CN102213756B

CN102213756B - Location method and device based on indoor signal supplementary system

Info

Publication number: CN102213756B
Application number: CN201110086257XA
Authority: CN
Inventors: 邓中亮; 关维国; 余彦培; 徐连明; 那日苏; 邓耀宇; 来奇峰
Original assignee: BEIJING SHOUKE SOFTWARE AND SYSTEM INTEGRATION Co Ltd; Beijing University of Posts and Telecommunications
Current assignee: BEIJING SHOUKE SOFTWARE AND SYSTEM INTEGRATION Co Ltd; Beijing University of Posts and Telecommunications
Priority date: 2011-04-07
Filing date: 2011-04-07
Publication date: 2013-11-20
Anticipated expiration: 2031-04-07
Also published as: CN102213756A

Abstract

The invention provides a location method and a location device based on an indoor signal supplementary system, and belongs to the field of location. In the method, location signal generators are added into antennas of the indoor signal supplementary system in one-to-one correspondence; identities (ID) of the antennas which send location signals can be judged, time delay of the location signals can be acquired and used as characteristic information and location is performed. By the method and the system, a terminal can use the time delay of the location signals which are strengthened by the supplementary system as the location characteristic information, and the location precision and the stability of the system are higher than the location precision and the stability of the location system which utilizes signal intensity as the location information in the prior art. Moreover, by adopting the traditional indoor signal supplementary system, the location signal generators with a simple structure are added, so the cost is low.

Description

A kind of localization method based on indoor signal supplementary system and device

Technical field

The present invention relates to positioning field, particularly a kind of localization method based on indoor signal supplementary system and device.

Background technology

In recent years, along with improving constantly of people's living standard, people also grow with each passing day to the demand of location-based service, as all many-sides such as personal scheduling, asset management, emergency help, security monitoring, sacurity dispatching, intelligent transportation, digital map navigation, travel guide to the location widespread demand; Particularly when the reply emergency condition, under the special applications scenes such as emergency help, disaster relief emergency command scheduling, it is particularly important that locating information seems especially.In recent years for the further investigation of general fit calculation and Distributed Communication Technology, make indoor wireless communication and network technology enter the develop rapidly stage, and then derived the Networks based on WLAN(Wireless Local Area, WLAN (wireless local area network)), Bluetooth(bluetooth), WSN(wireless sensor network, radio-frequency (RF) identification) etc. wireless sensor network) and RFID(Radio Frequency Identification, indoor positioning technology.

Location technology based on RFID is when the user passes through a certain zone, utilize RFID to carry out record to it, show that this user has entered this zone, but the location technology that is based on RFID can only be used for zone location, show that this user enters this zone, and can't accurately locate.

Location technology based on WLAN, Bluetooth, WSN etc., by at the indoor grid that carries out, dividing, and in a large amount of signal node of indoor deployment, terminal detects a plurality of node R SSI(Received signal strength index that receive in each grid, signal intensity), the node signal intensity that each node that due to diverse location, can receive sends is different, and the RSSI of each node that will receive in each grid is as the characteristic quantity of this grid, to complete location.

But, realize in process of the present invention the inventor, there are the following problems at least to find prior art:

If use wireless signal signal intensity as the location characteristic quantity, when carrying out indoor positioning, due to the indoor environment relative complex, it is larger that signal is affected by the factors such as environmental change, multipath, signal dropout, interference, causes position stability poor, precision is low.

Summary of the invention

, in order to solve problems of the prior art, the present invention proposes localization method and device based on indoor signal supplementary system.Described technical scheme is as follows:

The embodiment of the present invention has proposed a kind of localization method based on indoor signal supplementary system, and each antenna under indoor signal supplementary system is added with locating signal generator one to one, and described method comprises:

Obtain positioning signal, the locating signal generator signal of unknown position, and measure the signal intensity of described positioning signal and locating signal generator signal;

The described locating signal generator signal of demodulation, obtain the navigation message that described locating signal generator is broadcast, and obtains the antenna ID of the antenna that sends described locating signal generator signal from described navigation message;

Determine to belong to described positioning signal the locating signal generator signal that the antenna of same antenna ID sends according to the predefined corresponding relation of signal intensity of the signal intensity of described positioning signal and described locating signal generator signal, determine to send the antenna ID of the antenna of described positioning signal according to the antenna ID of the antenna that sends described locating signal generator signal;

Calculate the time delay of described positioning signal, and with the time delay of described positioning signal as the first stack features information;

Calculate the coordinate of described unknown position according to described the first stack features information;

Wherein, described positioning signal is for carrying out the outdoor signal after signal intensity is augmented through indoor signal supplementary system;

Wherein, before calculating the coordinate of described unknown position according to described the first stack features information, described method also comprises:

Resolve described navigation message and obtain sending city, building, floor, the antenna sequence number id information at the antenna place of described locating signal generator signal, and as the second stack features information;

And/or,

Obtain outdoor signal, and calculate the time delay of described outdoor signal, with the time delay of described outdoor signal as the 3rd stack features information;

And/or,

Obtain the signal intensity of described locating signal generator signal, with the signal intensity of described locating signal generator signal as the 4th stack features information;

Wherein, the described coordinate that calculates described unknown position according to described the first stack features information specifically comprises:

Carry out mesh fitting location according to described the second stack features information, determine in the total-grid of dividing in advance with the immediate a plurality of grids of described unknown position as first kind grid;

With,

Carry out the mesh fitting location according to described the first stack features information, obtain characteristic information and described the first immediate grid of stack features information in described first kind grid, according to the barycentric coordinates of described characteristic information and described the first immediate grid of stack features information, calculate the first coordinate;

And/or,

Carry out the mesh fitting location according to described the 3rd stack features information, obtain characteristic information and described the 3rd immediate grid of stack features information in described first kind grid, according to the barycentric coordinates of described characteristic information and described the 3rd immediate grid of stack features information, calculate three-dimensional;

And/or,

Carry out the mesh fitting location according to described the 4th stack features information, obtain characteristic information and described the 4th immediate grid of stack features information in described first kind grid, according to the barycentric coordinates of described characteristic information and described the 4th immediate grid of stack features information, calculate 4-coordinate;

With,

Obtain the coordinate of unknown position with different weight calculation according to described the first coordinate and/or described three-dimensional and/or described 4-coordinate;

Perhaps, the described coordinate that calculates described unknown position according to described the first stack features information specifically comprises:

Described the first stack features information, the 3rd stack features information and the 4th stack features information are made up characteristic information as described unknown position, use the characteristic information of described unknown position to carry out the mesh fitting location, obtain the immediate grid of characteristic information of characteristic information and described unknown position in described first kind grid, calculate the coordinate of described unknown position according to the barycentric coordinates of the immediate grid of characteristic information of described characteristic information and described unknown position.

Further, before the described positioning signal of obtaining unknown position, locating signal generator signal, described method also comprises:

The signal intensity that described antenna is sent locating signal generator signal, described positioning signal is set, and makes the predefined corresponding relation of signal intensity maintenance of signal intensity with the positioning signal of the locating signal generator signal that same antenna sends.

A kind of locating device based on indoor signal supplementary system, each antenna under indoor signal supplementary system is added with locating signal generator one to one, and described device comprises:

The first acquisition module, be used for obtaining positioning signal, the locating signal generator signal of unknown position, and measure the signal intensity of described positioning signal and locating signal generator signal;

Demodulation module, be used for the described locating signal generator signal that described the first acquisition module of demodulation acquires, obtain the navigation message that described locating signal generator is broadcast, obtain the antenna ID of the antenna that sends described locating signal generator signal from described navigation message;

Judge module, determine to belong to described positioning signal the locating signal generator signal of the antenna transmission of same antenna ID for the predefined corresponding relation of signal intensity of the signal intensity according to described positioning signal and described locating signal generator signal, the antenna ID that send the antenna of described positioning signal definite according to the antenna ID of the antenna that sends described locating signal generator signal;

First Characteristic acquisition of information module, be used for calculating the time delay of described positioning signal, and with the time delay of described positioning signal as the first stack features information;

Locating module, for the coordinate of described the first described unknown position of stack features information calculating that obtains according to described First Characteristic acquisition of information module;

Wherein, described device also comprises:

Second Characteristic acquisition of information module, be used for before described locating module calculates the coordinate of described unknown position, resolve described navigation message and obtain sending city, building, floor, the antenna sequence number id information at the antenna place of described locating signal generator signal, and as the second stack features information;

And/or,

The 3rd characteristic information acquisition module, be used for obtaining outdoor signal, and calculate the time delay of described outdoor signal, with the time delay of described outdoor signal as the 3rd stack features information;

And/or,

The 4th characteristic information acquisition module, be used for obtaining the signal intensity of described locating signal generator signal, with the signal intensity of described locating signal generator signal as the 4th stack features information;

Wherein, described locating module specifically comprises:

First kind grid acquiring unit, be used for carrying out the mesh fitting location according to described the second stack features information that described Second Characteristic acquisition of information module obtains, determine in the total-grid of dividing in advance with the immediate a plurality of grids of described unknown position as first kind grid;

With,

The first coordinate Calculation unit, be used for carrying out the mesh fitting location according to described the first stack features information that described First Characteristic acquisition of information module obtains, obtain characteristic information and described the first immediate grid of stack features information in described first kind grid, according to the barycentric coordinates of described characteristic information and described the first immediate grid of stack features information, calculate the first coordinate;

And/or,

The three-dimensional computing unit, be used for carrying out the mesh fitting location according to described the 3rd stack features information that described the 3rd characteristic information acquisition module obtains, obtain characteristic information and described the 3rd immediate grid of stack features information in described first kind grid, according to the barycentric coordinates of described characteristic information and described the 3rd immediate grid of stack features information, calculate three-dimensional;

And/or,

The 4-coordinate computing unit, be used for carrying out the mesh fitting location according to described the 4th stack features information that described the 4th characteristic information acquisition module obtains, obtain characteristic information and described the 4th immediate grid of stack features information in described first kind grid, according to the barycentric coordinates of described characteristic information and described the 4th immediate grid of stack features information, calculate 4-coordinate;

With,

Positioning unit, be used for obtaining the coordinate of unknown position with different weight calculation according to described the first coordinate and/or described three-dimensional and/or described 4-coordinate;

Perhaps, described locating module specifically comprises:

Positioning unit, described the first stack features information, the 3rd stack features information and the 4th stack features information are made up characteristic information as described unknown position, use the characteristic information of described unknown position to carry out the mesh fitting location, obtain the immediate grid of characteristic information of characteristic information and described unknown position in described first kind grid, calculate the coordinate of described unknown position according to the barycentric coordinates of the immediate grid of characteristic information of described characteristic information and described unknown position.

Further, described device also comprises:

The signal intensity setting module, before the positioning signal of obtaining described unknown position at described the first acquisition module, locating signal generator signal, the signal intensity that described antenna is sent locating signal generator signal, described positioning signal is set, and makes the predefined corresponding relation of signal intensity maintenance of signal intensity with the positioning signal of the locating signal generator signal that same antenna sends.

The beneficial effect of the technical scheme that the embodiment of the present invention provides is: the localization method based on indoor signal supplementary system that the embodiment of the present invention provides and device, terminal can be used through supplement system, carry out signal and strengthen the time delay of the positioning signal obtain as location feature information, higher as Positioning System and the degree of stability of locating information than utilizing signal intensity in prior art, method and apparatus provided by the present invention utilizes existing indoor signal supplementary system simultaneously, only increase locating signal generator simple in structure, cost is low.

Description of drawings

In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below will and do simply and introduce the accompanying drawing that uses in embodiment, apparently, below listed accompanying drawing be only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

The process flow diagram of a kind of localization method based on indoor signal supplementary system that Fig. 1 provides for the embodiment of the present invention 1;

Fig. 2 is the structural representation of not improved indoor signal supplementary system provided by the present invention;

Fig. 3 is the structural representation that has increased the indoor signal supplementary system of locating signal generator provided by the present invention;

The process flow diagram of a kind of localization method based on indoor signal supplementary system that Fig. 4 provides for the embodiment of the present invention 2;

Fig. 5 is the method flow schematic diagram of generation locating signal generator signal provided by the present invention;

The process flow diagram of a kind of localization method based on indoor signal supplementary system that Fig. 6 provides for the embodiment of the present invention 3;

The process flow diagram of a kind of localization method based on indoor signal supplementary system that Fig. 7 provides for the embodiment of the present invention 4;

The process flow diagram of a kind of localization method based on indoor signal supplementary system that Fig. 8 provides for the embodiment of the present invention 5;

Fig. 9 is a kind of based on the structural representation in the locating device of indoor signal supplementary system for what provide in the embodiment of the present invention 6;

The second structural representation of a kind of locating device based on indoor signal supplementary system that Figure 10 provides for the embodiment of the present invention 6;

The structural representation of the locating module of a kind of locating device based on indoor signal supplementary system that Figure 11 provides for the embodiment of the present invention 6;

The third structural representation of a kind of locating device based on indoor signal supplementary system that Figure 12 provides for the embodiment of the present invention 6;

The second structural representation of the locating module of a kind of locating device based on indoor signal supplementary system that Figure 13 provides for the embodiment of the present invention 6;

The second structural representation of the locating module of a kind of locating device based on indoor signal supplementary system that Figure 14 provides for the embodiment of the present invention 6.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.

Embodiment 1

The embodiment of the present invention 1 has proposed a kind of localization method based on indoor signal supplementary system, and each antenna under indoor signal supplementary system is added with locating signal generator one to one, and as shown in Figure 1, the method comprises its flow process:

Step 101, the positioning signal of obtaining unknown position, locating signal generator signal, and measure the signal intensity of positioning signal and locating signal generator signal;

Step 102, demodulation locating signal generator signal, obtain the navigation message that locating signal generator is broadcast, and obtains the antenna ID of the antenna that sends the locating signal generator signal from navigation message;

Step 103, according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, determine to belong to positioning signal the locating signal generator signal that the antenna of same antenna ID sends, determine to send the antenna ID of the antenna of positioning signal according to the antenna ID of the antenna that sends the locating signal generator signal;

The time delay of step 104, compute location signal, and with the time delay of positioning signal as the first stack features information;

Step 105, calculate the coordinate of unknown position according to the first stack features information;

Wherein, positioning signal is for carrying out the signal after signal intensity is augmented through indoor signal supplementary system.

The localization method based on indoor signal supplementary system that the embodiment of the present invention provides, terminal can be used through supplement system, carry out signal and strengthen the time delay of the positioning signal obtain as location feature information, higher as Positioning System and the degree of stability of locating information than utilizing signal intensity in prior art, this method is utilized existing indoor signal supplementary system simultaneously, only increase locating signal generator simple in structure, cost is low.

Embodiment 2

The embodiment of the present invention 2 has proposed a kind of localization method based on indoor signal supplementary system, is to improve on embodiment 1 basis.

In order to solve the poor situation of indoor signal in prior art, the present invention, at indoor increase signal supplement system, strengthens rear forwarding with the signal intensity to outdoor signal, and has proposed the localization method based on indoor signal supplementary system.

Supplement system as shown in Figure 2, describe for totally three floors with locating area in the present embodiment, install by broad-band antenna in supplement system, broad-band antenna is in outdoor, be used for the receiving chamber external signal, on every gate tower, be separately installed with the light current well, broad-band antenna is forwarded to every floor by three light current wells with outdoor signal respectively, and the diverse location at every floor is equipped with antenna, and the outdoor signal after enhancing is launched by above-mentioned antenna.

Need to prove, after same outdoor signal is augmented by indoor signal supplementary system, launched respectively by different antennae, but difference to some extent on the time of signal incoming terminal, terminal can detect signal intensity and the signal transmission delay of the same signal that successively arrives, but which antenna is terminal can not distinguish signal from, the present invention proposes a kind of localization method based on indoor signal supplementary system, can distinguish signal from which antenna, obtain its propagation delay and signal intensity, and utilize above information to position.

In the present embodiment, position as example and describe as example and take the wireless signal that the L-band radio network is sent as repeater take indoor signal supplementary system, and as shown in Figure 3, each antenna under indoor signal supplementary system is added with locating signal generator one to one, and distribute respectively antenna ID to distinguish on the antenna of every layer of layout, what as shown in Figure 4, the method was concrete comprises:

Step 201, the positioning signal of obtaining unknown position and locating signal generator signal, and measure the signal intensity of positioning signal and locating signal generator signal;

In the present embodiment, positioning signal is the outdoor signal through augmenting, and concrete is to be sent by base station, and the signal after indoor signal supplementary system carries out the signal enhancing;

As shown in Figure 3, in the present embodiment, what positioning signal was concrete is the CMMB signal that strengthens through repeater, and the sky alignment mobile phone that repeater is 1,2,3,4,5 by antenna ID in figure sends the CMMB signal that strengthens through repeater.

Correspondingly, as shown in Figure 3, the locating signal generator signal is generated by locating signal generator, and the sky alignment mobile phone that by antenna ID, is also 1,2,3,4,5 sends.

Wherein, the signal intensity of positioning signal and locating signal generator signal can measure positioning signal and locating signal generator signal by terminal.

Step 202, demodulation locating signal generator signal, obtain the navigation message that locating signal generator is broadcast, and obtain the antenna ID of the antenna that sends above-mentioned locating signal generator signal in the information from above-mentioned navigation message;

Wherein, the city that comprises the locating signal generator place, building, the floor that the information in navigation message is concrete and the antenna id information that sends this location maker signal.

Need to prove, before step 201, this method also comprises:

Locating signal generator is set, makes locating signal generator corresponding one by one with the antenna in indoor signal supplementary system, the locating signal generator signal of the generation of each locating signal generator sends by the antenna corresponding with it.

As shown in Figure 3, locating signal generator of installation of correspondence on each antenna of repeater, and locating signal generator sends the locating signal generator signal by the sky alignment mobile phone corresponding with it, in the present embodiment, ID is 1,2,3,4,5 respectively corresponding five different locating signal generators.

Above-mentioned navigation message is generated by locating signal generator, and the navigation message form is as follows:

Wherein, the indoor navigation text comprises synchronous head 16bit, city ID word 9bit, building ID word 12bit, floor ID word 6bit, and antenna ID word 5bit, CRC check 8bit amount to 56bit information, every bit 20.44ms(200 511 spreading code complete cycle), navigation message amounts to 1.14464s.

After locating signal generator generates navigation message, also comprise the process of above-mentioned navigation message maker signal, said process specifically as shown in Figure 5:

Locating signal generator carries out the information modulation with navigation message, be converted to 0 and 1 bit stream, locating signal generator utilizes the pseudo-random sequence algorithm to generate extended code simultaneously, navigation message is put with different spreading codes and obtained the locating signal generator signal, and by the corresponding antenna of locating signal generator with producing this locating signal generator signal, forward.

In the present embodiment, for the positioning signal with the transmission of mobile broadcast base station keeps consistency, spreading code preferably adopts the GOLD code of 511 of code lengths, and bit rate is 5MHz, can select 8 groups of spreading codes to carry out multiplexing, guarantee the spreading code difference that adjacent positioned ID maker uses.

Step 203, according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends;

wherein, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, concrete is: the signal intensity of the locating signal generator signal of the signal intensity of positioning signal and terminal reception is compared one by one, when the locating signal generator signal of the predefined corresponding relation of the signal intensity that has the signal intensity meet positioning signal and locating signal generator signal in the locating signal generator signal, this locating signal generator signal and above-mentioned positioning signal are the antenna transmission of same antenna ID.

Correspondingly, before step 201, before namely the antenna of repeater sent locating signal generator signal and positioning signal, this method also comprised:

Each antenna transmission locating signal generator signal of repeater, the signal intensity of positioning signal are set, the signal intensity that makes same antenna send locating signal generator signal, positioning signal keeps predefined corresponding relation, and the signal intensity of each antenna while sending positioning signal is not identical.

For example, same antenna can be set send the signal intensity of positioning signal higher than the signal intensity 15dB that sends the locating signal generator signal, and the signal intensity that each antenna sends positioning signal is not identical, such as, signal intensity when setting ID and be 1 antenna and strengthening outdoor signal for positioning signal is x, ID is that 2 the antenna signal intensity while strengthening outdoor signal for positioning signal is y, and ID is that 3 the antenna signal intensity while strengthening outdoor signal for positioning signal is z, and by that analogy.

correspondingly, according to above-mentioned example, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, be specifically in the present embodiment: terminal receives three locating signal generator signal A, B, C, and measure signal intensity and be respectively x, y, z, when terminal receives positioning signal, after the signal intensity of this positioning signal reduction 15dB, with locating signal generator signal A, B, the signal intensity x of C, y, z compares, if identical with x or very approaching after the signal intensity of above-mentioned positioning signal reduction 15dB, above-mentioned positioning signal and locating signal generator signal A are the antenna transmission of same antenna ID.

Step 204, the antenna ID that send the antenna of above-mentioned positioning signal definite according to the antenna ID of the antenna that sends above-mentioned locating signal generator signal;

In the present embodiment, concrete is: read antenna ID included in the navigation message in locating signal generator signal A, as the antenna ID of the antenna that sends above-mentioned positioning signal.

The time delay of step 205, compute location signal, and as the first stack features information;

Need to prove, in the time time delay of compute location signal, positioning signal is the signal that same outdoor signal strengthens and forwards through different antennae.

Wherein, the time delay of compute location signal, for example:

outdoor signal A is 1 as positioning signal by antenna ID after repeater is augmented, 2, 3 antenna sends, and by terminal, received, terminal judges three positioning signals by the method described in

step

203 and 204, draw three positioning signals and belong to respectively which antenna transmission, at 150ns, 210ns, it is 1 that 300ns receives respectively ID, 3, the positioning signal that 2 antenna sends, calculation delay is that antenna ID is that the time delay that 1 and 2 antenna sends positioning signal is 300-150=150ns, antenna ID is that the time delay that 2 and 3 antenna sends positioning signal is 210-300=-90ns, the time delay result of compute location signal is (150ns,-90ns), and with this as the first stack features information.

Further, in the time time delay of compute location signal, can also be for calculating a plurality of outdoor signals after the signal enhancing is carried out in repeater, the mistiming of arriving signal receiver.

Step 206, use the first stack features information are calculated the coordinate of unknown position.

Need to prove, before mating location, described method also comprises:

Grid is carried out in the indoor positioning zone divide, and the method acquisition characteristics information one by one of a plurality of positions use steps 201 to 205 in the grid of dividing in advance, and as the grid location characteristic quantity, deposit the First Characteristic information database in.

Correspondingly, when location starts, terminal is after unknown position obtains the first stack features information, the grid location characteristic quantity of use is stored in the first stack features information that this unknown position obtains and First Characteristic information database the total-grid of dividing is in advance compared, carry out the coupling location of grid, obtain grid location characteristic quantity and the first immediate grid of stack features information, calculate the coordinate of unknown position according to the barycentric coordinates of above-mentioned grid.

In addition, obtain grid location characteristic quantity and the first immediate grid of stack features information, can use multiple existing mathematical model to obtain, repeat no more in the present embodiment.

Embodiment 3

As shown in Figure 6, the embodiment of the present invention 3 has proposed a kind of localization method based on indoor signal supplementary system, is to improve on the basis of embodiment 2.

Need to prove, the present embodiment uses with the identical indoor supplement system of embodiment 2, and indoor supplement system as shown in Figure 3, repeats no more here.

A kind of localization method based on indoor signal supplementary system, each antenna under indoor signal supplementary system is added with locating signal generator one to one, and distributes respectively antenna ID to distinguish on the antenna of every layer of layout, and what the method was concrete comprises:

Step 301, the positioning signal of obtaining unknown position and locating signal generator signal, and measure the signal intensity of positioning signal and locating signal generator signal;

Step 302, demodulation locating signal generator signal, obtain the navigation message that locating signal generator is broadcast, and obtain the antenna ID of the antenna that sends above-mentioned locating signal generator signal in the information from above-mentioned navigation message;

Need to prove, before step 301, this method also comprises:

Step 303, according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends;

Correspondingly, before step 301, before namely the antenna of repeater sent locating signal generator signal and positioning signal, this method also comprised:

correspondingly, according to above-mentioned example, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, be specifically in the present embodiment: terminal receives three locating signal generator signal A, B, C, and measure signal intensity and be respectively x, y, z, when terminal receives positioning signal, after the signal intensity of this positioning signal reduction 15dB, with locating signal generator signal A, B, the signal intensity x of C, y, z compares, if identical with x after the signal intensity of above-mentioned positioning signal reduction 15dB, above-mentioned positioning signal and locating signal generator signal A are the antenna transmission of same antenna ID.

Step 304, the antenna ID that send the antenna of above-mentioned positioning signal definite according to the antenna ID of the antenna that sends above-mentioned locating signal generator signal;

Step 305, the above-mentioned navigation message of parsing obtain city, building, floor, the antenna sequence number id information at the antenna place in the locating signal generator signal, and as the second stack features information;

In this step, particularly, the information in the navigation message that acquires as shown in step 302, is no longer narrated here.

Step 306, according to the second stack features information, carry out grid configuration location, determine in the total-grid of dividing in advance with the immediate a plurality of grids of described unknown position as first kind grid;

Need to prove, carry out the mesh fitting location according to the second stack features information before, this method also comprises:

Grid is carried out in the indoor positioning zone to be divided.

Correspondingly, according to the second stack features information, carry out grid configuration location, determine in the total-grid of dividing in advance that with the immediate a plurality of grids of described unknown position as first kind net, concrete is:

City, building, floor, antenna sequence number id information according to the antenna place in the second stack features information, the judgement draw apart from unknown position may go out grid, the mesh culling far away apart from antenna fallen, for example, can, according to the position at antenna place, select the common grid that covers of several antennas as first kind grid.

The time delay of step 307, compute location signal, and as the first stack features information;

Need to prove, in the time time delay of compute location signal, positioning signal should be the signal that same outdoor signal strengthens and forwards through different antennae.

Wherein, the time delay of compute location signal, for example:

step

303 and 304, draw three positioning signals and belong to respectively which antenna transmission, at 150ns, 210ns, it is 1 that 300ns receives respectively ID, 3, the positioning signal that 2 antenna sends, calculation delay is that antenna ID is that the time delay that 1 and 2 antenna sends positioning signal is 300-150=150ns, antenna ID is that the time delay that 2 and 3 antenna sends positioning signal is 210-300=-90ns, the time delay result of compute location signal is (150ns,-90ns), and with this as the first stack features information.

Step 308, calculate the coordinate of unknown position according to the first stack features information.

Need to prove, mate location according to the first stack features information before, described method also comprises:

The method acquisition characteristics information one by one of step 301 to 305 and step 307 is used in a plurality of positions in the total-grid of dividing in advance, and as the grid location characteristic quantity, deposits the First Characteristic information database in.

Correspondingly, when location starts, terminal is after unknown position obtains the first stack features information, the grid location characteristic quantity of use is stored in the first stack features information that this unknown position obtains and First Characteristic information database first kind grid is compared, carry out the coupling location of grid, obtain grid location characteristic quantity and the first immediate grid of stack features information, calculate the first coordinate of unknown position according to the barycentric coordinates of above-mentioned grid.

In addition, obtain grid location characteristic quantity and the first immediate grid of stack features information, wherein, immediate grid can be a grid, also can be a plurality of grids, and can use multiple existing mathematical model to obtain grid location characteristic quantity and the first immediate grid of stack features information, repeat no more in the present embodiment.

The localization method based on indoor signal supplementary system that the embodiment of the present invention provides, terminal can be used through supplement system, carry out signal and strengthen the time delay of the positioning signal obtain, navigation message that locating signal generator is broadcast as location feature information, higher as Positioning System and the degree of stability of locating information than utilizing signal intensity in prior art, this method is utilized existing indoor signal supplementary system simultaneously, only increase locating signal generator simple in structure, cost is low.

Embodiment 4

As shown in Figure 7, the embodiment of the present invention 3 has proposed a kind of localization method based on indoor signal supplementary system, is to improve on the basis of embodiment 3.

Step 401, the outdoor signal that obtains unknown position, positioning signal and locating signal generator signal, and measure the signal intensity of positioning signal and locating signal generator signal;

Wherein, outdoor signal refers to the wireless signal that is directly sent by base station, and this wireless signal does not carry out signal through indoor signal supplementary system and strengthens;

As shown in Figure 3, in the present embodiment, the CMMB(China Mobile multimedia broadcasting that the concrete mobile broadcast base station that receives for mobile phone of outdoor signal sends, China Mobile Multimedia Broadcasting) signal.

Need to prove,, due to the cause of failures of environment to wireless signal, may cause receiving the situation of indoor signal, at this moment, indoor signal is set to sky or default value.

Step 402, demodulation locating signal generator signal, obtain the navigation message that locating signal generator is broadcast, and obtain the antenna ID of the antenna that sends above-mentioned locating signal generator signal in the information from above-mentioned navigation message;

Need to prove, before step 401, this method also comprises:

Step 403, according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends;

Correspondingly, before step 401, before namely the antenna of repeater sent locating signal generator signal and positioning signal, this method also comprised:

Step 404, the antenna ID that send the antenna of above-mentioned positioning signal definite according to the antenna ID of the antenna that sends above-mentioned locating signal generator signal;

Step 405, the above-mentioned navigation message of parsing obtain city, building, floor, the antenna sequence number id information at the antenna place in the locating signal generator signal, and as the second stack features information;

In this step, particularly, the information in the navigation message that acquires as shown in step 402, is no longer narrated here.

Step 406, according to the second stack features information, carry out grid configuration location, determine in the total-grid of dividing in advance with the immediate a plurality of grids of described unknown position as first kind grid;

Grid is carried out in the indoor positioning zone to be divided.

The time delay of step 407, compute location signal, and as the first stack features information;

Wherein, the time delay of compute location signal, for example:

step

403 and 404, draw three positioning signals and belong to respectively which antenna transmission, at 150ns, 210ns, it is 1 that 300ns receives respectively ID, 3, the positioning signal that 2 antenna sends, calculation delay is that antenna ID is that the time delay that 1 and 2 antenna sends positioning signal is 300-150=150ns, antenna ID is that the time delay that 2 and 3 antenna sends positioning signal is 210-300=-90ns, the time delay result of compute location signal is (150ns,-90ns), the time delay result of compute location signal is (150ns,-90ns), and with this as the first stack features information.

Step 408, according to the first stack features information, calculate the first coordinate;

The method acquisition characteristics information one by one of step 401 to 404 and step 407 is used in a plurality of positions in the total-grid of dividing in advance, and as the grid location characteristic quantity, deposits the First Characteristic information database in.

Step 409, calculate the time delay of outdoor signal, and with the time delay of outdoor signal as the 3rd stack features information;

Need to prove, the time delay of above-mentioned outdoor signal specifically comprises:

Terminal receives two mistimings between outdoor signal, be 200us when for example terminal receives first outdoor signal, be 210us while receiving second outdoor signal, the time delay of outdoor signal is 10us, wherein, outdoor signal can be the wireless signal of same base station transmission, can be also the wireless signal that different base station sends;

Or,

Terminal receives the mistiming between the outdoor signal positioning signal corresponding with this outdoor signal, for example, terminal receives an outdoor signal when 200us, and receive the positioning signal of this outdoor signal after the signal enhancing is carried out in repeater when 215us, the time delay of outdoor signal is 215-200=15us, wherein, when there is a plurality of antenna in repeater, terminal can receive a plurality of positioning signals corresponding with outdoor signal, the time delay of the positioning signal counting chamber external signal that the optional number of winning the confidence intensity is the strongest at this moment.

Step 410, according to the 3rd stack features information, calculate three-dimensional;

Correspondingly, mate location according to the 3rd stack features information before, described method also comprises:

A plurality of positions in the grid of dividing are in advance used the method acquisition characteristics information one by one of step 409, and as the grid location characteristic quantity, deposit the 3rd characteristic information database in.

Correspondingly, when location starts, terminal is after unknown position obtains the 3rd stack features information, the grid location characteristic quantity of use is stored in the 3rd stack features information that this unknown position obtains and the 3rd characteristic information database first kind grid is compared, carry out the coupling location of grid, obtain grid location characteristic quantity and the 3rd immediate grid of stack features information, calculate the three-dimensional of unknown position according to the barycentric coordinates of above-mentioned grid.

In addition, obtain grid location characteristic quantity and the 3rd immediate grid of stack features information, wherein, with the 3rd immediate grid of stack features information, can be one or more grids, and can use multiple existing mathematical model to obtain, repeat no more in the present embodiment.

Need to prove, step 409 and 410 also can be carried out before step 407.

Step 411, according to the first coordinate and three-dimensional, obtain the coordinate of unknown position with different weight calculation.

In this step, the concrete coordinate time at the calculating unknown position, put respectively with different weights the first coordinate and three-dimensional, for example: the first coordinate is (20,30), three-dimensional is (22,32), the first coordinate and three-dimensional are put with identical weight, the computation process of calculating the coordinate (x, y) of unknown position is x=20* (1/2)+22* (1/2)=21, y=30* (1/2)+32* (1/2)=31, obtain the coordinate (21,31) of unknown position.

Further, in the present embodiment, obtain the first stack features information and the 3rd stack features information in

step

407 and 409 after, can also give up step 408,410 and 411, by calculating the first coordinate and three-dimensional, do not obtain the coordinate of unknown position, and make the coordinate that calculates with the following method unknown position:

the first stack features information and the 3rd stack features information are made up characteristic information as unknown position, wherein, this moment, the characteristic information of unknown position was predefined as the vector that comprises two elements, the first stack features information and the 3rd stack features information are two essential elementss of the characteristic information of unknown position, for example can be (the first stack features information, the 3rd stack features information) form, obtain the immediate one or more grids of characteristic information of characteristic information and above-mentioned unknown position in first kind grid according to the characteristic information of above-mentioned unknown position, calculate the coordinate of unknown position according to the barycentric coordinates of above-mentioned one or more grids.

wherein, the total-grid of dividing in advance, for before positioning operation, whole space in locating area is divided whole space according to positioning precision, and acquire the barycentric coordinates of each grid, and the characteristic information that measures successively each grid deposits database in, and obtain the immediate one or more grids of characteristic information of characteristic information and above-mentioned unknown position according to the characteristic information of above-mentioned unknown position in first kind grid, can use existing mathematical model to obtain, for example use SVM(support vector machines, support vector machine) obtain, concrete grammar is prior art, here repeat no more.

The localization method based on indoor signal supplementary system that the embodiment of the present invention provides, terminal can be used through supplement system, carry out that signal strengthens the time delay of the positioning signal obtain, the time delay of outdoor signal is location feature information, higher as Positioning System and the degree of stability of locating information than utilizing signal intensity in prior art, this method is utilized existing indoor signal supplementary system simultaneously, only increase locating signal generator simple in structure, cost is low.

Embodiment 5

As shown in Figure 8, the embodiment of the present invention 4 has proposed a kind of localization method based on indoor signal supplementary system, is to improve on the basis of embodiment 4.

Step 501, the outdoor signal that obtains unknown position, positioning signal and locating signal generator signal, and measure the signal intensity of positioning signal and locating signal generator signal;

Step 502, demodulation locating signal generator signal, obtain the navigation message that locating signal generator is broadcast, and obtain the antenna ID of the antenna that sends above-mentioned locating signal generator signal in the information from above-mentioned navigation message;

Need to prove, before step 501, this method also comprises:

Step 503, according to the predefined corresponding relation of signal intensity of the signal intensity of positioning signal and locating signal generator signal, determine to belong to above-mentioned positioning signal the locating signal generator signal that the antenna of same antenna ID sends;

Correspondingly, before step 501, before namely the antenna of repeater sent locating signal generator signal and positioning signal, this method also comprised:

Step 504, the antenna ID that send the antenna of above-mentioned positioning signal definite according to the antenna ID of the antenna that sends above-mentioned locating signal generator signal;

Step 505, the above-mentioned navigation message of parsing obtain city, building, floor, the antenna sequence number id information at the antenna place in the locating signal generator signal, and as the second stack features information;

In this step, particularly, the information in the navigation message that acquires as shown in step 502, is no longer narrated here.

Step 506, according to the second stack features information, carry out grid configuration location, determine in the total-grid of dividing in advance with the immediate a plurality of grids of described unknown position as first kind grid.

Grid is carried out in the indoor positioning zone to be divided.

The time delay of step 507, compute location signal, and as the first stack features information;

Wherein, the time delay of compute location signal, for example:

step

Step 508, according to the first stack features information, calculate the first coordinate;

Step 509, calculate the time delay of outdoor signal, and with the time delay of outdoor signal as the 3rd stack features information;

Or,

Step 510, according to the 3rd stack features information, calculate three-dimensional;

A plurality of positions in the grid of dividing are in advance used the method acquisition characteristics information one by one of step 509, and as the grid location characteristic quantity, deposit the 3rd characteristic information database in.

Need to prove, step 509 and 510 also can be carried out before step 507.

Step 511, obtain the signal intensity of locating signal generator signal, with the signal intensity of locating signal generator signal as the 4th stack features information;

Step 512, according to the 4th stack features information, calculate 4-coordinate;

Need to prove, before according to the 4th stack features information, calculating 4-coordinate, this method also comprises:

A plurality of positions in the grid of dividing are in advance used the method acquisition characteristics information one by one of step 511, and as the grid location characteristic quantity, deposit the 4th characteristic information database in.

Correspondingly, according to the 4th stack features information, calculate 4-coordinate, concrete is:

Carry out the mesh fitting location according to the 4th stack features information, obtain characteristic information and the 4th immediate grid of stack features information in first kind grid, according to characteristic information and the 4th immediate grid of stack features information, barycentric coordinates according to characteristic information in above-mentioned first kind grid and the 4th immediate grid of stack features information, calculate 4-coordinate.

Step 513, according to the first coordinate, three-dimensional and 4-coordinate, obtain the coordinate of unknown position with different weight calculation.

In this step, the concrete coordinate time at the calculating unknown position, the first coordinate, three-dimensional and 4-coordinate are put respectively with different weights, for example: the first coordinate is (20,30), three-dimensional is (22,32), 4-coordinate is that put with identical weight the first coordinate, three-dimensional and 4-coordinate (23,33), calculates the coordinate (x of unknown position, y) computation process is x=20* (1/3)+22* (1/3)+23* (1/3)=22, y=30* (1/3)+32* (1/3)+33* (1/3)=32, obtain the coordinate (22,32) of unknown position.

need to prove, at the present embodiment 2, 3, 4, only provided in 5 with the first stack features information, the first stack features information and the second stack features information, the first stack features information, the second stack features information and the 3rd stack features information, the first stack features information, the second stack features information, the 3rd stack features information and the 4th stack features information position and the calculating of unknown position coordinate illustrates, in the middle of practical application, in the first stack features information, the second stack features information, get arbitrarily two groups or a stack features information in the 3rd stack features information and the 4th stack features information and also can complete location as location feature information, those skilled in the art can carry out conversion according to above-described embodiment, here repeat no more.

Further, in the present embodiment, obtain the first stack features information, the 3rd stack features information and the 4th stack features information in step 507,509 and 511 after, can also give up step 508,510,512 and 513, by calculating the first coordinate, three-dimensional and 4-coordinate, do not obtain the coordinate of unknown position, and make the coordinate that calculates with the following method unknown position:

with the first stack features information, the 3rd stack features information and the 4th stack features information make up the characteristic information as unknown position, wherein, this moment, the characteristic information of unknown position was predefined as the vector that comprises three elements, the first stack features information, the 3rd stack features information and the 4th stack features information are three essential elementss of the characteristic information of unknown position, for example can be (the first stack features information, the 3rd stack features information, the 4th stack features information) form, obtain the immediate one or more grids of characteristic information of characteristic information and above-mentioned unknown position in first kind grid according to the characteristic information of above-mentioned unknown position, calculate the coordinate of unknown position according to the barycentric coordinates of above-mentioned one or more grids.

The localization method based on indoor signal supplementary system that the embodiment of the present invention provides, terminal can be used through supplement system, carry out signal and strengthen the signal intensity of time delay, locating signal generator signal of time delay, the outdoor signal of the positioning signal obtain as location feature information, higher as Positioning System and the degree of stability of locating information than utilizing signal intensity in prior art, this method is utilized existing indoor signal supplementary system simultaneously, only increase locating signal generator simple in structure, cost is low.

Embodiment 6

The embodiment of the present invention 6 has proposed a kind of locating device based on indoor signal supplementary system, and as shown in Figure 9, each antenna under indoor signal supplementary system is added with locating signal generator to its structure one to one, and said apparatus comprises:

The first acquisition module 601, be used for obtaining positioning signal, the locating signal generator signal of unknown position, and measure the signal intensity of positioning signal and locating signal generator signal;

Demodulation module 602, be used for the locating signal generator signal that demodulation the first acquisition module 601 acquires, and obtains the navigation message that locating signal generator is broadcast, and obtains the antenna ID of the antenna that sends the locating signal generator signal from navigation message;

Judge module 603, determine to belong to positioning signal the locating signal generator signal of the antenna transmission of same antenna ID for the predefined corresponding relation of signal intensity of the signal intensity according to positioning signal and locating signal generator signal, the antenna ID that send the antenna of positioning signal definite according to the antenna ID of the antenna that sends the locating signal generator signal;

First Characteristic acquisition of information module 604, be used for the time delay of compute location signal, and with the time delay of positioning signal as the first stack features information;

Locating module 605, for the coordinate of the first described unknown position of stack features information calculating that obtains according to First Characteristic acquisition of information module 604;

Wherein, positioning signal is for carrying out the outdoor signal after signal intensity is augmented through indoor signal supplementary system.

Further, as shown in figure 10, said apparatus can also comprise:

Signal intensity setting module 606, before the positioning signal of obtaining unknown position at the first acquisition module 601, locating signal generator signal, the signal intensity that antenna is sent locating signal generator signal, positioning signal is set, make the signal intensity of the locating signal generator signal that same antenna sends keep predefined corresponding relation with the signal intensity of positioning signal, and the signal intensity during each antenna transmission positioning signal is not identical.

Further, as shown in figure 11, locating module 605 specifically comprises:

The first mesh fitting unit 6051, be used for carrying out the mesh fitting location according to the first stack features information, obtains characteristic information and the first immediate grid of stack features information in the total-grid of dividing in advance;

Positioning unit 6052, be used for the coordinate according to the barycentric coordinates calculating unknown position of above-mentioned characteristic information and the first immediate grid of stack features information.

Further, as shown in figure 12, described device also comprises:

Second Characteristic acquisition of information module 607, be used for before locating module 605 calculates the coordinate of unknown position, resolve navigation message and obtain sending city, building, floor, the antenna sequence number id information at the antenna place of locating signal generator signal, and as the second stack features information;

And/or,

The 3rd characteristic information acquisition module 608, be used for obtaining outdoor signal, and the time delay of counting chamber external signal, with the time delay of outdoor signal as the 3rd stack features information;

And/or,

The 4th characteristic information acquisition module 609, be used for obtaining the signal intensity of locating signal generator signal, with the signal intensity of locating signal generator signal as the 4th stack features information.

Further, as shown in figure 13, locating module 605, concrete comprises:

First kind grid acquiring unit 6051, be used for carrying out the mesh fitting location according to the second stack features information that described Second Characteristic acquisition of information module 607 obtains, determine in the total-grid of dividing in advance with the immediate a plurality of grids of unknown position as first kind grid;

With,

The first coordinate Calculation unit 6052, be used for carrying out the mesh fitting location according to the first stack features information that First Characteristic acquisition of information module 604 obtains, obtain characteristic information and the first immediate grid of stack features information in first kind grid, according to the barycentric coordinates of characteristic information and the first immediate grid of stack features information, calculate the first coordinate;

And/or,

Three-dimensional computing unit 6053, be used for carrying out the mesh fitting location according to the 3rd stack features information that the 3rd characteristic information acquisition module 608 obtains, obtain characteristic information and the 3rd immediate grid of stack features information in first kind grid, according to the barycentric coordinates of characteristic information and the 3rd immediate grid of stack features information, calculate three-dimensional;

And/or,

4-coordinate computing unit 6054, be used for carrying out the mesh fitting location according to the 4th stack features information that the 4th characteristic information acquisition module 609 obtains, obtain characteristic information and the 4th immediate grid of stack features information in first kind grid, according to the barycentric coordinates of characteristic information and described the 4th immediate grid of stack features information, calculate 4-coordinate;

With,

Positioning unit 6055, be used for obtaining the coordinate of unknown position with different weight calculation according to the first coordinate and/or three-dimensional and/or 4-coordinate.

Further, locating module 605, can also concrete including only:

First kind grid acquiring unit 6056, be used for carrying out the mesh fitting location according to the second stack features information that Second Characteristic acquisition of information module 607 obtains, and determines in the total-grid of dividing in advance with the immediate a plurality of grids of unknown position as first kind grid;

Positioning unit 6057, the first stack features information, the 3rd stack features information and the 4th stack features information are made up characteristic information as unknown position, use the characteristic information of unknown position to carry out the mesh fitting location, obtain the immediate grid of characteristic information of characteristic information and unknown position in first kind grid, calculate the coordinate of unknown position according to the barycentric coordinates of the immediate grid of characteristic information of characteristic information and unknown position.

The locating device based on indoor signal supplementary system that the embodiment of the present invention provides, terminal can be used through supplement system, carry out signal and strengthen the time delay of the positioning signal obtain as location feature information, higher as Positioning System and the degree of stability of locating information than utilizing signal intensity in prior art, method and apparatus provided by the present invention utilizes existing indoor signal supplementary system simultaneously, only increase locating signal generator simple in structure, cost is low.

Need to prove: the locating device based on indoor signal supplementary system that above-described embodiment provides, only the division with above-mentioned each functional module is illustrated, in practical application, can above-mentioned functions be distributed by different functional modules, completed as required, the inner structure that is about to device is divided into different functional modules, to complete all or part of function described above.In addition, the locating device based on indoor signal supplementary system that above-described embodiment provides belongs to same design with the localization method embodiment based on indoor signal supplementary system, and its specific implementation process sees embodiment of the method for details, repeats no more here.

The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.

All or part of step in the embodiment of the present invention, can utilize software to realize, corresponding software program can be stored in the storage medium that can read, as CD or hard disk etc.

These are only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims

1. the localization method based on indoor signal supplementary system, is characterized in that, each antenna under indoor signal supplementary system is added with locating signal generator one to one, and described method comprises:

And/or,

With,

And/or,

With,

2. the locating device based on indoor signal supplementary system, is characterized in that, each antenna under indoor signal supplementary system is added with locating signal generator one to one, and described device comprises:

Wherein, described device also comprises:

And/or,

Wherein, described locating module specifically comprises:

With,

And/or,

With,

Perhaps, described locating module specifically comprises: