CN106131793A - A kind of indoor orientation method, device and terminal unit - Google Patents
A kind of indoor orientation method, device and terminal unit Download PDFInfo
- Publication number
- CN106131793A CN106131793A CN201610756047.XA CN201610756047A CN106131793A CN 106131793 A CN106131793 A CN 106131793A CN 201610756047 A CN201610756047 A CN 201610756047A CN 106131793 A CN106131793 A CN 106131793A
- Authority
- CN
- China
- Prior art keywords
- sea level
- above sea
- height above
- interior architecture
- warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/55—Push-based network services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor orientation method, device and terminal unit, relate to terminal communication technical field, main purpose is that solving the location technology that in prior art, terminal unit uses depends on the factor such as the development of infrastructure network, complicated site environment so that the accurate precision of terminal unit location is the highest.Particularly, when fire fighter's carried terminal equipment is positioned at indoor, the problem that current geographic position accuracy determined by this terminal unit location is lower.Technical scheme includes: obtain the signal sequence information that preset base station sends；The actual range between preset base station is calculated according to signal sequence information；Geographical location information according to actual range with preset base station calculates current geographic position information, obtains corresponding interior architecture map based on the first longitude and latitude；Interior architecture map comprises the second longitude and latitude and the second height above sea level；The actual geographic positional information determined in interior architecture by the first height above sea level and the second height above sea level.
Description
Technical field
The present invention relates to terminal communication technical field, particularly relate to a kind of indoor orientation method, device and terminal unit.
Background technology
Along with the fast development of terminal unit, increasing application program is pooled on terminal unit, along with user
The increase of demand, mobile positioning technique receives more and more attention；Such as, mobile terminal device passes through GPS locating module pair
It is currently located geographical position to position.
In actual applications, fire fighter undertakes various emergency rescue task, and fire fighter can be by the end carried with
Its geographical position being currently located is positioned by end equipment.At present, fire fighter's used terminal equipment carries out the technology positioned
Specifically include that radio signal (Ultra Wideband, UWB) technology, inertial navigation technique, bluetooth location technology and the nothing of ultra broadband
Line fidelity (Wireless-Fidelity, Wi-Fi) location technology etc..
Wherein, use the terminal unit of UWB technology be determined by fire fighter's distance to each other and with outside fire-fighting
Distance indirect addressing between car, it is achieved complicated, on-the-spot difficulty of laying, cost height；Use the terminal unit of inertial navigation technique
Fireman location can be realized when first location, but, along with the movement time of fire fighter lengthens, cumulative errors are the most progressively
Strengthen, cause position error bigger than normal；The terminal unit using bluetooth and Wi-Fi location technology relies on the RSSI value of signal to carry out
Join, cause occurring when system wireless environment changes very large deviation.Based in prior art, the location technology that terminal unit uses
Depend on the factor such as the development of infrastructure network, complicated site environment so that the accurate precision of terminal unit location is the highest.Especially
, when fire fighter's carried terminal equipment is positioned at indoor, current geographic position accuracy determined by this terminal unit location
Lower.
Summary of the invention
In view of this, a kind of indoor orientation method, device and the terminal unit that the present invention provides, main purpose is to solve
The location technology that in prior art, terminal unit uses depends on the factor such as the development of infrastructure network, complicated site environment so that
The accurate precision of terminal unit location is the highest.Particularly, when fire fighter's carried terminal equipment is positioned at indoor, this terminal unit
The problem that current geographic position accuracy determined by location is lower.
In order to solve the problems referred to above, present invention generally provides following technical scheme:
First aspect, the invention provides a kind of indoor orientation method, and the method includes:
Obtain the signal sequence information that preset base station sends；Wherein, described signal sequence information comprises described preset base
The geographical location information stood；
The actual range between described preset base station is calculated according to described signal sequence information；
Geographical location information according to described actual range with described preset base station calculates current geographic position information, its
In, described current geographic position information comprises the first longitude and latitude and the first height above sea level；
Corresponding interior architecture map is obtained based on described first longitude and latitude；Described interior architecture map comprises the second warp
Latitude and the second height above sea level；
The actual geographic position in interior architecture is determined by described first height above sea level and described second height above sea level
Information.
Preferably, obtain corresponding interior architecture map based on described first longitude and latitude to include:
Send the solicited message obtaining described interior architecture map to server, described solicited message comprises described first
Longitude and latitude；
Receive the described interior architecture map that described server sends.
Preferably, determine in interior architecture practically by described first height above sea level and described second height above sea level
Reason positional information includes:
Obtain the height of described interior architecture map each floor interior；
Determined by the height of described first height above sea level, described second height above sea level and each floor and be currently located indoor
The floor of building.
Preferably, the reality in interior architecture is being determined by described first height above sea level and described second height above sea level
After geographical location information, described method also includes:
Output display is currently located the floor of interior architecture.
Preferably, described method also includes:
By preset sensor, actual geographic position local environment data are monitored；
If it is determined that described actual geographic position local environment data exceed danger threshold, then perform warning.
Preferably, perform warning to include:
Receive warning operational order, and described warning operational order is identified；
If described warning operational order meets preset warning specification, then perform warning；
If described warning operational order does not meets described preset warning specification, then described warning operational order is ignored.
Second aspect, the present invention provides a kind of indoor positioning device, including:
First acquiring unit, for obtaining the signal sequence information that preset base station sends；Wherein, described signal sequence information
In comprise the geographical location information of described preset base station；
First computing unit, calculates with described for the described signal sequence information obtained according to described first acquiring unit
Actual range between preset base station；
Second computing unit, for the described actual range calculated according to described first computing unit and described preset base station
Geographical location information calculate current geographic position information, wherein, described current geographic position information comprise the first longitude and latitude and
First height above sea level；
Second acquisition unit, obtains corresponding room for described first longitude and latitude calculated based on described second computing unit
Interior building map；Described interior architecture map comprises the second longitude and latitude and the second height above sea level；
Determine unit, obtain for described first height above sea level calculated by described second computing unit and described second
Described second height above sea level that unit obtains determines the actual geographic positional information in interior architecture.
Preferably, described second acquisition unit includes:
Sending module, for sending the solicited message obtaining described interior architecture map, described solicited message to server
In comprise described first longitude and latitude；
Receiver module, for sending the solicited message of the described interior architecture map of acquisition at described sending module to server
Afterwards, the described interior architecture map that described server sends is received.
Preferably, described determine that unit includes:
Acquisition module, the height of each floor in obtaining described interior architecture map；
Determine module, for being obtained by described first height above sea level, described second height above sea level and described acquisition module
The height of each floor determine the floor being currently located interior architecture.
Preferably, described device also includes:
Described, display unit, for determining that unit is determined by described first height above sea level and described second height above sea level
After actual geographic positional information in interior architecture, output display is currently located the floor of interior architecture.
Preferably, described device also includes:
Monitoring means, for being monitored actual geographic position local environment data by preset sensor；
When described monitoring means, alarm unit, for determining that described actual geographic position local environment data exceed danger threshold
During value, perform warning.
Preferably, described alarm unit includes:
Receiver module, is used for receiving warning operational order；
Identification module, is identified for the described warning operational order receiving described receiver module；
Alarm module, for when described identification module determines that described warning operational order meets preset warning specification, holds
Row is reported to the police；
Ignore module, for determining that described warning operational order does not meets described preset warning specification when described identification module
Time, described warning operational order is ignored.
The third aspect, the present invention also provides for a kind of terminal unit, and described terminal unit includes indoor positioning as above
Device.
By technique scheme, the technical scheme that the present invention provides at least has the advantage that
The present invention provide a kind of indoor orientation method, device and terminal unit, terminal unit when carrying out indoor positioning,
First obtain the signal serial number information that preset base station sends, wherein, this signal sequence information comprises the geographical position of preset base station
Confidence ceases, and calculates the actual range between preset base station according to signal sequence information, according to the actual range calculated with pre-
Putting the geographical location information computing terminal equipment current geographic position information of base station, this current geographic position information comprises the first warp
Latitude and the first height above sea level, obtain corresponding interior architecture map based on the first longitude and latitude, comprise in this interior architecture map
Second longitude and latitude and the second height above sea level, determine the reality in interior architecture by the first height above sea level and the second height above sea level
Geographical location information；Compared with prior art, the sequence information that preset base station sends has certain stability, terminal unit base
In stable signal sequence information, determine current geographic position information, after determining current geographical position, terminal unit
Can be combined with interior architecture map, accurately determine that terminal unit is at indoor actual geographic positional information.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow above and other objects of the present invention, the feature and advantage can
Become apparent, below especially exemplified by the detailed description of the invention of the present invention.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 shows the flow chart of a kind of indoor orientation method that the embodiment of the present invention provides；
Fig. 2 shows the composition frame chart of a kind of indoor positioning device that the embodiment of the present invention provides；
Fig. 3 shows the composition frame chart of the another kind of indoor positioning device that the embodiment of the present invention provides.
Detailed description of the invention
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows the disclosure
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure and should be by embodiments set forth here
Limited.On the contrary, it is provided that these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
The embodiment of the present invention provides a kind of indoor orientation method, and the method is applied in terminal unit, as it is shown in figure 1, institute
The method of stating includes:
101, terminal unit obtains the signal sequence information that preset base station sends.
Terminal unit described in the embodiment of the present invention is with the difference of the terminal unit of offer in prior art, described
Terminal unit can not only receive the signal that basic network sends, including: Wireless Fidelity (Wireless-Fidelity, Wi-Fi)
Signal, global positioning system (Global Positioning System, GPS) signal, Bluetooth signal etc., additionally it is possible to receive
The signal sequence information that preset base station sends.In the embodiment of the present invention, terminal unit typically can receive the preset base of at least three
Standing the signal sequence information sent, described signal sequence information comprises the geographical location information of described preset base station, different preset
The corresponding different longitude and latitude in base station.
In actual application, the uninterrupted signal sequence information that sends in preset base station, described signal sequence is believed
Breath is one section of pseudo-random sequence, and the signal that preset base station is sent by terminal unit by sensor assembly is acquired, including: right
The operations such as pseudo-random sequence is acquired, captures, tracking；After sensor assembly collects pseudo-random sequence, the puppet that will receive
Random sequence is transferred to radio-frequency module, radio-frequency module pseudo-random sequence is converted to the signal of telecommunication that terminal unit is capable of identify that,
Pseudo-random sequence will be converted to digital medium-frequency signal, the pseudo-random sequence after conversion is transmitted to base by flexible cable
In band module, in order to the pseudo-random sequence after radio-frequency module is changed by baseband module resolves, to determine the ground of terminal unit
Reason positional information.
In the embodiment of the present invention, it is contemplated that the extensibility of terminal unit, described radio-frequency module uses the frequency of U wave band to set
Meter, it is also possible to support L-band or 2.4G frequency band signals；The individually designed production maintenance being conducive to product of radio-frequency module and industry should
With.Radio-frequency module is designed to one side patch, and stamp hole draws interface, and radio-frequency module is welded to baseband module by stamp hole form
On.
102, terminal unit calculates the actual range between described preset base station according to described signal sequence information.
In actual applications, the execution process of step 102 to step 104 is performed by baseband module, described baseband module
Mainly complete the Base-Band Processing of signal sequence information, output pseudorange, carrier wave ring and code ring information.Its specific operation process includes:
From step 101, described preset base station generally comprises the base station of more than three, the corresponding longitude and latitude in each base station, and often
Individual base station send signal sequence information radius be known, therefore, terminal unit after receiving signal sequence information, according to
This signal sequence information determines the longitude and latitude of each preset base station, calculate reality between preset base station and terminal unit away from
From.Wherein, the algorithm about the actual range between computing terminal equipment and preset base station refer to of the prior art in detail
Describing, the embodiment of the present invention repeats the most one by one at this.
103, terminal unit calculates current geographic according to the geographical location information of described actual range with described preset base station
Positional information.
Terminal unit determines the actual range between terminal unit and each preset base station by step 102, and
The geographical location information of each preset base station is known.In embodiments of the present invention, by known terminal unit and preset base station
Between the geographical location information of actual range and known preset base station, the current geographic position information of computing terminal equipment,
Wherein, described current geographic position information comprises the first longitude and latitude and the first height above sea level.
In actual application, when baseband module calculates the first height above sea level in current geographic position information, need
Barometer in sensor assembly to be combined calculates, barometer obtain the pressure information of current geographic position, by base band
The pressure information that module obtains according to sensor assembly, calculates the first height above sea level of current geographic position information.
104, corresponding interior architecture map is obtained based on described first longitude and latitude；Described interior architecture map comprises
Two longitudes and latitudes and the second height above sea level.
Terminal unit described in the embodiment of the present invention can be applicable to fire fighter's first aid and uses, and uses in fire fighter's first aid
Cheng Zhong, it may be necessary to the clearest and the most definite concrete floor determining dangerous place, in order to sue and labour or save oneself.Set in terminal
After determining the geographical location information being currently located, and determine place floor not according to the map being currently located ground.Therefore,
After terminal unit determines current geographic position information, based on being currently located the first longitude and latitude comprised in geographical location information
Degree obtains the interior architecture map of its correspondence, comprises the second longitude and latitude and the second height above sea level in described interior architecture map.
Its object is to, although terminal unit can directly orient current geographical location information, it can however not determine
It is currently located the concrete floor on ground, the interior architecture map on ground can be currently located by obtaining terminal unit so that carry end
The fireman of end equipment can determine the information such as the floor being currently located building.It should be noted that the embodiment of the present invention is to disappear
Anti-member illustrates as a example by using the terminal unit that the embodiment of the present invention provides, it should be clear that, this kind of explanation mode
The terminal unit that being not intended to limit the embodiment of the present invention provides can only be used by fireman.
105, the actual geographic in interior architecture is determined by described first height above sea level and described second height above sea level
Positional information.
Described first height above sea level and described second hypo height, both of which sea level is that object of reference is determined.?
After determining the longitude and latitude of terminal unit, the user of carried terminal equipment can be calculated by the second height above sea level of interior architecture
The concrete floor of place current indoor building.
It should be noted that the terminal unit described in the embodiment of the present invention is before the use, need to carry out to server side
Registration, could perform step 101 to step 104 after succeeding in registration.In actual application, when terminal unit determines reality
After geographical location information, the actual geographic positional information determined can be uploaded onto the server, its object is to, it is assumed that terminal
The user of equipment is fire fighter, when the fire fighter of this carried terminal equipment the most successfully withdraws,
The actual geographic positional information that this terminal unit finally reports can be checked, it is simple to according to this by the register account number of this terminal unit
Actual geographic positional information is sued and laboured.
A kind of indoor orientation method that the embodiment of the present invention provides, terminal unit, when positioning, first obtains preset
The signal serial number information that base station sends, wherein, comprises the geographical location information of preset base station, according to signal sequence in this sequence information
Column information calculates the actual range between preset base station, according to the geographical position letter of the actual range calculated with preset base station
Breath computing terminal equipment current geographic position information, this current geographic position information comprises the first longitude and latitude and the first height above sea level
Degree, obtains corresponding interior architecture map based on the first longitude and latitude, comprises the second longitude and latitude and second in this interior architecture map
Height above sea level, the actual geographic positional information determined in interior architecture by the first height above sea level and the second height above sea level；With
Prior art is compared, and the sequence information that preset base station sends has certain stability, and terminal unit is based on stable signal sequence
Column information, determines current geographic position information, and after determining current geographical position, terminal unit can be with interior architecture
Map combines, and accurately determines that terminal unit is at indoor actual geographic positional information.
Further, as to the refinement of above-described embodiment and extension, perform based on described first longitude and latitude in step 104
During obtaining corresponding interior architecture map, including: terminal unit sends, to server, the room that acquisition the first longitude and latitude is corresponding
The solicited message of interior building map, server, after receiving this solicited message, responds thereto, and by the first longitude and latitude
Corresponding interior architecture map sends to terminal unit, and terminal unit receives this interior architecture map.In actual applications, described
Interior architecture map comprises the elevation information of each floor.
As a kind of implementation of the embodiment of the present invention, in advance interior architecture map can be stored in terminal unit
In, after terminal unit calculates current geographic position information, interior architecture map, energy can be obtained from terminal unit this locality
Enough improve terminal unit and obtain the speed of interior architecture map, and then raising terminal unit calculates its actual geographical location information.
Further, described terminal unit is determined in indoor by described first height above sea level and described second height above sea level
Actual geographic positional information in building includes: obtain the height of described interior architecture map each floor interior；By described
The height of one height above sea level, described second height above sea level and each floor determines the floor being currently located interior architecture.In reality
In application process, terminal unit calculates the algebraically difference between the first height above sea level and the second height above sea level, and with calculating
Algebraically difference is except each story height the highly consistent situation of each floor of interior architecture (this kind of computational methods be applicable to).Tool
Body, the embodiment of the present invention, terminal unit determines that the method for the floor being currently located interior architecture is not construed as limiting.
Further, the building, place of the interior architecture determined for the ease of the user viewing terminal equipment of terminal unit
Layer, determines the actual geographic in interior architecture at terminal unit by described first height above sea level and described second height above sea level
After positional information, output display is currently located the floor of interior architecture.
Further, above-described embodiment it is stated that, the embodiment of the present invention is applicable to fire fighter and carries described terminal unit
Carry out the application scenarios of fire scene rescue, in prior art, temperature sensor can be provided with in terminal unit, including: temperature-sensitive electricity
Resistive, ferrite type temperature sensor, but, the normally used ambient temperature of sensor of the prior art is-50 DEG C 130
DEG C, it is impossible to adapt to the temperature environment in the scene of a fire.Therefore, in the embodiment of the present invention, it is provided with in terminal unit and is specifically designed to fire-fighting
Temperature sensor, i.e. the embodiment of the present invention uses semiconductor film material temperature sensor, gathers ambient temperature-10 DEG C-1000
DEG C, it is adaptable to the environment in the scene of a fire, the precision of semiconductor film material temperature sensor is high, response time is fast.
Further, when terminal unit detects that the environment around carrier exceedes danger threshold, warning can be sent, with
Just this terminal unit carrier is reminded to send an SOS, or, point out the carrier of this terminal unit to be in danger.Concrete side
Method includes: actual geographic position local environment data are monitored by terminal unit by preset sensor, however, it is determined that practically
Reason position local environment data exceed danger threshold, then perform warning.Described preset sensor is including, but not limited to quasiconductor
Membrane material temperature sensor, barometer, Hygrothermograph, accelerometer and geomagnetic sensor etc. are corresponding in every kind of sensor
A kind of danger threshold, when beyond danger threshold, terminal unit sends reports to the police.A kind of realization side as the embodiment of the present invention
Formula, type of alarm includes: the modes such as sound and light alarm, vibrations warning, audio alert.Concrete, terminal is set by the embodiment of the present invention
Standby type of alarm is not construed as limiting.
In actual application, an emergency function button can be provided with on the top of terminal unit, when carrying this terminal
When the user of equipment needs emergency, user carries out preset operation to emergency function button can send emergency to outside.But
It is that the user in order to ensure terminal unit is maloperation or emergency operation, and in the embodiment of the present invention, terminal unit receives report
Alert operational order, and warning operational order is identified, the purpose being identified is: determine that this warning operational order is by mistake
Operate operation of still reporting to the police.When terminal unit determines that warning operational order meets preset warning specification, then perform warning, work as end
End equipment determines when warning operation does not meets preset warning specification, then ignored by this warning operational order.In actual application
In, described preset warning specification includes long by operation, double click operation slide etc., and concrete, the embodiment of the present invention is in advance
Put warning specification to be not construed as limiting.
Optionally, in actual applications, the demand fought for fire fighter's multi-person synergy, it is provided with in terminal unit
Bluetooth module.Bluetooth module described in the embodiment of the present invention can serve as the effect of Beacon beacon emissions and reception.Beacon
During beacon emissions signal, terminal unit can play the effect that search and rescue signal is launched.When receiving bluetooth Beacon signal, terminal
The effect that detecting is searched and rescued can be played again.Additionally, the bluetooth in terminal unit also has the effect of data penetration transmission.Positioning result, communication
Information may utilize this link and the outside terminal unit such as mobile phone or panel computer is attached.
Further, as to the realization of method shown in above-mentioned Fig. 1, another embodiment of the present invention additionally provides a kind of indoor
Positioner.This device embodiment is corresponding with preceding method embodiment, and for ease of reading, this device embodiment is no longer to aforementioned side
Detail content in method embodiment repeats one by one, it should be understood that the device in the present embodiment can correspondence realize aforementioned
Full content in embodiment of the method.
The embodiment of the present invention provides a kind of indoor positioning device, as in figure 2 it is shown, described device includes:
First acquiring unit 21, for obtaining the signal sequence information that preset base station sends；Wherein, in described sequence information
Comprise the geographical location information of described preset base station；
First computing unit 22, for according to described first acquiring unit 21 obtain described signal sequence information calculate with
Actual range between described preset base station；
Second computing unit 23, preset with described for the described actual range calculated according to described first computing unit 22
The geographical location information of base station calculates current geographic position information, and wherein, described current geographic position information comprises the first longitude and latitude
Degree and the first height above sea level；
Second acquisition unit 24, obtains correspondence for described first longitude and latitude calculated based on described second computing unit 23
Interior architecture map；Described interior architecture map comprises the second longitude and latitude and the second height above sea level；
Determine unit 25, for described first height above sea level and described second calculated by described second computing unit 24
Described second height above sea level that acquiring unit obtains determines the actual geographic positional information in interior architecture.
Further, as it is shown on figure 3, described second acquisition unit 24 includes:
Sending module 241, for sending the solicited message obtaining described interior architecture map to server, described request is believed
Breath comprises described first longitude and latitude；
Receiver module 242, for sending asking of the described interior architecture map of acquisition at described sending module 241 to server
After seeking information, receive the described interior architecture map that described server sends.
Further, as it is shown on figure 3, described determine that unit 25 includes:
Acquisition module 251, the height of each floor in obtaining described interior architecture map；
Determine module 252, for by described first height above sea level, described second height above sea level and described acquisition module
The height of 251 each floors obtained determines the floor being currently located interior architecture.
Further, as it is shown on figure 3, described device also includes:
Described, display unit 26, for determining that unit 25 is by described first height above sea level and described second height above sea level
After determining the actual geographic positional information in interior architecture, output display is currently located the floor of interior architecture.
Further, as it is shown on figure 3, described device also includes:
Monitoring means 27, for being monitored described actual geographic position local environment data by preset sensor；
When described monitoring means 27, alarm unit 28, for determining that described actual geographic position local environment data exceed danger
During the threshold value of danger, perform warning.
Further, as it is shown on figure 3, described alarm unit 28 includes:
Receiver module 281, is used for receiving warning operational order；
Identification module 282, is identified for the described warning operational order receiving described receiver module；
Alarm module 283, is used for when described identification module determines that described warning operational order meets preset warning specification,
Perform warning；
Ignore module 284, for determining that described warning operational order does not meets preset warning specification when described identification module
Time, described warning operational order is ignored.
Further, the embodiment of the present invention also provides for a kind of terminal unit, and described terminal unit includes as in Fig. 2 or Fig. 3
Indoor positioning device shown in arbitrary width.
A kind of indoor positioning device of present invention offer and terminal unit, terminal unit, when positioning, first obtains
The signal serial number information that preset base station sends, wherein, comprises the geographical location information of preset base station, according to letter in this sequence information
Number sequence information calculates the actual range between preset base station, according to the geographical position of the actual range calculated Yu preset base station
Confidence breath computing terminal equipment current geographic position information, this current geographic position information comprises the first longitude and latitude and the first height above sea level
Highly, obtain corresponding interior architecture map based on the first longitude and latitude, this interior architecture map comprises the second longitude and latitude and the
Two height above sea levels, the actual geographic positional information determined in interior architecture by the first height above sea level and the second height above sea level；
Compared with prior art, the sequence information that preset base station sends has certain stability, and terminal unit is based on stable signal
Sequence information, determines current geographic position information, and after determining current geographical position, terminal unit can be built with indoor
Build map to combine, accurately determine that terminal unit is at indoor actual geographic positional information.
Described indoor positioning device includes processor and memorizer, above-mentioned first acquiring unit, the first computing unit, second
Computing unit, second acquisition unit etc. all store in memory as program unit, processor perform to be stored in memorizer
In said procedure unit realize corresponding function.
Processor comprises kernel, kernel goes memorizer is transferred corresponding program unit.Kernel can arrange one
More than or, solve the location technology that terminal unit in prior art uses and depend on basic network by adjusting kernel parameter and build
If, the factor such as complicated site environment so that the accurate precision of terminal unit location is the highest.Particularly, carry as fire fighter
When terminal unit is positioned at indoor, the problem that current geographic position accuracy determined by this terminal unit location is lower.
Memorizer potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/
Or the form such as Nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM), memorizer includes that at least one is deposited
Storage chip.
Present invention also provides a kind of computer program, when performing in data handling equipment, at the beginning of being adapted for carrying out
Beginningization has the program code of following method step: obtain the signal sequence information that preset base station sends；Wherein, described signal sequence
Information comprises the geographical location information of described preset base station；According to described signal sequence information calculate with described preset base station it
Between actual range；Geographical location information according to described actual range with described preset base station calculates current geographic position letter
Breath, wherein, described current geographic position information comprises the first longitude and latitude and the first height above sea level；Obtain based on described first longitude and latitude
Take the interior architecture map of correspondence；Described interior architecture map comprises the second longitude and latitude and the second height above sea level；By described
First height above sea level and described second height above sea level determine the actual geographic positional information in interior architecture.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not has in certain embodiment
The part described in detail, may refer to the associated description of other embodiments.
Those skilled in the art are it should be appreciated that embodiments herein can be provided as method, system or computer program
Product.Therefore, the reality in terms of the application can use complete hardware embodiment, complete software implementation or combine software and hardware
Execute the form of example.And, the application can use at one or more computers wherein including computer usable program code
The upper computer program product implemented of usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, equipment (system) and the flow process of computer program according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can the most first-class by computer program instructions flowchart and/or block diagram
Flow process in journey and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
Instruction arrives the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device to produce
A raw machine so that the instruction performed by the processor of computer or other programmable data processing device is produced for real
The device of the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame now.
These computer program instructions may be alternatively stored in and computer or other programmable data processing device can be guided with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in this computer-readable memory produces and includes referring to
Make the manufacture of device, this command device realize at one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The function specified in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing device so that at meter
Perform sequence of operations step on calculation machine or other programmable devices to produce computer implemented process, thus at computer or
The instruction performed on other programmable devices provides for realizing at one flow process of flow chart or multiple flow process and/or block diagram one
The step of the function specified in individual square frame or multiple square frame.
In a typical configuration, calculating equipment includes one or more processor (CPU), input/output interface, net
Network interface and internal memory.
Memorizer potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/
Or the form such as Nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM).Memorizer is that computer-readable is situated between
The example of matter.
Computer-readable medium includes that removable media permanent and non-permanent, removable and non-can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read only memory (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, can be used for the information that storage can be accessed by a computing device.According to defining herein, calculate
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data signal and the carrier wave of modulation.
Also, it should be noted term " includes ", " comprising " or its any other variant are intended to nonexcludability
Comprise, so that include that the process of a series of key element, method, commodity or equipment not only include those key elements, but also wrap
Include other key elements being not expressly set out, or also include want intrinsic for this process, method, commodity or equipment
Element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including key element
Process, method, commodity or equipment there is also other identical element.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program.
Therefore, the embodiment in terms of the application can use complete hardware embodiment, complete software implementation or combine software and hardware
Form.And, the application can use can be with depositing at one or more computers wherein including computer usable program code
The shape of the upper computer program implemented of storage media (including but not limited to disk memory, CD-ROM, optical memory etc.)
Formula.
These are only embodiments herein, be not limited to the application.To those skilled in the art,
The application can have various modifications and variations.All made within spirit herein and principle any amendment, equivalent,
Improve, within the scope of should be included in claims hereof.
Claims (13)
1. an indoor orientation method, it is characterised in that including:
Obtain the signal sequence information that preset base station sends；Wherein, described signal sequence information comprises described preset base station
Geographical location information；
The actual range between described preset base station is calculated according to described signal sequence information；
Geographical location information according to described actual range with described preset base station calculates current geographic position information, wherein, institute
State current geographic position information and comprise the first longitude and latitude and the first height above sea level；
Corresponding interior architecture map is obtained based on described first longitude and latitude；Described interior architecture map comprises the second longitude and latitude
And second height above sea level；
The actual geographic positional information in interior architecture is determined by described first height above sea level and described second height above sea level.
Method the most according to claim 1, it is characterised in that obtain corresponding interior architecture based on described first longitude and latitude
Map includes:
Send the solicited message obtaining described interior architecture map to server, described solicited message comprises described first longitude and latitude
Degree；
Receive the described interior architecture map that described server sends.
Method the most according to claim 2, it is characterised in that by described first height above sea level and described second height above sea level
Degree determines that the actual geographic positional information in interior architecture includes:
Obtain the height of described interior architecture map each floor interior；
Determined by the height of described first height above sea level, described second height above sea level and each floor and be currently located interior architecture
Floor.
Method the most according to claim 3, it is characterised in that by described first height above sea level and described second height above sea level
After highly determining the actual geographic positional information in interior architecture, described method also includes:
Output display is currently located the floor of interior architecture.
Method the most according to claim 1, it is characterised in that described method also includes:
By preset sensor, actual geographic position local environment data are monitored；
If it is determined that described actual geographic position local environment data exceed danger threshold, then perform warning.
Method the most according to claim 5, it is characterised in that perform warning and include:
Receive warning operational order, and described warning operational order is identified；
If described warning operational order meets preset warning specification, then perform warning；
If described warning operational order does not meets described preset warning specification, then described warning operational order is ignored.
7. an indoor positioning device, it is characterised in that including:
First acquiring unit, for obtaining the signal sequence information that preset base station sends；Wherein, described signal sequence information is wrapped
Geographical location information containing described preset base station；
First computing unit, calculates preset with described for the described signal sequence information obtained according to described first acquiring unit
Actual range between base station；
Second computing unit, for the described actual range calculated according to described first computing unit and the ground of described preset base station
Reason positional information calculation current geographic position information, wherein, described current geographic position information comprises the first longitude and latitude and first
Height above sea level；
Second acquisition unit, described first longitude and latitude for calculating based on described second computing unit obtains corresponding indoor and builds
Build map；Described interior architecture map comprises the second longitude and latitude and the second height above sea level；
Determine unit, for described first height above sea level calculated by described second computing unit and described second acquisition unit
Described second height above sea level obtained determines the actual geographic positional information in interior architecture.
Device the most according to claim 7, it is characterised in that described second acquisition unit includes:
Sending module, for sending the solicited message obtaining described interior architecture map to server, wraps in described solicited message
Containing described first longitude and latitude；
Receiver module, for described sending module to server send obtain described interior architecture map solicited message it
After, receive the described interior architecture map that described server sends.
Device the most according to claim 8, it is characterised in that described determine that unit includes:
Acquisition module, the height of each floor in obtaining described interior architecture map；
Determine module, each for obtained by described first height above sea level, described second height above sea level and described acquisition module
The height of individual floor determines the floor being currently located interior architecture.
Device the most according to claim 9, it is characterised in that described device also includes:
Described, display unit, for determining that unit is determined in room by described first height above sea level and described second height above sea level
After actual geographic positional information in interior building, output display is currently located the floor of interior architecture.
11. devices according to claim 7, it is characterised in that described device also includes:
Monitoring means, for being monitored actual geographic position local environment data by preset sensor；
When described monitoring means, alarm unit, for determining that described actual geographic position local environment data exceed danger threshold
Time, perform warning.
12. devices according to claim 11, it is characterised in that described alarm unit includes:
Receiver module, is used for receiving warning operational order；
Identification module, is identified for the described warning operational order receiving described receiver module；
Alarm module, for when described identification module determines that described warning operational order meets described preset warning specification, holds
Row is reported to the police；
Ignore module, for when described identification module determines that described warning operational order does not meets preset warning specification, by institute
State warning operational order to ignore.
13. 1 kinds of terminal units, it is characterised in that described terminal unit includes as any one of claim 7-claim 12
Described indoor positioning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610756047.XA CN106131793A (en) | 2016-08-29 | 2016-08-29 | A kind of indoor orientation method, device and terminal unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610756047.XA CN106131793A (en) | 2016-08-29 | 2016-08-29 | A kind of indoor orientation method, device and terminal unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106131793A true CN106131793A (en) | 2016-11-16 |
Family
ID=57272039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610756047.XA Pending CN106131793A (en) | 2016-08-29 | 2016-08-29 | A kind of indoor orientation method, device and terminal unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106131793A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107289924A (en) * | 2017-05-12 | 2017-10-24 | 北京航空航天大学 | A kind of map adaptive method for switching based on positional information |
| CN110072189A (en) * | 2019-04-24 | 2019-07-30 | 北京邮电大学 | A kind of determination method and device of floor locating for terminal device |
| CN111051924A (en) * | 2017-09-28 | 2020-04-21 | 苹果公司 | Three-dimensional urban model and shadow mapping for improved height localization in urban environments |
| CN112867143A (en) * | 2021-01-05 | 2021-05-28 | 安徽律政易途教育科技有限公司 | 5G-based accurate indoor positioning method and device |
| CN114745678A (en) * | 2022-02-16 | 2022-07-12 | 深圳市蓝科迅通科技有限公司 | Positioning data acquisition method, positioning method and related equipment |
| CN116709179A (en) * | 2023-07-21 | 2023-09-05 | 上海铭控传感技术有限公司 | Indoor equipment positioning method, device and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4144202B2 (en) * | 2001-07-26 | 2008-09-03 | 松下電工株式会社 | Housing evacuation safety evaluation system |
| CN101458324A (en) * | 2009-01-04 | 2009-06-17 | 北京航空航天大学 | Node positioning method based on limitation region |
| CN102175240A (en) * | 2011-02-28 | 2011-09-07 | 兰雨晴 | Fireman location real-time sensing system and application method thereof |
| CN102769910A (en) * | 2012-07-13 | 2012-11-07 | 北京邮电大学 | Terminal and autonomous positioning method for same |
| CN103312875A (en) * | 2012-03-12 | 2013-09-18 | 联想(北京)有限公司 | Method and apparatus for displaying navigation map on mobile terminal |
-
2016
- 2016-08-29 CN CN201610756047.XA patent/CN106131793A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4144202B2 (en) * | 2001-07-26 | 2008-09-03 | 松下電工株式会社 | Housing evacuation safety evaluation system |
| CN101458324A (en) * | 2009-01-04 | 2009-06-17 | 北京航空航天大学 | Node positioning method based on limitation region |
| CN102175240A (en) * | 2011-02-28 | 2011-09-07 | 兰雨晴 | Fireman location real-time sensing system and application method thereof |
| CN103312875A (en) * | 2012-03-12 | 2013-09-18 | 联想(北京)有限公司 | Method and apparatus for displaying navigation map on mobile terminal |
| CN102769910A (en) * | 2012-07-13 | 2012-11-07 | 北京邮电大学 | Terminal and autonomous positioning method for same |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107289924A (en) * | 2017-05-12 | 2017-10-24 | 北京航空航天大学 | A kind of map adaptive method for switching based on positional information |
| CN111051924A (en) * | 2017-09-28 | 2020-04-21 | 苹果公司 | Three-dimensional urban model and shadow mapping for improved height localization in urban environments |
| CN111051924B (en) * | 2017-09-28 | 2023-10-13 | 苹果公司 | Three-dimensional city model and shadow mapping for improving altitude localization in urban environments |
| CN110072189A (en) * | 2019-04-24 | 2019-07-30 | 北京邮电大学 | A kind of determination method and device of floor locating for terminal device |
| CN112867143A (en) * | 2021-01-05 | 2021-05-28 | 安徽律政易途教育科技有限公司 | 5G-based accurate indoor positioning method and device |
| CN114745678A (en) * | 2022-02-16 | 2022-07-12 | 深圳市蓝科迅通科技有限公司 | Positioning data acquisition method, positioning method and related equipment |
| CN116709179A (en) * | 2023-07-21 | 2023-09-05 | 上海铭控传感技术有限公司 | Indoor equipment positioning method, device and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106131793A (en) | A kind of indoor orientation method, device and terminal unit | |
| Farahsari et al. | A survey on indoor positioning systems for IoT-based applications | |
| US9282435B2 (en) | Location spoofing detection | |
| US9482739B2 (en) | Indoor/outdoor transition determination | |
| US9008694B2 (en) | Indoor/outdoor differentiation using radio frequency (RF) transmitters | |
| CN102753992B (en) | Trajectory-based location determination | |
| US11243288B2 (en) | Location error radius determination | |
| US10274346B2 (en) | Determining quality of a location-determination algorithm associated with a mobile device by processing a log of sensor data | |
| US9526082B2 (en) | Method and apparatus for estimating location of pedestrian using step length estimation model parameters | |
| US20150350845A1 (en) | Indoor Location Survey | |
| US11573335B2 (en) | Method and apparatus for position estimation | |
| CA2774020A1 (en) | Apparatus and method for constructing and utilizing a beacon location database | |
| JP2016515210A (en) | Distributed barometer network for indoor navigation support | |
| US10506546B2 (en) | Method of locating an access point to a communication network | |
| JP2016046651A (en) | Beacon detection and determination system | |
| US8855927B2 (en) | Method for a two-way radio system to make an electronic map enabling each two-way radio to independently perform a function of GPS positioning and display under a condition of no GPS electronic map provided | |
| CN108027415B (en) | Method and apparatus for location determination of a mobile device in an emergency | |
| WO2018060545A1 (en) | Positioning | |
| US20160373889A1 (en) | Location accuracy improvement method and system using network elements relations and scaling methods | |
| JP2005326225A (en) | Information processor, method, and program | |
| Grzechca et al. | Indoor localization of objects based on RSSI and MEMS sensors | |
| Yu et al. | Bootstrapped learning of WiFi access point in hybrid positioning system | |
| KR101428374B1 (en) | Method and apparatus for location tracking of mobile terminal | |
| US11940545B2 (en) | Methods and apparatuses for automatic object heading determinations | |
| JP2012088117A (en) | Positioning system, positioning method and positioning program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161116 |
|
| RJ01 | Rejection of invention patent application after publication |