CN106371054B - A kind of indoor orientation method and device - Google Patents
A kind of indoor orientation method and device Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
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Abstract
The embodiment of the present invention provides a kind of indoor orientation method and device, is related to the communications field, can reduce under the premise of not needing prior information and position scatterplot that user equipment true coordinate deviation is larger is influenced caused by positioning result.Including：S1：It obtains first position and estimates that scatterplot group, first position estimation scatterplot group include the coordinate of multiple location estimation scatterplots of the designated user's equipment obtained successively；S2：Estimate that scatterplot group obtains the coordinate at the first center according to first position, the first center is located at the center of the location estimation scatterplot included by first position estimation scatterplot group；The coordinate at multiple first centers is obtained according to step S1, S2, and the coordinate at multiple first centers is averaged to obtain the coordinate of the first positioning target location.The present invention is for positioning.
Description
Technical field
The present invention relates to the communications field more particularly to a kind of indoor orientation methods and device.
Background technology
With the development of science and technology intelligent household electrical appliances and terminal gradually extensive use in people's lives, the thing followed,
User is also increasingly strong for the demand of location information service.Widely applied global positioning system (full name in English：Global
Positioning System, English abbreviation：GPS) although user can be made to obtain the location information of things in outdoor environment,
But since GPS signal cannot penetrate building, user can not obtain accurate position in environment according to GPS signal indoors
Information.
Location based service (full name in English：Location Based Service, referred to as：LBS it is) that a kind of combination is defended
The communication networks such as the star communication technology, radio honeycomb communication technology, WLAN obtain location information and provide to the user to be believed based on position
The technology of the personalized service of breath.Due to being not easily susceptible to the limitation of use environment, positioning accuracy using the terminal of LBS location technologies
Height, realization method is more various, therefore LBS technologies are widely used in the positioning service under indoor scene.Using the room of LBS technologies
Interior locating device or system generally comprise reception of wireless signals module, wireless channel parameter estimation module, location algorithm modeling with
Position estimation module and path trace module are joined wherein receiving wireless signal by reception of wireless signals module by wireless channel
Number estimation module is estimated, to obtain the range information of terminal room, to be calculated by positioning to the wireless channel link parameter information of terminal
Method models and position estimation module carries out operation according to the range information of terminal room and is centered around around target anchor point with obtaining
The location information of scatterplot is finally handled the location information of scatterplot by path trace module, to obtain more accurate mesh
The location information of punctuate, and more smooth location path is obtained according to the location information of target point.
Above-mentioned using in the indoor orientation method of LBS technologies, kalman filter method may be used in path trace module
Or particle filter method handles the location information of scatterplot, but due to using kalman filter method or particle filter method
When, it is required to positioning system and provides prior information for path trace module that the location information of scatterplot could be filtered, therefore
Generally use average filter method handles the location information of scatterplot in actual use.Though when using average filter method
Prior information is not needed to so, but when the position of one or more scatterplots in the location information of the scatterplot acquired in path trace module
When confidence ceases and the location information deviation of other scatterplots is larger, the location information for the target point that path trace module finally obtains is i.e.
Positioning result is easy to be influenced by the location information of the larger scatterplot of location information deviation of this and other scatterplot, to make it
The location information of the target point of acquisition and the actual position information deviation of target point are larger, therefore reduce indoor orientation method
Precision and reliability, and keep the flatness in acquired path poor.
Invention content
The application provides a kind of indoor orientation method and device, can under the premise of not needing prior information, reduce with
The larger position scatterplot of user equipment true coordinate deviation is influenced caused by positioning result.
In order to achieve the above objectives, the application adopts the following technical scheme that：
In a first aspect, the embodiment provides a kind of indoor orientation methods, including：S1：First position is obtained to estimate
Scatterplot group is counted, first position estimation scatterplot group includes the seat of multiple location estimation scatterplots of the designated user's equipment obtained successively
Mark；S2：Estimate that scatterplot group obtains the coordinate at the first center according to first position, the first center is located at first position estimation scatterplot group
The center of included location estimation scatterplot；The coordinate at multiple first centers is obtained according to step S1, S2, and to multiple
The coordinate at one center is averaged to obtain the coordinate of the first positioning target location.
Second aspect, the embodiment provides a kind of indoor positioning devices, including：Acquisition module, for obtaining
Estimate that scatterplot group, first position estimation scatterplot group include multiple location estimations of the designated user's equipment obtained successively in first position
The coordinate of scatterplot；Processing module, for estimating that scatterplot group obtains the coordinate at the first center according to first position, the first center is located at
Estimate the center of the location estimation scatterplot included by scatterplot group in first position；Acquisition module is additionally operable to obtain multiple first
The coordinate at center；Processing module is additionally operable to be averaged the coordinate at multiple first centers to obtain the first positioning target location
Coordinate.
A kind of indoor orientation method and device that the embodiment of the present invention is provided, by obtaining designated user's equipment successively
The coordinate of multiple location estimation scatterplots obtains the center i.e. coordinate at the first center of multiple location estimation scatterplot.It is above-mentioned
When step can have the larger position scatterplot of a small number of and other positions estimation scatterplot deviation in multiple position scatterplot, reduce
This and other positions estimate influence of the larger position scatterplot of scatterplot deviation to positioning result, simultaneously because above-mentioned and other positions
Estimate the larger position scatterplot of scatterplot deviation often and be and position scatterplot that target anchor point true coordinate deviation is larger, therefore on
It states the position scatterplot that step further avoids and target anchor point true coordinate deviation is larger and target location is positioned to estimation
Caused by influence；The coordinate at multiple first centers is obtained according to above-mentioned steps later, and the coordinate at multiple first center is taken
It is average to position the coordinate of target location to obtain first, to further estimate the position i.e. positioning result of positioning target.Cause
The indoor orientation method that this embodiment of the present invention is provided can be under the premise of not needing prior information, reduction and user equipment
The larger position scatterplot of true coordinate deviation is influenced caused by positioning result, to improve indoor orientation method precision and
Reliability, and then improve the flatness in acquired path.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
A kind of schematic diagram for positioning terminal using LBS technologies that Fig. 1 is provided by the embodiment of the present invention；
A kind of schematic flow chart for indoor orientation method that Fig. 2 is provided by the embodiment of the present invention；
A kind of schematic flow chart for indoor orientation method that Fig. 3 is provided by another embodiment of the present invention；
A kind of schematic flow chart for indoor orientation method that Fig. 4 is provided by another embodiment of the present invention；
A kind of schematic diagram for indoor positioning device that Fig. 5 is provided by the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
For the ease of clearly describing the technical solution of the embodiment of the present invention, in an embodiment of the present invention, use " the
One ", the printed words such as " second " distinguish function and the essentially identical identical entry of effect or similar item, and those skilled in the art can
To understand that the printed words such as " first ", " second " are not to be defined to quantity and execution order.
Location based service (full name in English：Location Based Service, referred to as：LBS it is) that a kind of combination is defended
The communication networks such as the star communication technology, radio honeycomb communication technology, WLAN obtain location information and provide to the user to be believed based on position
The technology of the personalized service of breath.LBS technologies are widely used in the positioning service under indoor scene.
As shown in Fig. 1, the embodiment provides a kind of positioning terminal 101 using LBS technologies, including it is wireless
Signal receiving module 111, wireless channel parameter estimation module 112, location algorithm modeling and position estimation module 113 and path
Tracking module 114, wherein by reception of wireless signals module 111 for receiving wireless signal, wireless channel parameter estimation module 112
For being estimated wireless channel link parameter information with the range information obtaining positioning terminal, positioning according to wireless signal
Algorithm models and position estimation module 113 is used to carry out operation according to the range information between positioning terminal to dissipate to obtain location estimation
The location information of point, path trace module 114 are used to obtain more accurate target according to the location information of location estimation scatterplot
The location information of point, and more smooth location path is obtained according to the location information of target point.
In the positioning terminal using LBS technologies that above-described embodiment provides, karr may be used in path trace module 114
Graceful filtering method or particle filter method handle the location information of scatterplot, but due to using kalman filter method or grain
When sub- filtering method, it is required to positioning system and provides prior information for path trace module that the location information of scatterplot could be carried out
Filtering, therefore generally use does not need location information progress of the average filter method to scatterplot of prior information in actual use
Processing.
As shown in Fig. 2, the embodiment provides a kind of indoor orientation methods, including：
201, the location information of scatterplot is obtained.
202, it chooses the location information of the adjacent scatterplot of predetermined quantity and is averaged to obtain the location information of target point.
Specifically, the position of the adjacent scatterplot of predetermined quantity is chosen in the location information of acquired scatterplot in step 201
Confidence ceases, and is averaged to the location information of the adjacent scatterplot of the predetermined quantity, to obtain the location information of target point；
Although the indoor orientation method that above-described embodiment provides, which does not need to prior information, to be believed according to the position of scatterplot
Breath obtains the location information of target point, but when in the location information of acquired scatterplot the location information of one or more scatterplots with
When the location information deviation of other scatterplots is larger, the location information i.e. positioning result of the target point finally obtained be easy by this with
The influence of the location information of the larger scatterplot of location information deviation of other scatterplots, to make the position letter of its target point obtained
The actual position information deviation of breath and target point is larger, therefore reduces the precision and reliability of indoor orientation method, and makes
The flatness in acquired path is poor.
In view of the above technical problems, as shown in Fig. 3, the embodiment provides a kind of indoor orientation method, packets
It includes：
S101, first position estimation scatterplot group is obtained.
Wherein estimation scatterplot group in first position includes multiple location estimation scatterplots of the designated user's equipment obtained successively
Coordinate.
Specifically, location estimation scatterplot is the discrete scatterplot around target anchor point in position, target anchor point is to refer to
Determine the physical location of user equipment, location estimation scatterplot is used to estimate the position of corresponding target anchor point, according to continuous one
Or the position of multiple location estimation scatterplots can estimate the position of respective objects anchor point.
Obtain the coordinate of multiple location estimation scatterplots successively, can according to the sampling or refreshing of location estimation scatterplot when
Between sequentially obtained successively, or obtained successively according to the sequence of positions of location estimation scatterplot.
S102, estimate that scatterplot group obtains the coordinate at the first center according to first position.
Wherein the first center is located at the center of the location estimation scatterplot included by first position estimation scatterplot group.
Specifically, can estimate that the position that scatterplot group obtains included by first position estimation scatterplot group is estimated according to first position
The location parameter on the boundary of scatterplot region is counted, and obtains the seat of the regional center according to the location parameter on the boundary in the region
Mark, the i.e. coordinate at the first center；It can also estimate that scatterplot group obtains included by first position estimation scatterplot group according to first position
Location estimation scatterplot in the location estimation scatterplot in boundary position coordinate, and estimate according to this in the position of boundary position
The coordinate for counting scatterplot obtains the coordinate at the first center.
Illustratively, estimation scatterplot group in first position is Pi=[p1,p2,...pN], i=1, wherein first position estimation dissipate
Point group includes the coordinate of N number of location estimation scatterplot, pj=(xj,yj,zj) be j-th of location estimation scatterplot coordinate, according to first
Location estimation scatterplot group calculate first position estimation scatterplot group in boundary position estimation scatterplot coordinate, and according to this in
The coordinate of the location estimation scatterplot of boundary position obtains the coordinate x at the first centeri=medium (xj), yi=medium (yj), zi
=medium (zj), wherein medium (xj) indicate the x coordinate institute for taking first position to estimate all location estimation scatterplots in scatterplot group
Form the median of codomain, medium (yj) indicate the y-coordinate for taking first position to estimate all location estimation scatterplots in scatterplot group
The median of formed codomain, medium (zj) indicate that the z for taking first position to estimate all location estimation scatterplots in scatterplot group is sat
The median of the formed codomain of mark, the coordinate at the first center can be
S103, the coordinate that multiple first centers are obtained according to step S101, S102.
Step S1, S2 is executed specifically, can recycle, to estimate according to the position in different time region or different location region
Meter scatterplot obtains the coordinate at multiple first centers.
Illustratively, the location estimation in first time threshold can be according to step S1, the S2 acquisition sampling time to dissipate
Point, and obtain according to above-mentioned location estimation scatterplot the coordinate at corresponding first center.
S104, the coordinate at multiple first centers is averaged to obtain the coordinate of the first positioning target location.
Specifically, the coordinate addition at multiple first centers that can obtain step S3 is averaged, and by the average value
As the coordinate of the first positioning target location, can also be chosen according to pre-defined rule in multiple first centers that step S3 is obtained
The coordinate addition at a part of first center is averaged, and using the average value as the coordinate of the first positioning target location.
A kind of indoor orientation method that the embodiment of the present invention is provided, by the multiple positions for obtaining designated user's equipment successively
The coordinate for setting estimation scatterplot, obtains the center i.e. coordinate at the first center of multiple location estimation scatterplot.Above-mentioned steps can
When estimating the larger position scatterplot of scatterplot deviation there are a small number of and other positions in multiple position scatterplot, reduction is somebody's turn to do and it
His influence of the larger position scatterplot of location estimation scatterplot deviation to positioning result, simultaneously because above-mentioned dissipate with other positions estimation
The larger position scatterplot of point deviation is often and position scatterplot that target anchor point true coordinate deviation is larger, therefore above-mentioned steps
Further avoid and position scatterplot that target anchor point true coordinate deviation is larger and caused by estimation positions target location
It influences；Obtain the coordinate at multiple first centers according to above-mentioned steps later, and to the coordinate at multiple first center be averaged with
The coordinate for obtaining the first positioning target location, to further estimate the position i.e. positioning result of positioning target.Therefore this hair
The indoor orientation method that bright embodiment is provided can reduce and really sat with user equipment under the premise of not needing prior information
The larger position scatterplot of mark deviation is influenced caused by positioning result, to improve the precision and reliably of indoor orientation method
Property, and then improve the flatness in acquired path.
Further, as shown in Fig. 4, the embodiment provides a kind of indoor orientation methods, including：
S201, sequentially in time successively obtain designated user's equipment multiple location estimation scatterplots coordinate
Particular content is with reference to step S101 in above-described embodiment.
S202, the coordinate for choosing N number of location estimation scatterplot estimate scatterplot group as first position.
Wherein N is positive integer, it is preferred that N is odd number.
Preferably, N=19.
Illustratively, estimation scatterplot group in first position is denoted as Pi=[p1,p2,...pN], i=1, wherein pj=(xj,yj,zj)
When, pjThe coordinate of j-th of location estimation scatterplot in scatterplot group is estimated for first position.
S203, estimate that scatterplot group obtains the coordinate at the first center according to first position
First center is located at the center of the location estimation scatterplot included by first position estimation scatterplot group.
Particular content is with reference to step S102 in above-described embodiment.
Illustratively, estimation scatterplot group in first position is denoted as Pi, the coordinate at the first center isWherein
xi=medium (xj), yi=medium (yj), zi=medium (zj), medium (xj) indicate that first position is taken to estimate scatterplot group
In all location estimation scatterplots the formed codomain of x coordinate median, medium (yj) indicate that first position is taken to estimate scatterplot
The median of the formed codomain of y-coordinate of all location estimation scatterplots, medium (z in groupj) indicate that first position estimation is taken to dissipate
The median of the formed codomain of z coordinate of all location estimation scatterplots in point group.
S204, the coordinate that multiple first centers are obtained according to step S201, S202.
Specific steps can refer to step S103 in above-described embodiment, and details are not described herein.
S205, location estimation matrix is obtained according to the coordinate at multiple first centers.
Wherein, location estimation matrix includes the coordinate at multiple first centers being sequentially arranged.
Specifically, can for by the coordinate at multiple first centers obtained in step S204 according to the first center corresponding
The sampling time of one location estimation scatterplot group is sequentially placed into location estimation matrix, with obtain including be sequentially arranged multiple
The location estimation matrix of the coordinate at one center, wherein first position estimate that the sampling time of scatterplot group can be that first position is estimated
The average value in the sampling time of the location estimation scatterplot included by scatterplot group, or estimate included by scatterplot group first position
Location estimation scatterplot sampling time maximum or minimum value, as long as the coordinate at multiple first centers in location estimation matrix
It can estimate that the sampling time of scatterplot group is arranged according to the corresponding first position in the first center.
Illustratively, the coordinate at the first center isLocation estimation matrix isWherein work as i
When=1,
S206, the coordinate that last M the first centers are chosen in the estimated matrix of position are averaged to obtain the first positioning mesh
The coordinate of cursor position
Wherein M is positive integer.
Specifically, M can be preset numerical value, by choosing last M the first centers in the estimated matrix of position
Coordinate be averaged to obtain the coordinate of the first positioning target location, can make the coordinate of the first positioning target location will not be by
Sampling time estimates the too long first position estimation of the sampling time of scatterplot group apart from the corresponding first position in the M the first centers
Scatterplot group corresponds to the influence at the first center.
Illustratively, location estimation matrix isLocation estimation matrix includes i the first centers
Coordinate, when i be less than or equal to amount threshold M when, the coordinate at the first center all in the estimated matrix of position is averaged to obtain
Obtain the coordinate of the first positioning target locationWhereinWork as i
When more than or equal to amount threshold M, the coordinate at last M in the estimated matrix of position the first centers is averaged to obtain the first positioning
The coordinate of target locationI.e.
Preferably, M=4.
S207, second position estimation scatterplot group is obtained.
Second position estimation scatterplot group include the coordinate of last K location estimation scatterplot in first position estimation scatterplot group with
And obtain the coordinate of L location estimation scatterplot of designated user's equipment successively sequentially in time, wherein obtaining L location estimation
The time of scatterplot is later than the time for obtaining the coordinate of location estimation scatterplot in first position estimation scatterplot group, and K and L is positive integer
And K+L=N；
Preferably, the distance of the positioning of location estimation scatterplot distance first target location in second position estimation scatterplot group is small
In distance threshold, to avoid the second position from estimating that can have the too far position in the positioning of distance first target location in scatterplot group estimates
Scatterplot is counted, influence of the above-mentioned location estimation scatterplot to positioning result is avoided.
S208, estimate that scatterplot group obtains bicentric coordinate according to the second position.
Wherein the second center is located at the center of the location estimation scatterplot included by second position estimation scatterplot group.
Specifically, can estimate that the position that scatterplot group obtains included by second position estimation scatterplot group is estimated according to the second position
The location parameter on the boundary of scatterplot region is counted, and obtains the seat of the regional center according to the location parameter on the boundary in the region
Mark, i.e. bicentric coordinate；It can also estimate that scatterplot group obtains included by second position estimation scatterplot group according to the second position
Location estimation scatterplot in the location estimation scatterplot in boundary position coordinate, and estimate according to this in the position of boundary position
The coordinate for counting scatterplot obtains bicentric coordinate.
S209, multiple bicentric coordinates are obtained according to step S207, S208, and multiple bicentric coordinates is taken
The average coordinate with the second positioning of acquisition target location；
Step S207, S208 is executed specifically, can recycle, with according to the position in different time region or different location region
It sets estimation scatterplot and obtains multiple bicentric coordinates.
Illustratively, the position that the sampling time is in second time threshold can be obtained according to step S207, S208 to estimate
Scatterplot is counted, and corresponding bicentric coordinate is obtained according to above-mentioned location estimation scatterplot.
S210, positioning road is obtained according to the coordinate of the first positioning target location and the coordinate of the second positioning target location
Diameter.
A kind of indoor orientation method that the embodiment of the present invention is provided, by the multiple positions for obtaining designated user's equipment successively
The coordinate for setting estimation scatterplot, the coordinate for choosing N number of location estimation scatterplot estimates scatterplot group as first position, according to first position
Estimation scatterplot group obtains the center i.e. coordinate at the first center of multiple location estimation scatterplot.Above-mentioned steps can be more at this
When in a position scatterplot in the presence of the larger position scatterplot of a small number of and other positions estimation scatterplot deviation, reducing should estimate with other positions
Influence of the larger position scatterplot of scatterplot deviation to positioning result is counted, since above-mentioned and other positions estimation scatterplot deviation is larger
Position scatterplot is often and the larger position scatterplot of target anchor point true coordinate deviation, therefore can through the above steps can be with
Mitigate due to exist and the larger position scatterplot of target anchor point true coordinate deviation and caused by estimation positions target location
It influences；The coordinate at multiple first centers is obtained according to above-mentioned steps later, and position is obtained according to the coordinate at multiple first center
The coordinate set estimated matrix, and choose in the estimated matrix of position last M the first centers is averaged to obtain the first positioning mesh
The coordinate of cursor position, to avoid the sampling time from estimating adopting for scatterplot group apart from the corresponding first position in the M the first centers
Under the premise of sample time too long first position estimation scatterplot group corresponds to influence of first center to positioning result, further estimate
Go out the coordinate of the first positioning target location, obtains the second position later and estimate scatterplot group, and first is estimated with reference to above-mentioned steps
The coordinate of target location is positioned, is finally obtained according to the coordinate of the coordinate of the first positioning target location and the second positioning target location
Take location path.Therefore the indoor orientation method that is provided of the embodiment of the present invention can under the premise of not needing prior information,
Reducing influences with the larger position scatterplot of user equipment true coordinate deviation caused by positioning result, to improve interior calmly
The precision and reliability of position method, and then improve the flatness in acquired path.
As shown in Fig. 5, the embodiment provides a kind of indoor positioning devices 301, including：
Acquisition module 302 estimates scatterplot group for obtaining first position.
First position estimation scatterplot group includes the coordinate of multiple location estimation scatterplots of the designated user's equipment obtained successively.
Wherein estimation scatterplot group in first position includes the coordinate of the multiple location estimation scatterplots obtained successively.
Specifically, location estimation scatterplot is the discrete scatterplot around target anchor point in position, target anchor point is to refer to
Determine the physical location of user equipment, location estimation scatterplot is used to estimate the position of corresponding target anchor point, according to continuous one
Or the position of multiple location estimation scatterplots can estimate the position of respective objects anchor point.
Obtain the coordinate of multiple location estimation scatterplots successively, can according to the sampling or refreshing of location estimation scatterplot when
Between sequentially obtained successively, or obtained successively according to the sequence of positions of location estimation scatterplot.
Processing module 303, for estimating that scatterplot group obtains the coordinate at the first center according to first position.
Wherein the first center is located at the center of the location estimation scatterplot included by first position estimation scatterplot group.
Specifically, can estimate that the position that scatterplot group obtains included by first position estimation scatterplot group is estimated according to first position
The location parameter on the boundary of scatterplot region is counted, and obtains the seat of the regional center according to the location parameter on the boundary in the region
Mark, the i.e. coordinate at the first center；It can also estimate that scatterplot group obtains included by first position estimation scatterplot group according to first position
Location estimation scatterplot in the location estimation scatterplot in boundary position coordinate, and estimate according to this in the position of boundary position
The coordinate for counting scatterplot obtains the coordinate at the first center.
Illustratively, estimation scatterplot group in first position is Pi=[p1,p2,...pN], i=1, wherein first position estimation dissipate
Point group includes the coordinate of N number of location estimation scatterplot, pj=(xj,yj,zj) be j-th of location estimation scatterplot coordinate, according to first
Location estimation scatterplot group calculate first position estimation scatterplot group in boundary position estimation scatterplot coordinate, and according to this in
The coordinate of the location estimation scatterplot of boundary position obtains the coordinate x at the first centeri=medium (xj), yi=medium (yj), zi
=medium (zj), wherein medium (xj) indicate the x coordinate institute for taking first position to estimate all location estimation scatterplots in scatterplot group
Form the median of codomain, medium (yj) indicate the y-coordinate for taking first position to estimate all location estimation scatterplots in scatterplot group
The median of formed codomain, medium (zj) indicate that the z for taking first position to estimate all location estimation scatterplots in scatterplot group is sat
The median of the formed codomain of mark, the coordinate at the first center can be
Acquisition module 302 is additionally operable to obtain the coordinate at multiple first centers；
Specifically, can be obtained in multiple first according to the location estimation scatterplot in different time region or different location region
The coordinate of the heart.
Illustratively, the location estimation in first time threshold can be according to step S1, the S2 acquisition sampling time to dissipate
Point, and obtain according to above-mentioned location estimation scatterplot the coordinate at corresponding first center.
Processing module 303 is additionally operable to be averaged the coordinate at multiple first centers to obtain the first positioning target location
Coordinate.
It is averaged specifically, the coordinate at multiple first centers of acquisition can be added, and using the average value as the
The coordinate of one positioning target location, can also choose according to pre-defined rule in a part first in multiple first centers of acquisition
The coordinate addition of the heart is averaged, and using the average value as the coordinate of the first positioning target location.
A kind of indoor positioning device that the embodiment of the present invention is provided, by the multiple positions for obtaining designated user's equipment successively
The coordinate for setting estimation scatterplot, obtains the center i.e. coordinate at the first center of multiple location estimation scatterplot.To more at this
When in a position scatterplot in the presence of the larger position scatterplot of a small number of and other positions estimation scatterplot deviation, reducing should estimate with other positions
Influence of the larger position scatterplot of scatterplot deviation to positioning result is counted, since above-mentioned and other positions estimation scatterplot deviation is larger
Position scatterplot is often and the larger position scatterplot of target anchor point true coordinate deviation, therefore can mitigate due to existing and mesh
It demarcates the larger position scatterplot of site true coordinate deviation and is influenced caused by estimation positions target location, obtained later multiple
The coordinate at the first center, and the coordinate that target location is positioned with acquisition first is averaged to the coordinate at multiple first center, from
And further estimate the position i.e. positioning result of positioning target.Therefore the indoor positioning device energy that the embodiment of the present invention is provided
It is enough under the premise of not needing prior information, reduce and position scatterplot that user equipment true coordinate deviation is larger be to positioning result
Caused by influence, to improve the precision and reliability of indoor orientation method, and then improve the flatness in acquired path.
Specifically, N number of position that acquisition module 302 is specifically used for obtaining designated user's equipment successively sequentially in time is estimated
The coordinate of scatterplot is counted, and the coordinate for choosing N number of location estimation scatterplot estimates that scatterplot group, wherein N are positive integer as first position,
Preferably, N is odd number.
Preferably, N=19.
Illustratively, estimation scatterplot group in first position is denoted as Pi=[p1,p2,...pN], i=1, wherein pj=(xj,yj,zj)
When, pjThe coordinate of j-th of location estimation scatterplot in scatterplot group is estimated for first position.
Specifically, processing module 303 is specifically used for obtaining location estimation matrix, position according to the coordinate at multiple first centers
Estimated matrix includes the coordinate at multiple first centers being sequentially arranged.
The coordinate that last M the first centers are chosen in the estimated matrix of position is averaged to obtain the first positioning target location
Coordinate, wherein M be positive integer.
Wherein, location estimation matrix includes the coordinate at multiple first centers being sequentially arranged.
Specifically, can be for the coordinate at multiple first centers obtained be estimated according to the corresponding first position in the first center
The sampling time of scatterplot group is sequentially placed into location estimation matrix, to obtain the seat for including multiple first centers being sequentially arranged
The sampling time of target location estimation matrix, wherein first position estimation scatterplot group can estimate that scatterplot group is wrapped by first position
The average value in the sampling time of the location estimation scatterplot included, or estimate the location estimation included by scatterplot group in first position
The maximum or minimum value in the sampling time of scatterplot, as long as the coordinate at multiple first centers in location estimation matrix can be according to
The sampling time of the corresponding first position estimation scatterplot group in one center is arranged.
Illustratively, the coordinate at the first center isLocation estimation matrix isWherein work as i
When=1,
Specifically, M can be preset numerical value, by choosing last M the first centers in the estimated matrix of position
Coordinate be averaged to obtain the coordinate of the first positioning target location, can make the coordinate of the first positioning target location will not be by
Sampling time estimates the too long first position estimation of the sampling time of scatterplot group apart from the corresponding first position in the M the first centers
Scatterplot group corresponds to the influence at the first center.
Illustratively, location estimation matrix isLocation estimation matrix includes i the first centers
Coordinate, when i be less than or equal to amount threshold M when, the coordinate at the first center all in the estimated matrix of position is averaged to obtain
Obtain the coordinate of the first positioning target locationWherein
When i is more than or equal to amount threshold M, the coordinate at last M in the estimated matrix of position the first centers is averaged to obtain first
Position the coordinate of target locationI.e.
Preferably, M=4.
Further, acquisition module 302 is additionally operable to：
It obtains the second position and estimates that scatterplot group, second position estimation scatterplot group include last in first position estimation scatterplot group
The coordinate of K location estimation scatterplot and L location estimation scatterplot for sequentially in time obtaining designated user's equipment successively
Coordinate, wherein obtain L location estimation scatterplot time be later than obtain first position estimate scatterplot group in location estimation scatterplot
Time, K and L are positive integer and K+L=N；
Processing module 303 is additionally operable to：
Estimate that scatterplot group obtains bicentric coordinate according to the second position, the second center is located at second position estimation scatterplot
The center of the included location estimation scatterplot of group；
Acquisition module 302 is additionally operable to obtain multiple bicentric coordinates；
Processing module 303 is additionally operable to：
Multiple bicentric coordinates are averaged to obtain the coordinate of the second positioning target location；
Location path is obtained according to the coordinate of the coordinate of the first positioning target location and the second positioning target location.
Preferably, the distance of the positioning of location estimation scatterplot distance first target location in second position estimation scatterplot group is small
In distance threshold, to avoid the second position from estimating that can have the too far position in the positioning of distance first target location in scatterplot group estimates
Scatterplot is counted, influence of the above-mentioned location estimation scatterplot to positioning result is avoided.
Wherein the second center is the center for the location estimation scatterplot that the second position is estimated included by scatterplot group.
Specifically, can estimate that the position that scatterplot group obtains included by second position estimation scatterplot group is estimated according to the second position
The location parameter on the boundary of scatterplot region is counted, and obtains the seat of the regional center according to the location parameter on the boundary in the region
Mark, i.e. bicentric coordinate；It can also estimate that scatterplot group obtains included by second position estimation scatterplot group according to the second position
Location estimation scatterplot in the location estimation scatterplot in boundary position coordinate, and estimate according to this in the position of boundary position
The coordinate for counting scatterplot obtains bicentric coordinate.
Specifically, can be obtained in multiple second according to the location estimation scatterplot in different time region or different location region
The coordinate of the heart.
Illustratively, the location estimation scatterplot that the sampling time is in second time threshold can be obtained, and according to above-mentioned
Location estimation scatterplot obtains corresponding bicentric coordinate.
A kind of indoor positioning device that the embodiment of the present invention is provided, by the multiple positions for obtaining designated user's equipment successively
The coordinate for setting estimation scatterplot, the coordinate for choosing N number of location estimation scatterplot estimates scatterplot group as first position, according to first position
Estimation scatterplot group obtains the center i.e. coordinate at the first center of multiple location estimation scatterplot.It can be dissipated in multiple position
When in point in the presence of the larger position scatterplot of a small number of and other positions estimation scatterplot deviation, reducing should estimate that scatterplot was inclined with other positions
Influence of the larger position scatterplot of difference to positioning result, due to the position scatterplot that above-mentioned and other positions estimation scatterplot deviation is larger
Often it is and the larger position scatterplot of target anchor point true coordinate deviation, therefore can mitigates due to existing and target anchor point
The larger position scatterplot of true coordinate deviation and estimation position target location caused by influence.Obtain the seat at multiple first centers
Mark, and location estimation matrix is obtained according to the coordinate at multiple first center, and choose in the estimated matrix of position last M the
The coordinate at one center is averaged to obtain the coordinate of the first positioning target location, to avoid the sampling time apart from the M the
The first position estimation scatterplot group that the sampling time of the corresponding first position estimation scatterplot group in one center is too long corresponds to the first center
Under the premise of influence to positioning result, the coordinate of the first positioning target location is further estimated, obtains second position estimation
Scatterplot group, and the coordinate of the first positioning target location is estimated with reference to above-mentioned steps, according to the coordinate of the first positioning target location
And second positioning target location coordinate obtain location path.Therefore the indoor positioning device energy that the embodiment of the present invention is provided
It is enough under the premise of not needing prior information, reduce and position scatterplot that user equipment true coordinate deviation is larger be to positioning result
Caused by influence, to improve the precision and reliability of indoor orientation method, and then improve the flatness in acquired path.
Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can be with
It is realized with hardware realization or firmware realization or combination thereof mode.It when implemented in software, can be by above-mentioned function
Storage in computer-readable medium or as on computer-readable medium one or more instructions or code be transmitted.Meter
Calculation machine readable medium includes computer storage media and communication media, and wherein communication media includes convenient for from a place to another
Any medium of a place transmission computer program.Storage medium can be any usable medium that computer can access.With
For this but it is not limited to：Computer-readable medium may include random access memory (full name in English：Random Access
Memory, English abbreviation：RAM), read-only memory (full name in English：Read Only Memory, English abbreviation：ROM), electricity can
Erasable programmable read-only memory (full name in English：Electrically Erasable Programmable Read Only
Memory, English abbreviation：EEPROM), CD-ROM (full name in English：Compact Disc Read Only Memory, English
Referred to as：CD-ROM) or other optical disc storages, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or
Desired program code of the storage with instruction or data structure form simultaneously can be by any other medium of computer access.This
Outside.Any connection appropriate can become computer-readable medium.For example, if software be using coaxial cable, optical fiber cable,
Twisted-pair feeder, digital subscriber line (full name in English：Digital Subscriber Line, English abbreviation：DSL) or such as red
The wireless technology of outside line, radio and microwave etc is transmitted from website, server or other remote sources, then coaxial electrical
The wireless technology of cable, optical fiber cable, twisted-pair feeder, DSL or such as infrared ray, wireless and microwave etc is included in computer-readable
In the definition of medium.
Through the above description of the embodiments, it is apparent to those skilled in the art that, when with software
When mode realizes the present invention, can by for executing the above method instruction or code storage it is in computer-readable medium or logical
Computer-readable medium is crossed to be transmitted.Computer-readable medium includes computer storage media and communication media, wherein communicating
Medium includes convenient for transmitting any medium of computer program from a place to another place.Storage medium can be calculated
Any usable medium that machine can access.As example but it is not limited to：Computer-readable medium may include that RAM, ROM, electricity can
Erasable programmable read-only memory (full name：Electrically erasable programmable read-only memory,
Referred to as：EEPROM), CD, disk or other magnetic storage apparatus or can be used in carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. a kind of indoor orientation method, which is characterized in that including：
S1：It obtains first position and estimates scatterplot group, the first position estimation scatterplot group includes that the designated user obtained successively sets
The coordinate of standby multiple location estimation scatterplots；
Scatterplot group is estimated in the acquisition first position, including：Obtain N number of position of designated user's equipment successively sequentially in time
Estimate the coordinate of scatterplot, and the coordinate for choosing N number of location estimation scatterplot estimates that scatterplot group, wherein N are as first position
Positive integer；
S2：Estimate that scatterplot group obtains the coordinate at the first center according to the first position, first center is located at described first
The center of location estimation scatterplot included by location estimation scatterplot group；
The coordinate at multiple first centers is obtained according to step S1, S2, and the coordinate at multiple first centers is averaged
To obtain the coordinate of the first positioning target location；
S3：It obtains the second position and estimates that scatterplot group, the second position estimation scatterplot group include the first position estimation scatterplot
The coordinate of last K location estimation scatterplot and L position of designated user's equipment is obtained successively sequentially in time in group
The coordinate of estimation scatterplot is set, is dissipated wherein the time for obtaining the L location estimation scatterplot is later than the acquisition first position estimation
The time of the coordinate of location estimation scatterplot in point group, K and L is positive integer and K+L=N；
S4：Estimate that scatterplot group obtains bicentric coordinate according to the second position, second center is located at described second
The center of location estimation scatterplot included by location estimation scatterplot group；
Multiple bicentric coordinates are obtained according to step S3, S4, and multiple bicentric coordinates are averaged
To obtain the coordinate of the second positioning target location；
The coordinate of the coordinate and second positioning target location that position target location according to described first obtains location path.
2. indoor orientation method according to claim 1, which is characterized in that the coordinate to multiple first centers
It is averaged to obtain the coordinate of the first positioning target location, including：
Location estimation matrix is obtained according to the coordinate at multiple first centers, the location estimation matrix includes in chronological order
The coordinate at multiple first centers of arrangement；
The coordinate that last M the first centers are chosen in the location estimation matrix is averaged to obtain the first positioning target
The coordinate of position, wherein M are positive integer.
3. indoor orientation method according to claim 1, which is characterized in that the position in the second position estimation scatterplot group
It sets distance of the estimation scatterplot apart from first positioning target location and is less than distance threshold.
4. a kind of indoor positioning device, which is characterized in that including：
Acquisition module estimates scatterplot group for obtaining first position, and the first position estimation scatterplot group includes obtaining successively
The coordinate of multiple location estimation scatterplots of designated user's equipment；Specifically for obtaining designated user's equipment successively sequentially in time
N number of location estimation scatterplot coordinate, and choose the coordinate of N number of location estimation scatterplot and estimate scatterplot as first position
Group, wherein N are positive integer；
Processing module, for estimating that scatterplot group obtains the coordinate at the first center, first centre bit according to the first position
The center of location estimation scatterplot included by first position estimation scatterplot group；
The acquisition module is additionally operable to obtain the coordinate at multiple first centers；
The processing module is additionally operable to be averaged the coordinate at multiple first centers to obtain the first positioning target location
Coordinate；
The acquisition module is additionally operable to：It obtains the second position and estimates scatterplot group, the second position estimation scatterplot group includes described
Estimate the coordinate of last K location estimation scatterplot in scatterplot group and obtain successively sequentially in time described specified in first position
The coordinate of L location estimation scatterplot of user equipment, wherein the time for obtaining the L location estimation scatterplot be later than described in acquisition
The time of the location estimation scatterplot in scatterplot group is estimated in first position, and K and L is positive integer and K+L=N；
The processing module is additionally operable to：According to the second position estimate scatterplot group obtain bicentric coordinate, described second
Center is located at the center of the location estimation scatterplot included by second position estimation scatterplot group；
The acquisition module is additionally operable to：Obtain multiple bicentric coordinates；
The processing module is additionally operable to：Multiple bicentric coordinates are averaged to obtain the second positioning target location
Coordinate；
The coordinate of the coordinate and second positioning target location that position target location according to described first obtains location path.
5. indoor positioning device according to claim 4, which is characterized in that the processing module is specifically used for：
Location estimation matrix is obtained according to the coordinate at multiple first centers, the location estimation matrix includes in chronological order
The coordinate at multiple first centers of arrangement；
The coordinate that last M the first centers are chosen in the location estimation matrix is averaged to obtain the first positioning target
The coordinate of position, wherein M are positive integer.
6. indoor positioning device according to claim 4, which is characterized in that the position in the second position estimation scatterplot group
It sets distance of the estimation scatterplot apart from first positioning target location and is less than distance threshold.
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| CN101236244A (en) * | 2008-02-21 | 2008-08-06 | 当代天启技术（北京）有限公司 | Wireless positioning method, device and system |
| CN102625444A (en) * | 2011-01-27 | 2012-08-01 | 中国移动通信集团公司 | Terminal positioning method and base station |
| CN103200679A (en) * | 2005-08-25 | 2013-07-10 | 高通股份有限公司 | Location reporting with secure user plane location (SUPL) |
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| CN101236244A (en) * | 2008-02-21 | 2008-08-06 | 当代天启技术（北京）有限公司 | Wireless positioning method, device and system |
| CN102625444A (en) * | 2011-01-27 | 2012-08-01 | 中国移动通信集团公司 | Terminal positioning method and base station |
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