CN114513845A

CN114513845A - Position determination method, device and storage medium

Info

Publication number: CN114513845A
Application number: CN202011281047.1A
Authority: CN
Inventors: 陆松鹤; 张欣旺
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Ltd Research Institute
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Ltd Research Institute
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2022-05-17

Abstract

The invention discloses a position determining method, a position determining device and a storage medium, wherein the method comprises the following steps: determining a first position coordinate in a first scene; after the first scene is switched to a second scene, determining a second position coordinate under the second scene according to the information of the first position coordinate and the reference position; and the second position coordinate and the first position coordinate adopt the same coordinate system.

Description

Position determination method, device and storage medium

Technical Field

The present invention relates to the field of positioning technologies, and in particular, to a method and an apparatus for determining a position, and a storage medium.

Background

With the continuous development of the times and the continuous improvement of science, the life rhythm is continuously accelerated, and image recognition is more and more applied in life, for example, product classification is carried out based on the image recognition.

In the related art, the more common outdoor positioning means includes: the positioning method comprises the following steps of positioning by using a Global Navigation Satellite System (GNSS), which is a positioning service System for providing three-dimensional coordinates and Time information for a user on the earth surface or in a near-earth space by using observables such as pseudo-range, carrier phase, ephemeris and Satellite signal emission Time of a group of satellites, providing outdoor positioning service for the user by using various means such as a Real-Time Kinematic (RTK) carrier phase difference positioning technology, a Real-Time Differential code (RTD) technology and the like.

In an indoor or tunnel scene, positioning service is provided for a terminal through an indoor distributed antenna system for wireless communication, a bluetooth beacon system and an Ultra wide band (UWB, Ultra Wideband, a wireless wave communication technology, which transmits data by using nanosecond-microsecond non-sine wave narrow pulses and currently uses subnanosecond Ultra-narrow pulses to perform close-range accurate indoor positioning).

In a single outdoor, single indoor or tunnel scene, a terminal positioning scene can basically ensure positioning service of a user, but when the user moves between the outdoor and the indoor (or tunnel), switching between two positioning systems and conversion between two sets of coordinate systems are involved. The original point of the traditional indoor positioning coordinate is generally the position of one corner of a room, and cannot correspond to longitude and latitude, and the indoor Bluetooth positioning cannot provide height information.

Disclosure of Invention

In view of the above, the present invention provides a method, an apparatus and a storage medium for determining a position.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the embodiment of the invention provides a position determining method, which is applied to a terminal and comprises the following steps:

determining a first position coordinate in a first scene;

after the first scene is switched to a second scene, determining a second position coordinate under the second scene according to the information of the first position coordinate and the reference position;

and the second position coordinate and the first position coordinate adopt the same coordinate system.

In the above solution, the reference position includes: a first reference location and at least one bluetooth;

the information of the reference position comprises: a first reference location coordinate and a relative offset of each of the at least one bluetooth with respect to the first reference location coordinate;

determining a second position coordinate in the second scene according to the first position coordinate and the information of the reference position, including:

and determining a second position coordinate of the terminal according to the first position coordinate, the first reference position coordinate and the relative offset of each Bluetooth relative to the first reference position coordinate.

In the foregoing solution, the determining a second position coordinate of the terminal according to the first position coordinate, the first reference position coordinate, and a relative offset of each bluetooth with respect to the first reference position coordinate includes:

replacing the first reference position coordinates according to the first position coordinates;

determining the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinate and the first position coordinate adopt the same coordinate system;

determining a first Bluetooth with a distance from the terminal meeting a preset distance requirement from at least one Bluetooth, and taking a Bluetooth coordinate of the first Bluetooth as a second position coordinate of the terminal in a second scene.

In the above scheme, at least one second reference position is arranged at the junction of the first scene and the second scene, and the second scene is provided with at least one bluetooth;

the information of the reference position comprises: a second reference position coordinate and a correction value for each of the at least one bluetooth relative to the second reference position coordinate;

the determining a second position coordinate in the second scene according to the first position coordinate and the information of the reference position includes:

replacing the second reference position coordinates according to the first position coordinates;

determining the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the corrected value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinate and the first position coordinate adopt the same coordinate system;

and determining a second Bluetooth with the distance from the terminal meeting the preset distance requirement from at least one Bluetooth, and taking the Bluetooth coordinate of the second Bluetooth as a second position coordinate of the terminal in a second scene.

sending the first position coordinates to a Bluetooth system; the first position coordinate is used for informing the Bluetooth system to replace the second reference position coordinate by the first coordinate position, and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinate is adjusted according to the replaced second reference position coordinate;

receiving a correction value of each adjusted Bluetooth in the at least one Bluetooth broadcasted by the Bluetooth system relative to the second reference position coordinate;

In the above scheme, the second scene is provided with at least two bluetooth;

the information of the reference position comprises: sub-reference position information corresponding to at least one candidate Bluetooth; each of the sub-reference location information includes: the third reference position coordinates of the candidate Bluetooth and the correction values of other Bluetooth except the candidate Bluetooth relative to the candidate Bluetooth in at least two Bluetooth;

determining a target Bluetooth meeting the requirement of a position relation from the at least one candidate Bluetooth according to the first position coordinate and each piece of sub-reference position information;

replacing a third reference position coordinate of the target Bluetooth according to the first coordinate position;

determining the Bluetooth coordinates of other Bluetooth except the target Bluetooth in the at least two Bluetooth according to the replaced third reference position coordinates and the corrected values of the other Bluetooth except the target Bluetooth in the at least two Bluetooth relative to the target Bluetooth; the Bluetooth coordinate and the first position coordinate adopt the same coordinate system;

and determining a third Bluetooth with the distance meeting the preset distance requirement from the terminal from other Bluetooth except the target Bluetooth in the at least two Bluetooth, and taking the Bluetooth coordinate of the third Bluetooth as a second position coordinate of the terminal in a second scene.

In the above scheme, the second scene is provided with at least two bluetooth;

sending the first position coordinates to a Bluetooth system; the first position coordinate is used for informing the Bluetooth system to replace a third reference position coordinate of the target Bluetooth by the first coordinate position, and adjusting and broadcasting the correction value of other Bluetooth except the target Bluetooth in the at least two Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate;

receiving the corrected values of other blueteeth except the target bluetooth in the at least two adjusted blueteeth relative to the target bluetooth;

In the foregoing solution, the determining, according to the first location coordinate and each piece of sub-reference location information, a target bluetooth meeting a location relationship requirement from the at least one candidate bluetooth includes:

determining a first candidate Bluetooth accessed by the terminal;

performing square sum calculation on correction values of the other Bluetooth except the first candidate Bluetooth in the at least two Bluetooth broadcasted by the first candidate Bluetooth relative to the first candidate Bluetooth;

and determining the Bluetooth with the square sum meeting the preset requirement from other Bluetooth except the first candidate Bluetooth in the at least two Bluetooth as the target Bluetooth.

An embodiment of the present invention provides a position determination apparatus, including:

the first processing module is used for determining a first position coordinate in a first scene;

the second processing module is used for determining a second position coordinate in a second scene according to the information of the first position coordinate and the reference position after the first scene is switched to the second scene;

and the second processing module is used for determining a second position coordinate of the terminal according to the first position coordinate, the first reference position coordinate and the relative offset of each Bluetooth relative to the first reference position coordinate.

In the above solution, the second processing module is configured to replace the first reference position coordinate according to the first position coordinate;

the second processing module is used for replacing the second reference position coordinate according to the first position coordinate;

the second processing module is used for sending the first position coordinate to a Bluetooth system; the first position coordinate is used for informing the Bluetooth system to replace the second reference position coordinate by the first coordinate position, and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinate is adjusted according to the replaced second reference position coordinate;

In the above scheme, the second scene is provided with at least two bluetooth;

the second processing module is used for determining a target Bluetooth meeting the requirement of a position relation from the at least one candidate Bluetooth according to the first position coordinate and each piece of sub-reference position information;

In the above scheme, the second scenario is provided with at least two bluetooth;

receiving the corrected value of other adjusted Bluetooth except the target Bluetooth in the at least two Bluetooth relative to the target Bluetooth;

In the above scheme, the second processing module is configured to determine a first candidate bluetooth accessed by the terminal;

An embodiment of the present invention provides a position determining apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of any one of the position determining methods when executing the program.

Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of any one of the above position determination methods.

The embodiment of the invention provides a position determination method, a position determination device and a storage medium, wherein the method comprises the following steps: determining a first position coordinate in a first scene; after the first scene is switched to a second scene, determining a second position coordinate under the second scene according to the information of the first position coordinate and the reference position; wherein the second position coordinate and the first position coordinate adopt the same coordinate system; thus, the second position coordinate in the same coordinate system with the first position coordinate is determined based on the first position coordinate and corresponds to the longitude and latitude, so that the height information is provided.

Drawings

FIG. 1 is a schematic diagram of a positioning method based on RTK carrier phase differential technique;

fig. 2 is a schematic flowchart of a position determining method according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a position determining apparatus according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another position determining apparatus according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to examples, and the related art will be described first.

FIG. 1 is a schematic diagram of a reference station based positioning method; as shown in fig. 1, the RTK carrier-phase differential technique is based on the relative positioning concept of GPS by positioning a receiver at a known point, called the reference station, known as the reference mark (X)₀,Y₀,Z₀) Another user receiver or receivers are placed on a user mobile station, such as a measuring ship and a dredger, and synchronously acquire signals of the same satellite;

the reference station transmits the carrier observed value and the coordinate information of the observation station to the user mobile station through a data link in real time. And differentiating the observed values by utilizing a relative positioning principle to realize real-time positioning.

The method provided by the embodiment of the invention comprises the steps of determining a first position coordinate in a first scene; after the first scene is switched to a second scene, determining a second position coordinate in the second scene according to the information of the first position coordinate and the reference position; and the second position coordinate and the first position coordinate adopt the same coordinate system.

The present invention will be described in further detail with reference to examples.

Fig. 2 is a schematic flowchart of a position determining method according to an embodiment of the present invention; as shown in fig. 2, the method is applied to a terminal; the terminal can be equipment with a positioning function, such as an intelligent terminal, a tablet personal computer (PAD) and a computer; the method comprises the following steps:

step 201, determining a first position coordinate in a first scene;

step 202, after switching from the first scene to a second scene, determining a second position coordinate in the second scene according to the information of the first position coordinate and the reference position;

The first scene represents an outdoor scene; the second scene represents an indoor scene (specifically, may refer to indoor (or indoor), tunnel).

The first position coordinate and the second position coordinate adopt a longitude and latitude coordinate system; the position of the terminal can be embodied, and the height information of the terminal can be determined indoors.

In some embodiments, a scheme is provided for determining a second location coordinate in the second scene based on the information of the first location coordinate and a reference location.

Here, the reference position includes: a first reference location and at least one bluetooth; here, the first reference position is an absolute position that remains unchanged;

in practical application, in order to realize positioning, the information of the reference position needs to be determined, and then the second position coordinate of the terminal under the second scene is determined by combining the first position coordinate.

Prior to step 202, the method further comprises:

acquiring the first reference position coordinate through a room network corresponding to a second scene;

and acquiring the relative offset of each Bluetooth relative to the first reference position coordinate through the indoor distribution network.

Here, each cell of the indoor distribution network broadcasts the same absolute position coordinate a (x, y, z), so that the terminal can obtain the absolute position coordinate as the first reference position coordinate.

Correspondingly, the determining the second position coordinate in the second scene according to the information of the first position coordinate and the reference position includes:

Wherein the determining a second position coordinate of the terminal according to the first position coordinate, the first reference position coordinate, and a relative offset of each bluetooth with respect to the first reference position coordinate comprises:

The determining of the first bluetooth whose distance from the terminal meets the preset distance requirement from at least one bluetooth includes:

according to the received signal intensity of each Bluetooth, determining the Bluetooth with the strongest signal intensity as the Bluetooth closest to the terminal;

and taking the determined Bluetooth closest to the terminal as the first Bluetooth.

For example, in an outdoor scenario, the terminal accesses the wireless communication network, and the reference station obtains GNSS information and calculates an RPK correction value. The terminal can adopt an RTK positioning technology, the terminal acquires RTK correction information through a wireless communication network, and high-precision position information of the terminal is calculated by combining the position coordinate with errors calculated by the terminal according to the GNSS, namely the terminal is positioned in an outdoor scene, and the position coordinate in the outdoor scene is determined.

When the terminal moves from an outdoor scene to an indoor scene, an outdoor wireless communication network (such as 2G/3G/4G/5G) and an indoor wireless communication network (also called as a room division wireless communication system and a room division network) are switched, and when the terminal is switched according to inter-frequency or inter-system measurement, the terminal records position information (namely the outdoor position coordinate) calculated by RTK before switching, wherein the position information is a longitude and latitude coordinate, namely the first position coordinate.

After the terminal completes the switching of the wireless communication network, the terminal enters the indoor distribution network, and at this time, the terminal RKT is positioned and interrupted because there is no RTK correction value issued by the reference station and no GNSS signal can be received indoors. At this time, the bluetooth function of the terminal is started.

The indoor division wireless communication system broadcasts the absolute coordinate position A (x, y, z) of the system, namely the first reference position coordinate; and, the indoor bluetooth system broadcasts a relative offset (Δ x, Δ y, Δ z) with respect to an absolute coordinate position, i.e. a relative offset of each of the at least one bluetooth with respect to the first reference position coordinate, independently for each bluetooth's transmitting antenna position.

After the terminal is switched from an outdoor scene to an indoor scene, determining a second position coordinate of the terminal according to the first position coordinate, the first reference position coordinate and the relative offset of each bluetooth with respect to the first reference position coordinate, including:

after obtaining an absolute position coordinate according to the broadcast of the switched wireless cell, taking the absolute position coordinate as an indoor initial position of a terminal, and replacing the absolute position coordinate according to the first position coordinate;

and according to the replaced absolute position coordinate (namely the replaced first reference position coordinate), and by combining the relative offset of each Bluetooth relative to the first reference position coordinate, obtaining indoor high-precision positioning information.

Specifically, the bluetooth coordinate of each bluetooth may be determined according to the replaced first reference position coordinate and the relative offset of each bluetooth with respect to the first reference position coordinate; and determining a first Bluetooth from at least one Bluetooth, wherein the distance between the first Bluetooth and the terminal meets a preset distance requirement (such as the distance is closest), and taking the Bluetooth coordinate of the first Bluetooth as a second position coordinate of the terminal in a second scene.

Here, the bluetooth coordinates of each bluetooth can be obtained using the formula (x + Δ x, y + Δ y, z + Δ z).

In some embodiments, another scheme is provided for determining the second position information according to the information of the first position coordinates and the reference position after switching from the first scene to the second scene.

Here, at least one second reference position is arranged at the junction of the first scene and the second scene, and the second scene is provided with at least one bluetooth;

the reference position includes: at least one second reference location and at least one bluetooth;

in one example, the determining the second position coordinates in the second scene according to the first position coordinates and the information of the reference position includes:

In another example, the determining the second position coordinates in the second scene according to the first position coordinates and the information of the reference position includes:

Wherein the correction value corresponds to a position deviation of bluetooth from the second reference position coordinate or a distance on the (X, Y, Z) axis; therefore, determining the bluetooth coordinates of each bluetooth according to the replaced second reference position coordinates and the modified value of each bluetooth in the at least one bluetooth relative to the second reference position coordinates comprises:

the bluetooth coordinates of each bluetooth are determined using the formula (X + Δ X, Y + Δ Y, Z + Δ Z).

Here, the determining, from the at least one bluetooth, a second bluetooth whose distance from the terminal satisfies a preset distance requirement includes:

and taking the determined Bluetooth closest to the terminal as the second Bluetooth.

For example, assuming that a terminal may have multiple entries (tunnel entries are relatively few, and there are generally only two) into an indoor scenario, the entries may be numbered, e.g., 1, 2, 3 … …, M. Other bluetooth locations in the room or tunnel are numbered AA, BB, CC, … …, NN.

A Bluetooth is erected at the entrance (the Bluetooth is provided with a transmitting antenna); if a plurality of entrances exist, bluetooth can be erected at each entrance, that is, the second scene is provided with at least one bluetooth.

Assuming that the user enters the room or the tunnel from the position 1, the position 1 is set as a coordinate a0(x, y, z) (i.e. a second reference position coordinate), index _ a is broadcast at broadcast time, correction values of coordinates corresponding to a0 corresponding to other indoor bluetooth points AA are denoted as Δ A1(Δ A1x, Δ A1y, Δ A1z), correction values of coordinates corresponding to a0 corresponding to other indoor bluetooth points BB are denoted as Δ A2(Δ A2x, Δ A2y, Δ A2z), … …, and correction values of coordinates corresponding to a0 corresponding to other indoor bluetooth points NN are denoted as Δ An (Δ Anx, Δ Any, Δ Anz);

entering the indoor/tunnel from the position 2, setting the position 2 as a coordinate B0(x, y, z) (namely a second reference position coordinate), broadcasting index _ B at broadcasting time, and recording corrected values of coordinates corresponding to B0 corresponding to other indoor Bluetooth points AA as delta B1 (delta B1x, delta B1y and delta B1z) and corrected values of coordinates corresponding to B0 corresponding to other indoor Bluetooth points BB as delta B2 (delta B2x, delta B2y, delta B2z), … … and corrected values of coordinates corresponding to B0 corresponding to other indoor Bluetooth points NN as delta Bn (delta Bnx, delta Bny and delta Bnz);

……

when entering the indoor/tunnel from the position M, the position 1 is set to the coordinate M0(x, y, z) (i.e. a kind of second reference position coordinate), index _ M is broadcast at the broadcast time, the corrected value of the relative M0 coordinate corresponding to other indoor bluetooth points AA is denoted as Δ M1(Δ M1x, Δ M1y, Δ M1z), and the corrected value of the relative M0 coordinate corresponding to other indoor bluetooth points BB is denoted as Δ M2(Δ M2x, Δ M2y, Δ M2z), … …, and the corrected value of the relative M0 coordinate corresponding to other indoor bluetooth points NN is denoted as Δ Mn (Δ Mnx, Δ Mny, Δ Mnz).

Each Bluetooth location (AA, BB, CC, …, NN) is broadcast as shown in Table 1.

TABLE 1 is the coordinate set of the relative position of indoor Bluetooth

The corrections for the bluetooth AA broadcast are shown in table 2:

TABLE 2

The modification values broadcast by the bluetooth NN are shown in table 3:

TABLE 3

When the terminal moves from outdoor to indoor/tunnel, the outdoor wireless communication network and the indoor wireless communication network are switched, and when the terminal is switched according to the different frequency or different system measurement, the terminal records the position information (namely a first position coordinate, a longitude and latitude coordinate) calculated by RTK before switching.

Assuming that the terminal enters the room from position 1 and accesses bluetooth at position 1, reads position 1 broadcast position index _ a information, and the terminal transmits inside the terminal to the bluetooth system as a0(X, Y, Z) based on the high-precision outdoor positioning coordinates O _ S (X, Y, Z) (i.e., the first position coordinates) of the last RTK recorded before; during the indoor movement, the Δ coordinate correction value is adjusted based on a0(X, Y, Z) (note that, here, it is actually O _ S (X, Y, Z)), that is, the correction value with respect to the first position coordinate with reference to the first position coordinate is determined as the coordinate of each bluetooth; therefore, broadcasting of absolute coordinates can be reduced indoors, and the position of the terminal (specifically, the position of the Bluetooth closest to the terminal is used as the position of the terminal) can be determined by only broadcasting the correction value.

The delta coordinate correction value is adjusted based on a0(X, Y, Z), that is, the (X, Y, Z) is calculated in combination with the position corresponding to bluetooth relative to position 1, for example, when the position 1 is entered, the position of bluetooth (assumed to be bluetooth AA) is (X + Δ A1X, Y + Δ A1Y, Z + Δ A1Z), where O _ S (X, Y, Z) ═ a0(X, Y, Z).

For other bluetooth, the coordinates of the bluetooth can be determined according to the corrected value of the bluetooth relative to the position 1; the terminal moves indoors, and the determined coordinate of the Bluetooth with the strongest access signal can be used as the coordinate of the terminal.

Because the position of each Bluetooth is corrected based on longitude and latitude coordinates (namely, first position coordinates), the indoor coordinates and the outdoor coordinates of the terminal can be ensured to adopt the same coordinate system.

It should be noted that, if the terminal is restarted during indoor/tunnel, the terminal is required to extract the initial O _ S (X, Y, Z) of the entry location and the index of the entry location from the log, which are entered indoors (RTK coordinates O _ S (X, Y, Z) before switching from outdoor wireless communication to indoor wireless communication and the index of the entry location are written in the log), and relocate the terminal according to the accessed bluetooth broadcast.

In some embodiments, a further scheme is provided for determining second position information according to the information of the first position coordinates and the reference position after switching from the first scene to the second scene.

The second scene is provided with at least two Bluetooth; the reference position includes: at least two Bluetooth;

under this scheme, the entrance need not to assume the bluetooth, and the nearest bluetooth and the entry position at each entrance can have certain distance.

determining a target Bluetooth meeting the requirement of a position relation from the at least one candidate Bluetooth according to the position coordinate and the information of each sub-reference position;

determining Bluetooth coordinates of other Bluetooth except the target Bluetooth in the at least two Bluetooth according to the replaced third reference position coordinate and a corrected value of each Bluetooth except the target Bluetooth in the at least two Bluetooth relative to the target Bluetooth; the Bluetooth coordinate and the first position coordinate adopt the same coordinate system;

Specifically, the determining, according to the first position coordinate and each piece of sub-reference position information, a target bluetooth meeting the requirement of a position relationship from the at least one candidate bluetooth includes:

determining a first candidate Bluetooth accessed by the terminal;

performing a square sum calculation on the modified values of the at least two Bluetooth broadcast by the first candidate Bluetooth relative to the first candidate Bluetooth;

Here, the bluetooth broadcast with the strongest access signal is considered as the bluetooth closest to the terminal, and is taken as the first candidate bluetooth accessed by the terminal.

Here, the square sum calculation employs the following equation: x + y + z.

That is, the modified values of the other bluetooth broadcasted as the first candidate bluetooth are squared and calculated, and the bluetooth having the smallest calculation result is set as the target bluetooth.

Then, replacing a third reference position coordinate of the target Bluetooth according to the first coordinate position; and determining the Bluetooth coordinates of other Bluetooth except the target Bluetooth in the at least two Bluetooth according to the replaced third reference position coordinates and the corrected value of each Bluetooth except the target Bluetooth in the at least two Bluetooth relative to the target Bluetooth.

Wherein, the adjusting the correction value of other bluetooth except the target bluetooth in the at least two bluetooth according to the replaced third reference position coordinate includes:

the bluetooth coordinates of each bluetooth are determined using the formulas (X + Δ B1X, Y + Δ B1Y, Z + Δ B1Z).

Here, the determining, from among the at least two bluetooth other than the target bluetooth, a third bluetooth whose distance from the terminal meets a preset distance requirement, and using a bluetooth coordinate of the third bluetooth as a second position coordinate of the terminal in a second scene includes:

and taking the determined Bluetooth closest to the terminal as the third Bluetooth.

That is, after the coordinates of all the bluetooth are adjusted and the terminal position is moved, the bluetooth with the strongest signal strength can be determined as the bluetooth closest to the terminal based on the received signal strength of each bluetooth; and taking the determined Bluetooth closest to the terminal as the third Bluetooth.

For example, there may be multiple entrances (there are relatively few tunnel entrances, typically only two) into the room, and these entrances are numbered, e.g., 1, 2, 3 … …, M. Other bluetooth locations in the room or tunnel are numbered AA, BB, CC, … …, NN.

No bluetooth is erected at each entrance, and the nearest bluetooth antenna at each entrance is distant from the entrance position.

Entering the indoor/tunnel from the position 1, setting the position 1 as a coordinate A0(0, 0, 0), recording corrected values of the coordinates corresponding to A0 corresponding to other indoor Bluetooth positions AA as delta A1 (delta A1x, delta A1y, delta A1z), and corrected values of the coordinates corresponding to A0 corresponding to other indoor Bluetooth positions BB as delta A2 (delta A2x, delta A2y, delta A2z), … …, and corrected values of the coordinates corresponding to A0 corresponding to other indoor Bluetooth positions NN as delta An (delta Anx, delta Any, delta Anz);

entering the indoor/tunnel from the position 2, setting the position 2 as a coordinate B0(0, 0, 0), broadcasting index _ B at a broadcast time, recording corrected values of coordinates relative to B0 corresponding to other indoor Bluetooth points AA as Δ B1(Δ B1x, Δ B1y, Δ B1z), corrected values of coordinates relative to B0 corresponding to other indoor Bluetooth points BB as Δ B2(Δ B2x, Δ B2y, Δ B2z), … …, and corrected values of coordinates relative to B0 corresponding to other indoor Bluetooth points NN as Δ Bn (Δ Bnx, Δ Bny, Δ Bnz);

……

entering the indoor/tunnel from the position M, setting the position M as a coordinate M0(x, y, z), broadcasting index _ M on broadcasting time, recording corrected values corresponding to M0 coordinates corresponding to other indoor Bluetooth points AA as delta M1 (delta M1x, delta M1y, delta M1z), corrected values corresponding to M0 coordinates corresponding to other indoor Bluetooth points BB as delta M2 (delta M2x, delta M2y, delta M2z), … … and corrected values corresponding to M0 coordinates corresponding to other indoor Bluetooth points NN as delta Mn (delta Mnx, delta Mny, delta Mnz);

each Bluetooth location (AA, BB, CC, …, NN) is broadcast as shown in Table 4.

Table 4 is the indoor bluetooth relative position coordinate set

The correction values for AA broadcasts are shown in table 5:

TABLE 5

The correction values for NN broadcast are shown in table 6:

TABLE 6

When the terminal moves from outdoor to indoor/tunnel, the outdoor wireless communication network and the indoor wireless communication network are switched, and when the terminal is switched according to the different frequency or different system measurement, the terminal records the position information (longitude and latitude coordinates) calculated by RTK before switching.

When the terminal enters the room from the position 1, the terminal sends the high-precision outdoor positioning coordinate O _ S (X, Y, Z) of the last RTK recorded before to a Bluetooth system in the terminal; after the terminal accesses the bluetooth at the indoor AA position (that is, the bluetooth signal with the strongest signal received at the indoor position 1 is the bluetooth signal at the indoor AA position), according to a set of coordinate values broadcast at the AA position, calculating the sum of 3-dimensional squares of all coordinate values broadcast at the AA position (that is, the coordinates of Δ a1, Δ B1, and … … Δ M1 shown in table 5), and finding out the minimum value after the sum of the squares (or summing up the absolute values of the 3-dimensional squares to find out the minimum value); determining which set of correction values (e.g., Δ B1(Δ B1X, Δ B1Y, Δ B1Z)) is based on the minimum value, so that an entry into a room or tunnel from the position where the nearest bluetooth is found and from which position (e.g., determining that the position of the nearest bluetooth is Δ B1(Δ B1X, Δ B1Y, Δ B1Z) can be determined), and substituting the correction value of the nearest bluetooth broadcast (Δ B1(Δ B1X, Δ B1Y, Δ B1Z)) into the coordinate value O _ S (X, Y, Z) recorded last by RTK to obtain a new position (i.e., using the formula (X + Δ B1X, Y + Δ B1Y, Z + Δ B1Z)); then, during the indoor movement of the terminal, the terminal uses the same set of coordinates of the relative entry position (for example, using the relative coordinate information of the position 2) to perform position update.

Specifically, the sum of squares uses the formula: x + y + z; wherein, the broadcast of the strongest bluetooth signal received by the user is assumed to be:

that is, the following are calculated, respectively:

§A＝ΔA1x*ΔA1x+ΔA1y*ΔA1y+ΔA1z*ΔA1z；

§B＝ΔB 1x*ΔB 1x+ΔB 1y*ΔB 1y+ΔB 1z*ΔB 1z；

……

§M＝ΔM 1x*ΔM 1x+ΔM 1y*ΔM 1y+ΔM 1z*ΔM 1z；

from the calculation results, the set of coordinates corresponding to the smallest of § a, § B, … …, § M is determined as the current coordinates of the terminal.

Assuming the minimum § B, the current terminal location coordinate Δ B1 is determined.

It should be noted that, if the terminal is restarted indoors or during a tunnel, the terminal is required to extract an initial O _ S (X, Y, Z) and an entry position of an entry into the room (RTK coordinates O _ S (X, Y, Z) and an entry position before switching from outdoor wireless communication to indoor wireless communication are written into a log), and relocate according to an accessed bluetooth broadcast.

According to the method provided by the embodiment of the invention, the three-dimensional absolute coordinate is obtained outdoors, and the indoor three-dimensional relative coordinate system is obtained through the conversion relation between the relative coordinate and the absolute coordinate (absolute longitude and latitude), so that the continuity of the terminal for obtaining the high-precision positioning coordinate is ensured; after entering the room, elevation information can be provided, and overlapping positions introduced by floors and other heights can be distinguished; and, can set up according to the position is nimble at indoor coordinate system initial point (specifically indicate the mode that above three kinds of bluetooth set up), and the flexibility that the scheme was realized is high.

Fig. 3 is a schematic structural diagram of a position determining apparatus according to an embodiment of the present invention; as shown in fig. 3, the apparatus includes:

In one embodiment, the reference position includes: a first reference location and at least one bluetooth;

Specifically, the second processing module is specifically configured to replace the first reference position coordinate according to the first position coordinate;

determining the Bluetooth coordinate of each Bluetooth according to the replaced first reference position coordinate and the relative offset of each Bluetooth relative to the first reference position coordinate; the Bluetooth coordinate and the first position coordinate adopt the same coordinate system;

and determining a first Bluetooth with the distance from the terminal meeting the requirement of a preset distance from at least one Bluetooth, and taking the Bluetooth coordinate of the first Bluetooth as a second position coordinate of the terminal in a second scene.

In an embodiment, at least one second reference position is set at a junction of the first scene and the second scene, and the second scene is set with at least one bluetooth;

In one embodiment, the second scenario is provided with at least two bluetooth;

sending the first position coordinates to a Bluetooth system; the first position coordinate is used for informing the Bluetooth system to replace a third reference position coordinate of the target Bluetooth by the first coordinate position, and the correction value of other Bluetooth except the target Bluetooth in the at least two Bluetooth relative to the target Bluetooth is adjusted and broadcast according to the replaced third reference position coordinate;

Specifically, the second processing module is specifically configured to determine a first candidate bluetooth accessed by the terminal;

It should be noted that: in the above embodiment, when the location determining apparatus implements the corresponding location determining method, only the division of the program modules is taken as an example, and in practical applications, the processing distribution may be completed by different program modules according to needs, that is, the internal structure of the server is divided into different program modules to complete all or part of the processing described above. In addition, the apparatus provided by the above embodiment and the embodiment of the corresponding method belong to the same concept, and the specific implementation process thereof is described in the method embodiment, which is not described herein again.

Fig. 4 is a schematic structural diagram of another position determining apparatus according to an embodiment of the present invention, and as shown in fig. 4, the apparatus 40 includes: a processor 401 and a memory 402 for storing computer programs executable on said processor; the processor 401 is configured to, when running the computer program, perform: determining a first position coordinate in a first scene; after the first scene is switched to a second scene, determining a second position coordinate under the second scene according to the information of the first position coordinate and the reference position; and the second position coordinate and the first position coordinate adopt the same coordinate system.

The processor 401 is further configured to execute the steps of each position determining method in the embodiment of the present invention when the computer program is run, and for brevity, details are not described here again.

In practical applications, the apparatus 40 may further include: at least one network interface 403. The various components of the device 40 are coupled together by a bus system 404. It is understood that the bus system 404 is used to enable communications among the components. The bus system 404 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 404 in FIG. 4. The number of the processors 401 may be at least one. The network interface 403 is used for wired or wireless communication between the apparatus 40 and other devices.

Memory 402 in embodiments of the present invention is used to store various types of data to support the operation of device 40.

The method disclosed in the above embodiments of the present invention may be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 may be a general purpose Processor, a DiGital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. Processor 401 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium that is located in the memory 402, and the processor 401 reads the information in the memory 402 and, in conjunction with its hardware, performs the steps of the method as described above.

In an exemplary embodiment, the apparatus 40 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the foregoing methods.

An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored; the computer program, when executed by a processor, performs: determining a first position coordinate in a first scene; after the first scene is switched to a second scene, determining a second position coordinate under the second scene according to the information of the first position coordinate and the reference position; and the second position coordinate and the first position coordinate adopt the same coordinate system.

When the computer program is executed by the processor, the steps of each position determining method in the embodiments of the present invention are also executed, and are not described herein again for brevity.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.

It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The technical means described in the embodiments of the present application may be arbitrarily combined without conflict.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A position determination method is applied to a terminal, and comprises the following steps:

determining a first position coordinate in a first scene;

2. The method of claim 1, wherein the reference location comprises: a first reference location and at least one bluetooth;

3. The method of claim 2, wherein determining the second location coordinate of the terminal based on the first location coordinate, the first reference location coordinate, and a relative offset of each bluetooth with respect to the first reference location coordinate comprises:

4. The method according to claim 1, wherein at least one second reference position is provided at the intersection of the first scene and the second scene, and the second scene is provided with at least one bluetooth;

5. The method according to claim 1, wherein at least one second reference position is set at the intersection of the first scene and the second scene, and the second scene is set with at least one bluetooth;

6. The method of claim 1, wherein the second scenario is provided with at least two bluetooth;

7. The method of claim 1, wherein the second scenario is provided with at least two bluetooth;

8. The method according to claim 6 or 7, wherein the determining a target bluetooth meeting the requirement of the position relationship from the at least one candidate bluetooth according to the first position coordinate and each piece of sub-reference position information comprises:

determining a first candidate Bluetooth accessed by the terminal;

9. A position determining apparatus, characterized in that the apparatus comprises:

10. A position determining apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the program.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.