing a wireless communication function for a terminal, and includes but is not limited to: a gbb in 5G, a Radio Network Controller (RNC), a Node B (NB), a Base Station Controller (BSC), a Base Transceiver Station (BTS), a home base station (e.g., home evolved node B or home node B, HNB), a BaseBand Unit (BBU), a transmission point (TRP), a Transmission Point (TP), a mobile switching center (msc), a bluetooth positioning beacon, and the like. The base station in the embodiment of the present application may also be a device that provides a wireless communication function for the terminal in other communication systems that may appear in the future, and the network device 102 in the embodiment of the present application includes a "cellular communication network device", such as a base station in a 5G system.
The bluetooth positioning beacon in the embodiment of the present application may also be other short-range communication network devices, which is not limited in the embodiment of the present application.
The location server 103 is a device for determining a geographical location of a mobile device or a user and providing various information services related to the location, where the location information includes, but is not limited to, latitude, longitude, coordinates, altitude, and the like.
It should be noted that, in the embodiment of the present application, the number of the bluetooth positioning beacon, the RRU, and the BBU in the network deployment is not limited.
The functions of the components of the positioning system will be briefly described below.
The bluetooth positioning beacon is used to send bluetooth signals, and the terminal can receive the bluetooth signals and obtain RSSI 1. The 5G Base station is a distributed Base station, and includes a Remote Radio Unit (RRU) and an indoor baseband processing Unit (BBU). The RRU in the 5G base station is used for converting the radio frequency signal into a baseband signal after receiving the radio frequency signal and sending the baseband signal to the BBU for processing; after receiving the baseband signal sent by the BBU, the baseband signal is converted into a radio frequency signal and sent out through an antenna. The 5G base station may also perform information interaction with the positioning server, for example, RSSI1, T measured and reported by the terminalTATAnd T measured by 5G base stationTOTSent to the location server.
The Location server is capable of implementing Location Based Services (LBS), Mobile Edge Computing (Mobile Edge Computing,MEC) and Time Of Flight (TOF) algorithm, and the like, and is mainly used for providing information services Of a positioning algorithm and a terminal position, thereby realizing the positioning Of the terminal position. For example, the positioning server may position the terminal according to the RSSI1 measured by the terminal and by combining with the short-range communication signal feature library to obtain a first positioning location; the positioning server can also measure T according to the terminalTATAnd T measured by 5G base stationTOTPositioning the terminal to obtain a second positioning position; and carrying out weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, and taking the third positioning position as a positioning result of the terminal.
The short-distance communication signal feature library is used for storing two-dimensional space coordinates of the sampling points and RSSI corresponding to the sampling points, wherein the RSSI is the receiving intensity of the terminal at the sampling point position on the signal of the short-distance communication network equipment. Taking bluetooth signals as an example, the short-range communication signal feature library may also be referred to as a bluetooth signal RSSI fingerprint library. The Bluetooth signal RSSI fingerprint database can be obtained by adopting the following modes: two-dimensional space coordinate sampling points are preset in the coverage range of the Bluetooth positioning beacon signals, the RSSI of the Bluetooth positioning beacon is tested at each sampling point, a Bluetooth RSSI fingerprint library is constructed, and the two-dimensional space coordinate of each sampling point and the RSSI of the Bluetooth positioning beacon can be included in the Bluetooth RSSI fingerprint library.
For example, 5 bluetooth positioning beacons A, B, C, D, E are uniformly arranged at a first density (e.g., 5 square meters/piece), wherein the bluetooth positioning beacons are integrated on the antenna of the 5G base station, and the sampling points F, G, H, I, J are uniformly selected at a second density (e.g., 0.5 square meters/piece). Wherein the first density is greater than the second density. Establishing a two-dimensional space coordinate system on the same sampling plane, and recording the two-dimensional space coordinate of each sampling point: the RSSI test method comprises the steps of enabling a point F two-dimensional space coordinate to be (2, 3), a point G two-dimensional space coordinate to be (6, 9), a point H two-dimensional space coordinate to be (2, 15), a point I two-dimensional space coordinate to be (2,26), a point J two-dimensional space coordinate to be (22,8), and using a test terminal to detect the RSSI of a signal sent by a Bluetooth positioning beacon at each sampling point. The two-dimensional space coordinates of each sampling point and the RSSI (received signal strength indication) of each Bluetooth positioning beacon refer to the table 1.
TABLE 1 RSSI fingerprint database
As can be seen from the above table, the RSSI of the signal from the bluetooth positioning beacon is detected at sample points F (2, 3), G (6, 9), H (2, 15), I (2,26), and J (22,8) using the test terminal. Taking sample point F as an example, "a-35 dbm" indicates that the strength of the bluetooth signal transmitted by bluetooth positioning beacon a received at sample point F is-35 dbm, "B-36 dbm" indicates that the strength of the bluetooth signal transmitted by bluetooth positioning beacon B received at sample point F is-36 dbm, and so on. Each column represents the RSSI of a signal sent by the same Bluetooth positioning beacon detected by using a test terminal at each sampling point; each row represents the RSSI of the signal from each bluetooth positioning beacon detected at the same sampling point using the test terminal.
In the above embodiments of the present application, the two-dimensional spatial coordinates of each sampling point in the RSSI fingerprint database and the RSSI can be matched according to the RSSI of the bluetooth signal sent by each bluetooth positioning beacon detected by the terminal, so that the positioning of the terminal can be realized.
The first confidence factor and the second confidence factor in the embodiments of the present application may be set in advance. For example, the first confidence factor and the second confidence factor may be determined based on bayesian statistical theory by performing statistics and analysis on historical positioning data. For convenience, the first confidence factor will be referred to as ε in the following descriptionbThe second confidence factor is denoted as ε5。
For example, the positioning server obtains a first positioning position coordinate and a second positioning position coordinate obtained in each of m positioning processes in the historical positioning data, where the m first positioning position coordinates may be represented as a first positioning coordinate vector { Z }b1，Zb2，...，Zbm} the m second positioning location coordinates may be expressed as second fixed location coordinatesBit coordinate vector { Z5g1，Z5g2，...，Z5gmIn which Z isb1And Z5g1Respectively a first positioning position coordinate and a second positioning position coordinate, Z, in the same positioning processb2And Z5g2The first positioning position coordinate and the second positioning position coordinate in the same positioning process are respectively, and the rest can be done in the same way.
And extracting the first positioning position and the second positioning position obtained in each positioning process in the n-time (n is less than m) positioning processes from the first positioning position and the second positioning position in the m-time positioning processes. Optionally, n may be taken to be greater than or equal to 10. The positioning coordinate vector obtained by the n-times position positioning process can be expressed as W1，W2，...，WnIn which WiFirst and second positioning coordinates obtained by the i-th position locating process are expressed, { W {1，W2，...，WnIt can be called a field sample coordinate vector set.
The first location coordinate vector { Zb1，Zb2，...，ZbnThe first sample data of the parameter theta to be estimated is regarded as the first sample data of the parameter theta to be estimated, and the prior distribution density pi of the first positioning position is obtainedb(θ) a first location prior distribution density π, such as when obtained based on a Bluetooth signalb(θ) also known as bluetooth position location prior distribution density; second location coordinate vector { Z5g1，Z5g2，...，Z5gnThe second sample data is regarded as the parameter theta to be estimated, and the prior distribution density pi of the second positioning position is obtained5(θ) a second localized position prior distribution density π, such as when the second localized position is obtained based on the 5G signal5(theta) also known as 5G localization position prior distribution density pi5(θ); coordinate vector W of field sample1，W2，...，WnLooking as third sample data of the parameter theta to be estimated to obtain a prior distribution density pi of a third positioning positionw(theta), also known as the fusion localization position prior distribution density piw(theta). By piw(θ) for example, the formula of the conditional probability density function based on the parameter θ to be estimated is as follows:
wherein, f (W)i| θ) is the conditional probability density based on the field sample; π (θ) is the density of the prior distribution; integral multiple of factor f (W)i| θ) π (θ) d (θ) is to ensure that the probability density function is normalized.
According to the prior distribution density pi of the first location positionb(theta) (e.g., bluetooth position location prior distribution density pi)b(theta)), second positioning prior position-finding distribution density pi5(theta) (e.g., 5G localization position prior distribution density pi)5(theta)) and third fix location prior distribution density piw(theta) (e.g., fusion localization location prior distribution density pi)w(theta)), the first positioning position prior distribution F (Z) is obtained in turnb) Second location prior distribution F (Z)5) And a third localization position prior distribution f (w).
Because the original hypothesis H is set according to the prior information Z and the field sample information W0Sometimes: f (z) ═ f (w). Therefore, if it is assumed that the prior information Z includes the first sample data { Z }b1，Zb2，...，ZbnA, also called first a priori information source (e.g. bluetooth a priori information source), and second sample data Z5g1，Z5g2，...，Z5gn}, also called second positioning prior information source (e.g., 5G prior information source), may separately apply the first sample data { Zb1，Zb2，...，ZbnZ, second sample data Z5g1，Z5g2，...，Z5gnAnd third sample data { W }1，W2，...，WnCombining the samples together, and arranging the samples into a mixed sample in the order from small to large, wherein the mixed sample is marked as R: r1 < R2 < Rm + n, RkIs any data of Z or W, then k is called RkRank in the mixed sample R. When m, n are both large, then the mixed sample R follows approximately a normal distribution:
obtaining the probability that the first prior information source (namely the first sample data) and the third sample data belong to the same distribution P (H) by adopting a normal distribution mu verification method under the condition of the first prior information source0|Zb)＝1-αbProbability P (H) of not belonging to the same distribution1|Zb)＝αb(ii) a Under the condition of a second prior information source, obtaining the probability P (H) that the second prior information source (namely second sample data) and third sample data belong to the same distribution0|Z5)＝1-α5The probability of not belonging to the same distribution is P (H)1|Z5)＝α5。
Furthermore, the probability that the first prior information source (i.e. the first sample data) and the third sample data belong to the same distribution is P (H)0|Zb)＝1-αbThe probability of the same distribution of the second prior information source (namely the second sample data) and the third sample data is P (H)0|Z5)＝1-α5Respectively obtaining a second confidence factor epsilon corresponding to a second prior information source5And a first confidence factor epsilon corresponding to the first prior information sourcebThe calculation formula is as follows:
fig. 2 is a schematic flowchart illustrating a positioning method provided by an embodiment of the present application, and the positioning method can merge a short-range communication positioning technology and a cellular communication positioning technology to perform position positioning on a terminal.
As shown in fig. 2, the positioning method includes the following steps:
s201: the positioning server receives the first measurement information, the second measurement information and the third measurement information.
Illustratively, the terminal receives a bluetooth signal sent by the bluetooth positioning beacon, and obtains the bluetooth positioning beacon identifier and the RSSI of the bluetooth signal included in the bluetooth signal. The terminal may receive bluetooth signals transmitted by a plurality of bluetooth positioning beacons. The terminal generates first measurement information which comprises a Bluetooth positioning beacon identifier contained in a Bluetooth signal and RSSI of the Bluetooth signal, sends the first measurement information to the RRU, sends the first measurement information to the BBU, and sends the first measurement information to the positioning server. And if the terminal receives the Bluetooth signals transmitted by the plurality of Bluetooth positioning beacons, transmitting the identifier of the Bluetooth positioning beacon and the RSSI of the Bluetooth signal contained in each received Bluetooth signal to the 5G base station.
Illustratively, the 5G base station transmits a signal (such as a positioning reference signal or other signal for positioning) to the terminal, wherein the time T at which the 5G base station transmits the signal can be carried1. The terminal can record the receiving time T of the signal after receiving the signal2And transmits a response signal to the 5G base station, wherein the transmission time T of the response signal can be carried3. The 5G base station receives the response signal and records the receiving time T of the response signal4. The terminal generates second measurement information, which may include T2And T3Or T is3And T2Time difference T ofTATAnd the terminal sends the second measurement information to the RRU, the RRU sends the second measurement information to the BBU, and the BBU sends the second measurement information to the positioning server. The 5G base station generates third measurement information which can include T1And T4Or includes T4And T1Time difference T ofTOTAnd the 5G base station transmits the third measurement information to the positioning server.
Wherein T is calculatedTOTAnd TTATThe formula of (1) is as follows:
TTOT＝T4-T1
TTAT＝T3-T2
s202: and the positioning server positions the terminal according to the first measurement information and the short-distance communication signal feature library to obtain a first positioning position.
In this step, the positioning server may determine the first positioning location by using a K-Nearest Neighbor (KNN) classification algorithm. Of course, other algorithms may be used to calculate the first positioning location, which is not limited in this embodiment of the application.
Taking the KNN classification algorithm as an example, for an example, the first measurement information sent by the terminal at least includes RSSIs of 5 bluetooth signals, and the positioning server constructs the RSSIs of the 5 bluetooth signals into a 5-dimensional RSSI eigenvector, which is recorded as r ═ r (r ═ r)1，r2，...，r5). The positioning server constructs a 5-dimensional RSSI eigenvector for each sampling point according to the RSSI of the corresponding 5 Bluetooth signals corresponding to each sampling point in the RSSI fingerprint database shown in table 1, and the eigenvector is recorded as rhok＝(ρ1，ρ2，...，ρ5) Where k represents the index of the sample point. The positioning server is based on r ═ r (r)1，r2，...，r5) And ρk＝(ρ1，ρ2，...，ρ5) And calculating the 5-dimensional Euclidean distance between each sampling point and the terminal according to the sampling point.
The formula for calculating the 5-dimensional Euclidean distance between the terminal and the sampling point k is as follows:
d represents the Euclidean distance between the current position of the terminal and the sampling point; r isiIs r ═ r1，r2，...，r5) The ith RSSI, ρ in the vectoriRho corresponding to the sampling point kk＝(ρ1，ρ2，...，ρ5) The ith RSSI in the vector.
The positioning server sorts the Euclidean distances between the terminal and each sampling point according to the arrival from the beginning, and takes the two-dimensional space coordinate of the first sampling point as the first positioning coordinate of the terminal, which is recorded as (X)b，Yb)。
S203: and the positioning server positions the terminal according to the second measurement information and the third measurement information to obtain a second positioning position.
In this step, the positioning server may determine the second positioning location of the terminal using a TOF positioning algorithm.
Illustratively, a terminal sends a positioning request to a positioning server, and the positioning server determines a plurality of 5G base stations for positioning the terminal according to a cell in which the terminal is currently located, and instructs the 5G base stations to send signals (such as positioning reference signals or other signals for positioning) to the terminal. And the terminal returns a response signal to the corresponding 5G base station after receiving the signal. In the process, the 5G base station records the signal transmission time and the time for receiving the response signal transmitted by the terminal, and obtains the time length T between the two timesTOTThe terminal records the time of receiving the signal sent by the 5G base station and the time of returning a response signal to the 5G base station, and obtains the time length T between the two timesTATThe terminal will measure the duration TTATThe time length T is carried in the second measurement information and sent to a positioning server, and the 5G base station measures the time length TTOTAnd carrying the third measurement information to send to a positioning server.
The positioning server is based on T in the second measurement informationTOTAnd T in the third measurement informationTATAnd calculating the distance d between the 5G base station and the terminal according to the following formula:
d＝c×TTOF
where c is the electromagnetic wave propagation velocity.
Further, fig. 3 illustrates an algorithmic schematic diagram of a trilateration location of a second location, as shown in fig. 3, including: satellite base station 301a, satellite base station 301b, satellite base station 301c, and intersection point 302. The distances between the three 5G base stations (the satellite base station 301a, the satellite base station 301b, and the satellite base station 301c) with the strongest signals and the terminal when performing 5G signal communication with the terminal are obtained by the TOF positioning algorithm, and are denoted by d1、d2And d3. The positioning server takes the two-dimensional space coordinates of the three 5G base stations as the center of a circle and d1、d2、d3When three circles are formed as radii corresponding to the 5G base station, the two-dimensional space coordinates of the intersection 302 of the three circles are regarded as the second positioning coordinates of the terminal and are denoted as (X)5，Y5)。
S204: and carrying out weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, wherein the third positioning position is a positioning result of the terminal.
Obtaining a confidence factor epsilon for weighting the first location coordinate through the sample databAnd a confidence factor epsilon weighting the second location coordinates5Then, the first location coordinate is weighted according to the first location coordinate and a confidence factor epsilonbSecond location coordinates and a confidence factor epsilon weighting the second location coordinates5And carrying out weighted summation to obtain the fusion positioning coordinate of the terminal.
Illustratively, the first positioning coordinate (X) is already obtained by the positioning server through the above positioning methodb，Yb) And second location coordinates (X)5，Y5) And obtaining the fusion positioning coordinate of the terminal according to the following calculation formula, and recording the fusion positioning coordinate as (X, Y):
X＝εbXb+ε5X5
Y＝εbYb+ε5Y5
wherein, X is the horizontal coordinate of the fusion positioning coordinate of the terminal; and Y is the vertical coordinate of the fused positioning coordinate of the terminal.
In the above embodiment of the present application, the positioning server receives the first measurement information, the second measurement information, and the third measurement information, positions the terminal according to the first measurement information and the short-distance communication signal feature library to obtain a first positioning location, and positions the terminal according to the second measurement information and the third measurement information to obtain a second positioning location; and carrying out weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, and setting the third positioning position as a positioning result of the terminal, so that the indoor positioning precision is improved, and accurate position information is provided for the terminal.
Based on the same technical concept, the embodiment of the application also provides a positioning server. Fig. 4 is a schematic structural diagram illustrating a positioning server provided in an embodiment of the present application, and as shown in fig. 4, the positioning server may include: a receiving module 401, a positioning module 402 and a fusion processing module 403.
A receiving module 401 configured to obtain first measurement information, second measurement information and third measurement information, where the first measurement information includes measurement information of a signal sent by a terminal to a short-range communication network device, the second measurement information includes measurement information of a signal sent by a terminal to a cellular communication network device, and the third measurement information includes measurement information of a signal sent by a cellular communication network device to a terminal;
a positioning module 402, including a short-range communication positioning module and a cellular communication positioning module, where the short-range communication positioning module is configured to position the terminal according to the first measurement information and the short-range communication signal feature library to obtain a first positioning location, and the cellular communication positioning module is configured to position the terminal according to the second measurement information and the third measurement information to obtain a second positioning location;
and the fusion processing module 403 is configured to perform weighted summation according to the first positioning location and the first confidence factor for weighting the first positioning location, and the second positioning location and the second confidence factor for weighting the second positioning location, so as to obtain a third positioning location, where the third positioning location is a positioning result of the terminal.
It should be noted that, the positioning server provided in the embodiment of the present application can implement all the method steps in the method embodiment and achieve the same technical effect, and detailed descriptions of the same parts and beneficial effects as those in the method embodiment are omitted here.
Based on the same technical concept, the embodiment of the present application further provides a communication device, and the communication device can implement the method flows provided by the above embodiments of the present application.
Fig. 5 schematically illustrates a structure of a communication apparatus provided in an embodiment of the present application. As shown in fig. 5, the apparatus may include: a processor 501, a memory 502, and a bus interface 503.
The processor 501 is responsible for managing the bus architecture and general processing, and the memory 502 may store data used by the processor 501 in performing operations.
The bus architecture may include any number of interconnected buses and bridges, with one or more processors, represented by processor 501, and various circuits, represented by memory 502, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The processor 501 is responsible for managing the bus architecture and general processing, and the memory 502 may store data used by the processor 501 in performing operations.
The processes disclosed in the embodiments of the present application may be applied to the processor 501, or implemented by the processor 501. In implementation, the steps of the signal processing flow may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 501. The processor 501 may be a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, that may implement or perform the methods, steps, and logic blocks of the present application in embodiments thereof. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method applied in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and completes the steps of the information processing flow in combination with the hardware thereof.
Specifically, the processor 501 is configured to read the computer instructions in the memory 502 and execute the positioning method in the embodiment of the present application.
It should be noted that, the communication apparatus provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment and achieve the same technical effect, and detailed descriptions of the same parts and beneficial effects as the method embodiment in this embodiment are omitted here.
It should be noted that the processor referred to in the embodiments of the present application may be a Central Processing Unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic devices, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. A processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, a DSP and a microprocessor, or the like. Wherein the memory may be integrated in the processor or may be provided separately from the processor.
Based on the same technical concept, the embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the process performed by fig. 2.
Based on the same technical concept, the embodiment of the present application further provides a computer program product, which, when called by a computer, causes the computer to execute the flow executed in fig. 2.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (9)
1. A positioning method is applied to position positioning of a terminal in a transportation junction, and is characterized by comprising the following steps:
a positioning server receives first measurement information, second measurement information and third measurement information, wherein the first measurement information comprises measurement information of a signal sent by a terminal to a short-distance communication network device, the second measurement information comprises measurement information of a signal sent by the terminal to a cellular communication network device, and the third measurement information comprises measurement information of a signal sent by the cellular communication network device to the terminal;
the positioning server positions the terminal according to the first measurement information and a short-distance communication signal feature library to obtain a first positioning position, wherein the short-distance communication signal feature library is used for storing coordinates of sampling points and signal receiving intensity information corresponding to the sampling points;
the positioning server positions the terminal according to the second measurement information and the third measurement information to obtain a second positioning position;
and the positioning server performs weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position to obtain a third positioning position, wherein the third positioning position is a positioning result of the terminal.
2. The method of claim 1, wherein the location server performing a weighted summation based on the first location and a first confidence factor for weighting the first location, and the second location and a second confidence factor for weighting the second location, comprises:
the positioning server multiplies the horizontal coordinate of the first positioning position by the first confidence factor to obtain a first product, multiplies the horizontal coordinate of the second positioning position by the second confidence factor to obtain a second product, and adds the first product and the second product to obtain the horizontal coordinate of the third positioning position;
the positioning server multiplies the vertical coordinate of the first positioning position by the first confidence factor to obtain a third product, multiplies the vertical coordinate of the second positioning position by the second confidence factor to obtain a fourth product, and adds the third product and the fourth product to obtain the vertical coordinate of the third positioning position.
3. The method of claim 2, wherein the horizontal coordinate of the third localized position satisfies the following formula:
X＝εbXb+ε5X5
wherein X is the horizontal coordinate of the third positioning position, epsilonbIs the first confidence factor, XbIs the horizontal coordinate, epsilon, of said first location5Is said second confidence factor, X5Is the horizontal coordinate of the second location;
the vertical coordinate of the third location position satisfies the following formula:
Y＝εbYb+ε5Y5
wherein Y is the vertical coordinate of the third positioning position, εbIs the first confidence factor, YbIs the vertical coordinate, epsilon, of said first location position5Is the second confidence factor, Y5Is the vertical coordinate of the second location.
4. The method of claim 1, wherein the first confidence factor and the second confidence factor are derived by:
acquiring first sample data, second sample data and third sample data; the first sample data comprises a first positioning position obtained by n times of position positioning process, the second sample data comprises a second positioning position obtained by n times of position positioning process, the third sample data comprises a third positioning position obtained by n times of position positioning process, and n is an integer greater than 1;
determining a prior distribution of a first positioning position according to the first sample data, determining a prior distribution of a second positioning position according to the second sample data, and determining a prior distribution of a third positioning position according to the third sample data;
obtaining a first probability that the first sample data and the third sample data belong to the same distribution under the condition of the first sample data according to the prior distribution of the first positioning position and the prior distribution of the third positioning position, and obtaining a second probability that the second sample data and the third sample data belong to the same distribution under the condition of the second sample data according to the prior distribution of the second positioning position and the prior distribution of the third positioning position;
determining the first confidence factor and the second confidence factor according to the first probability and the second probability.
5. The method of claim 4, wherein the first confidence factor satisfies the following equation:
wherein epsilonbIs the first confidence factor, alphabIs the first probability, α5Is the second probability;
the second confidence factor satisfies the following equation:
wherein epsilonbIs the second confidence factor, alphabIs the first probability, α5Is the second probability.
6. The method of claim 1, wherein after obtaining the third position location, the method further comprises:
and the positioning server sends the third positioning position to the terminal.
7. The method of any of claims 1-6, wherein the first measurement information comprises signal received strength information;
the second measurement information comprises first time information for indicating a time length from the terminal receiving a signal transmitted by a cellular communication network device for positioning to a response signal transmitted to the cellular communication network device for positioning, the cellular communication network device for positioning being determined by the positioning server;
the third measurement information comprises second time information, and the second time information is used for indicating the time from the time that the cellular communication network device for positioning sends a signal to the terminal to the time that a response signal sent by the terminal is received.
8. A positioning server, comprising: the system comprises a receiving module, a positioning module and a fusion processing module;
a receiving module configured to obtain first measurement information, second measurement information and third measurement information, wherein the first measurement information comprises measurement information of a signal transmitted by a terminal to a short-range communication network device, the second measurement information comprises measurement information of a signal transmitted by the terminal to a cellular communication network device, and the third measurement information comprises measurement information of a signal transmitted by the cellular communication network device to the terminal;
the positioning module comprises a short-range communication positioning module and a cellular communication positioning module, the short-range communication positioning module is configured to position the terminal according to the first measurement information and the short-range communication signal feature library to obtain a first positioning position, and the cellular communication positioning module is configured to position the terminal according to the second measurement information and the third measurement information to obtain a second positioning position;
and the fusion processing module is configured to perform weighted summation according to the first positioning position and a first confidence factor used for weighting the first positioning position, and the second positioning position and a second confidence factor used for weighting the second positioning position, so as to obtain a third positioning position, wherein the third positioning position is a positioning result of the terminal.
9. A communication device comprising a memory and a processor; the processor, reading the computer instructions, performing the method of any one of claims 1-7.
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