CN108761514A - A kind of positioning system and localization method merging the Big Dipper or GPS and sensor - Google Patents
A kind of positioning system and localization method merging the Big Dipper or GPS and sensor Download PDFInfo
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- CN108761514A CN108761514A CN201810880246.0A CN201810880246A CN108761514A CN 108761514 A CN108761514 A CN 108761514A CN 201810880246 A CN201810880246 A CN 201810880246A CN 108761514 A CN108761514 A CN 108761514A
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004807 localization Effects 0.000 title claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 117
- 230000001133 acceleration Effects 0.000 claims abstract description 56
- 230000004927 fusion Effects 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims description 17
- 238000012937 correction Methods 0.000 claims description 15
- 230000000386 athletic effect Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000002463 transducing effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention relates to wireless location technology fields more particularly to the positioning system and localization method of a kind of fusion Big Dipper or GPS and sensor, the positioning system to include：At least one WIFI AP, for sending WIFI signal to mobile terminal；Mobile terminal, for the real-time reception Big Dipper positioning signal at outdoor or GPS positioning signal and the location information for storing each moment, indoors when the location information that stores newest moment acceleration parameter as indoor initial position and from this moment；At least one station acquisition device, for sending orientation sensing signal to background server in real time；Background server, the location information for being stored according to mobile terminal and acceleration parameter, Big Dipper positioning signal or GPS positioning signal from this moment, WIFI signal and orientation sensing signal carry out fusion calculation to the movement locus of mobile terminal.The present invention can be merged by multi-party information and be accurately positioned mobile terminal.
Description
Technical field
The present invention relates to wireless location technology field more particularly to the positioning systems of a kind of fusion Big Dipper or GPS and sensor
System and localization method.
Background technology
Demand with people to positioning with navigating increasingly increases, especially in complicated indoor environment, such as airport hall, exhibition
In the environment such as the Room, warehouse, supermarket, library, underground parking, mine, it is often necessary to determine mobile terminal or its holder, set
Grant the location information of article indoors.But limited by conditions such as positioning time, positioning accuracy and complex indoor environments,
Cause that accurate indoor positioning can not be obtained always.
The Big Dipper or GPS satellite positioning system are the most common ways of acquisition outdoor environment location information, but since satellite is believed
It number is easy to be blocked by various barriers, the satellite positioning tech such as the Big Dipper or GPS are not particularly suited for interior, and wireless indoor is fixed at present
Position technology rapidly develops, it has also become the strong supplement of the Big Dipper or GPS.
Existing indoor wireless locating system mainly uses the short-distance wireless skills such as infrared, ultrasonic wave, bluetooth, WIFI, RFID
Art.
WIFI provides the solution of a high performance-price ratio.Many algorithm arrangements have also been proposed in practical application,
Including measurement received signal to noise ratio (SNR), and use wider received signal strength method (RSSI).WIFI accuracy about exists
In the range of 1 meter to 15 meters, but need first in system coverage area to several AP (ACCESS POINT, access point) of setting
Fixed point acquires its location information and signal strength forming position database, gathered data heavy workload, and in order to reach
The position measuring and calculating setting of higher precision, fixed point AP is comparatively laborious.WIFI AP are WIFI access points, such as can be wireless
Router, wireless exchange board etc..It is added if any new fixed point AP, needs to be acquired its location information and signal strength
Afterwards, it could be used to position.Another WIFI transceivers all can only be within 90 meters of covering radius region, and due to wall and barrier
Influence, can bring multipath it is weak, absorb and masking a series of problems, such as, and elevator & stairs etc. have covering dead angle, from
And influence its precision.WIFI can only orient a range of mobile device, its movement locus can not be depicted.WIFI is positioned
It can only reflect mobile device with a distance from AP points, the position of mobile terminal is at one using AP as the center of circle, and distance is radius
In range, it cannot reflect its specific orientation.Especially when an AP point covers multiple rooms, it cannot reflect mobile device
On earth in which room.And WIFI is covered with dead angle, cannot accomplish all standing.
3D acceleration transducers are the movement locus that can be used at any time, and can continuously reflect mobile terminal, and no covering is dead
Therefore angle can cope with heavy construction complex environment, but for a long time in use, its positioning accuracy declines.
The sensors such as infrared sensor, door sensor in smart home are in each room fixed placement, for obtaining data, and
It is reported to server by network.Shielding action due to wall to infrared ray, it is ensured that can only a room infrared sensor
Personnel are detected, door sensor etc. also ensures that in a room.But infrared sensor has coverage area, there are dead angle, can influence be
The accuracy and real-time of system positioning.
Therefore, it is necessary to one kind can indoors it is outer seamlessly obtain in real time the pinpoint fusion Big Dipper of mobile terminal or
The positioning system and localization method of GPS and sensor.
Invention content
In view of the above problems, it is proposed that the present invention overcoming the above problem in order to provide one kind or solves at least partly
State the fusion Big Dipper of problem or the positioning system and localization method of GPS and sensor.
One aspect of the present invention provides a kind of positioning system merging the Big Dipper or GPS and sensor, including：
At least one WIFI AP, for sending WIFI signal to mobile terminal；
Mobile terminal, at outdoor, real-time reception Big Dipper positioning signal or GPS positioning signal simultaneously store each moment
Location information, indoors when, location information that the newest moment is stored is as indoor initial position and from this moment
Acceleration parameter is sent to background server, and the Big Dipper positioning signal of reception or GPS positioning signal and WIFI are believed
Number it is sent to background server；
At least one station acquisition device, for sending orientation sensing signal to background server in real time；
Background server, the location information for being stored according to mobile terminal and acceleration from this moment
Parameter establishes motion of mobile terminals trajectory predictions model, according to Big Dipper positioning signal or GPS positioning signal, WIFI signal and determines
Position transducing signal carries out fusion correction to the movement locus of prediction, to obtain the real-time positioning system of mobile terminal, is sent to shifting
Dynamic terminal.
Further, mobile terminal is electrically connected to background server, and station acquisition device is electrically connected to background server.
Further, station acquisition device is additionally operable to storage authority information, for mobile terminal enquiry；
Mobile terminal includes：Info access module, for accessing station acquisition device, with search access right information.
Further, mobile terminal further includes：Distance-sensing module, for sensing between station acquisition device in real time
Distance, and it is sent to background server and station acquisition device；
Station acquisition device is additionally operable to according to the order to prestore with the distance between mobile terminal execution.
Further, structure chart in background server locker room, doors structure figure include WIFI AP and station acquisition device
Position and interior structure figure, the interior structure figure provide reference for acceleration parameter so that motion of mobile terminals rail
Mark prediction model is more accurate.
Further, background server stores motion feature algorithm model, the position that background server stores mobile terminal
Confidence ceases and acceleration parameter from this moment inputs in the motion feature algorithm model, establishes mobile terminal fortune
Dynamic rail mark prediction model.
Further, there are many motion feature algorithm moulds according to the athletic posture of mobile terminal for motion feature algorithm model
Type.
Further, mobile terminal further includes：
Beidou positioning module or GPS positioning module, for receiving real-time reception Big Dipper positioning signal or GPS positioning signal,
Obtain the location information at each moment；
3D acceleration transducers, for detecting acceleration parameter in real time；
Information storage module is used for the location information and acceleration parameter at real-time storage each moment.
Further, station acquisition device includes infrared sensor and door status sensor.
Another aspect of the present invention provides a kind of real based on the above-mentioned fusion Big Dipper or the positioning system of GPS and sensor
Existing localization method, includes the following steps：
Using at least one WIFI AP WIFI signal is sent to mobile terminal；
Using mobile terminal at outdoor, real-time reception Big Dipper positioning signal or GPS positioning signal simultaneously store each moment
Location information, indoors when, location information that the newest moment is stored is as indoor initial position and from this moment
Acceleration parameter is sent to background server, and the Big Dipper positioning signal of reception or GPS positioning signal and WIFI are believed
Number it is sent to background server；
Using at least one station acquisition device orientation sensing signal is sent to background server in real time；
The location information that is stored according to mobile terminal using background server and acceleration from this moment
Parameter establishes motion of mobile terminals trajectory predictions model, according to Big Dipper positioning signal or GPS positioning signal, WIFI signal and determines
Position transducing signal carries out fusion correction to the movement locus of prediction, to obtain the real-time positioning system of mobile terminal, is sent to shifting
Dynamic terminal.
The positioning system and localization method of the fusion Big Dipper or GPS and sensor provided by the invention, compared with prior art
With following progress：
1. in the fusion Big Dipper of the present invention or the positioning system and localization method of GPS and sensor, when mobile terminal is in room
Positioned using the Big Dipper when outer, when mobile terminal indoors when utilize the Big Dipper or GPS, 3D acceleration parameter, WIFI AP
Location information and the location information of station acquisition device carry out fusion positioning, between capable of realizing the indoor and outdoor of mobile terminal not
It is accurately positioned disconnectedly；
2. the fusion Big Dipper of the present invention or the positioning system and localization method of GPS and sensor are to add by interior structure figure
Velocity vector parameter provides reference so that motion of mobile terminals trajectory predictions model is more accurate；
3. in the fusion Big Dipper of the present invention or the positioning system and localization method of GPS and sensor, motion feature algorithm mould
There are many motion feature algorithm models according to the athletic posture of mobile terminal for type, pointedly to establish motion of mobile terminals rail
Mark prediction model improves the precision of the indoor positioning of mobile terminal.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
It should be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can be more
It becomes apparent, below the special specific implementation mode for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the connection block diagram of the positioning system of the fusion Big Dipper or GPS and sensor in the embodiment of the present invention；
Fig. 2 is the localization method block diagram that the Big Dipper and multiple types sensor are merged in the embodiment of the present invention.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless by specific definitions, otherwise will not be explained with the meaning of idealization or too formal.
Embodiment one
Fig. 1 is the connection block diagram of the positioning system of the fusion Big Dipper or GPS and sensor in the embodiment of the present invention, such as Fig. 1 institutes
Show, the positioning system of the fusion Big Dipper or GPS and sensor provided by the invention, including：At least one WIFI AP are used for shifting
Dynamic terminal sends WIFI signal；Mobile terminal, at outdoor, real-time reception Big Dipper positioning signal or GPS positioning signal to be simultaneously
Store the location information at each moment, indoors when, location information that the newest moment is stored as indoor initial position and from
The acceleration parameter that the moment starts is sent to background server, and the Big Dipper positioning signal or GPS positioning of reception are believed
Number and WIFI signal be sent to background server；At least one station acquisition device, for being sent in real time to background server
Orientation sensing signal；Background server, the location information for being stored according to mobile terminal and acceleration from this moment
Degree vector parameters establish motion of mobile terminals trajectory predictions model, according to Big Dipper positioning signal or GPS positioning signal, WIFI signal
And orientation sensing signal carries out fusion correction to the movement locus of prediction, and to obtain the real-time positioning system of mobile terminal, hair
It send to mobile terminal.Mobile terminal can search WIFI AP and obtain the ID and signal strength of WIFI.Mobile terminal is electrically connected
To background server, station acquisition device is electrically connected to background server.Motion of mobile terminals trajectory predictions model is according to shifting
The speed for the mobile terminal that the appropriate parametric solution of acceleration of the initial position and the initial position of dynamic terminal is precipitated and side
To, the position of prediction subsequent time mobile terminal, or the next position of several moment mobile terminals, forming position-time diagram.
In practical applications, when mobile terminal indoors when, believed according to Big Dipper positioning signal or GPS positioning signal, WIFI
Number and orientation sensing signal fusion correction is carried out to the movement locus of prediction, specifically include following three kinds of situations：First, the Big Dipper
When positioning signal or GPS positioning signal stabilization, the location information at each moment in the Big Dipper positioning signal or GPS positioning signal is utilized
The movement locus of prediction is corrected；Second, Big Dipper positioning signal or GPS positioning swinging of signal periodically, are believed first with WIFI
Number and orientation sensing signal fusion correction is carried out to the movement locus of prediction, utilize the Big Dipper positioning signal or GPS positioning
Signal further corrects the movement locus after correction；When third, Big Dipper positioning signal or GPS positioning blackout, utilize
The movement locus of the position real time correction prediction of WIFI AP and station acquisition device.
In the fusion Big Dipper or the positioning system of GPS and sensor of the present invention, the Big Dipper is utilized when mobile terminal is in outdoor
Positioned, when mobile terminal indoors when using the location information of the Big Dipper or GPS, 3D acceleration parameter, WIFI AP with
And the location information of station acquisition device carries out fusion positioning so that when indoors, is automatically switched according to different situations, is made
Optimal selection can realize that the indoor and outdoor of mobile terminal is continual and be accurately positioned.
Referring to Fig. 1, mobile terminal includes wireless communication module, which includes：First communication unit, is used for
The WIFI signal that real-time reception WIFI AP are sent, first communication module is usually WIFI module；Second communication unit, being used for will
Acceleration parameter of the location information of storage as indoor initial position and from this moment, Big Dipper positioning signal or
GPS positioning signal and WIFI signal are sent to background server, the second communication unit can be WIFI, 2G module, 3G module,
One or more of 4G modules, bluetooth module, NFC module and RFID module.Second communication unit is additionally operable to and station acquisition
Device is electrically connected.
Station acquisition device is additionally operable to storage authority information, for mobile terminal enquiry；Mobile terminal includes：Information is visited
Module is asked, for accessing station acquisition device, with search access right information.For example, when station acquisition device is door status sensor,
The mobile terminal accessing door status sensor simultaneously sends opening request, and door status sensor judges whether the mobile terminal has permission, when
When the mobile terminal has permission, then the door status sensor turns on the switch and sends opening signal to mobile terminal.Work as station acquisition
When device is garage sensor, parking person can the garage sensor be concurrent by mobile terminal accessing before going to garage to stop
Parking stall inquiry request is sent, when there is parking stall, then the garage sensor sends Parking permitted signal to mobile terminal.
Mobile terminal further includes：Distance-sensing module, for sensing the distance between station acquisition device in real time, concurrently
It send to background server and station acquisition device；Station acquisition device is additionally operable to the distance between basis and mobile terminal and executes
The order to prestore.For example, when station acquisition device be door status sensor when, mobile terminal sensing door status sensor between away from
From being sent to background server, be used for the positioning of mobile terminal, and be sent to the door status sensor, when the distance is less than door sensor
In sensor when preset threshold values, door status sensor activates to open order.It is mobile when station acquisition device is garage sensor
Terminal inquiry is sent to garage sensor, then when the distance to the distance between having parking stall and sensing garage sensor
Less than garage sensor and this apart from it is smaller and smaller when, then rise the car stopping rod in the garage, when the distance more than garage sense
Device and this apart from it is increasing when, then fall the car stopping rod in the garage.
Structure chart in background server locker room, doors structure figure include the position of WIFI AP and station acquisition device with
And interior structure figure, the interior structure figure provide reference for acceleration parameter so that motion of mobile terminals trajectory predictions mould
Type is more accurate.
In practical applications, the acceleration parameter combination interior structure figure such as predictions such as channel, elevator & stairs and door
Go out the movement locus of mobile terminal, position and movement locus of the mobile terminal in building are thus shown on map.Such as
Server obtains the athletic posture of mobile terminal according to data in human body motion feature algorithm model, for example turns right, while and room
The comparison of interior structural map, whether have door herein or turn right in the channel it is curved, if so, then showing access into door or the right side on map
It turns round, if being herein straight channel, this athletic posture is not shown on map, but sees subsequent athletic posture.
Background server stores motion feature algorithm model, location information that background server stores mobile terminal and
Acceleration parameter from this moment inputs in the motion feature algorithm model, establishes motion of mobile terminals trajectory predictions
Model.In addition, motion feature algorithm model is according to the athletic posture of mobile terminal, there are many motion feature algorithm models.This hair
In the bright fusion Big Dipper or the positioning system of GPS and sensor, motion feature algorithm model is according to the athletic posture of mobile terminal
There are many motion feature algorithm models to improve mobile terminal pointedly to establish motion of mobile terminals trajectory predictions model
Indoor positioning precision.
Mobile terminal includes：Beidou positioning module or GPS positioning module, for receive real-time reception Big Dipper positioning signal or
GPS positioning signal obtains the location information at each moment；3D acceleration transducers, for detecting acceleration parameter in real time；Letter
Memory module is ceased, the location information and acceleration parameter at real-time storage each moment are used for；Wireless communication module, for real-time
The WIFI signal that WIFI AP are sent is received, and is sent to background server.Mobile terminal refers to the meter that can be used on the move
Calculate machine equipment, including mobile phone, notebook, tablet computer, POS machine and vehicle-mounted computer etc..The model of 3D acceleration transducers can
With but be not limited to XL40.
Station acquisition device includes infrared sensor and door status sensor.
One WIFI AP can cover multiple rooms, therefore, indoors, it is generally the case that several rooms are one shared
WIFI AP, and station acquisition device works such as infrared sensor, door status sensor in single room, so as to entangle
Positive position error.
Beidou positioning module or GPS positioning module when being additionally operable to indoors, when display positions Success Flag, connect in real time
Big Dipper positioning signal or GPS positioning signal and the location information for storing each moment are received, it, will most when not showing positioning Success Flag
After acceleration parameter of the location information of new moment storage as indoor initial position and from this moment is sent to
Platform server, and the WIFI signal of reception is sent to background server, mobile terminal further includes：Handover module is positioned, is used for
Whether detection Beidou positioning module or GPS positioning module show positioning Success Flag in real time, if display positioning Success Flag, to
Background server, which is sent, to be stopped calculating signal, if not showing positioning Success Flag, starts to calculate letter to background server transmission
Number, it can not only realize the automatic switchover of positioning method, and avoid computing repeatedly for background server, reduce background server
Calculating task amount.
Background server includes wireless communication module and wire communication module, background server by radio communication module with
Mobile terminal is electrically connected, and module or wire communication module are electrically connected background server with station acquisition device by radio communication.
Wireless communication module includes 2G modules, 3G module, 4G modules, bluetooth module, NFC module and one kind or several in RFID module
Kind.
Fig. 2 is the localization method block diagram that the Big Dipper and multiple types sensor are merged in the embodiment of the present invention, as shown in Fig. 2,
The localization method provided by the invention realized based on the above-mentioned fusion Big Dipper or the positioning system of GPS and sensor, including following step
Suddenly：Using at least one WIFI AP WIFI signal is sent to mobile terminal；Using mobile terminal at outdoor, real-time reception north
Struggle against positioning signal or GPS positioning signal and the location information for storing each moment, indoors when, the position that the newest moment is stored is believed
Breath is sent to background server as interior initial position and acceleration parameter from this moment, and by reception
Big Dipper positioning signal or GPS positioning signal and WIFI signal are sent to background server；It is filled using at least one station acquisition
It sets and sends orientation sensing signal to background server in real time；The location information stored according to mobile terminal using background server with
And acceleration parameter from this moment establishes motion of mobile terminals trajectory predictions model, according to Big Dipper positioning signal or
GPS positioning signal, WIFI signal and orientation sensing signal carry out fusion correction to the movement locus of prediction, mobile whole to obtain
The real-time positioning system at end, is sent to mobile terminal.
The fusion Big Dipper and the localization method of multiple types sensor further include：Utilize the indoor knot being stored in background server
It is patterned into acceleration parameter and reference is provided so that motion of mobile terminals trajectory predictions model is more accurate.
For embodiment of the method, since it is substantially similar to device embodiment, so description is fairly simple, it is related
Place illustrates referring to the part of device embodiment.
For embodiment of the method, for simple description, therefore it is all expressed as a series of combination of actions, but this field
Technical staff should know that the embodiment of the present invention is not limited by the described action sequence, because implementing according to the present invention
Example, certain steps can be performed in other orders or simultaneously.Next, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
Embodiment two
Background server in the present embodiment is improvement on the basis of embodiment one, in technology disclosed in embodiment one
Hold not repeated description, one disclosure of embodiment also belongs to the present embodiment disclosure.
Background server provided by the invention, including：Choice of parameters module for real-time reception and will include mobile terminal
The wireless signal of motion state parameters and including fixed position in mobile terminal during motion of mobile terminals and movement environment
The wireless signal of relevant parameter of WIFI AP be sent to moving track calculation module, and real-time reception and by fixed position
The relevant parameter of sensor is sent to movement locus and corrects module；Moving track calculation module is used for motion of mobile terminals shape
State Parameter analysis of electrochemical is calculated at mobile terminal initial position and motion of mobile terminals acceleration by motion feature algorithm model
Go out the ambiguous location of mobile terminal on the electronic map, and according in mobile terminal during motion of mobile terminals and movement environment
The relevant parameter of the WIFI AP of fixed position calibrates the ambiguous location, to obtain mobile terminal on the electronic map
Movement locus；Movement locus corrects module, is used for the relevant parameter of the sensor according to fixed position, real time calibration mobile terminal
Location information, to obtain mobile terminal accurate movement locus on the electronic map.
Wherein, it is fixed in mobile terminal and movement environment during motion state of mobile terminal parameter, motion of mobile terminals
The relevant parameter of the relevant parameter of the WIFI AP of position and the sensor of fixed position is that the data with time identifier are joined
It counts, the motion of mobile terminals acceleration in motion state of mobile terminal parameter is by being used to detect motion state of mobile terminal
3D acceleration transducers obtain, movement end when the GPS or the Big Dipper that mobile terminal initial position store by mobile terminal disappear
The position at end, the relevant parameter packet of mobile terminal and the WIFI AP of fixed position in movement environment during motion of mobile terminals
It includes the address of WIFI AP and mobile terminal detects the signal strength of the WIFI AP.Movement locus indicates mobile terminal at any time
Between change change in location on the electronic map.In movement environment the sensor of fixed position for example can with when smart home in
The infrared sensor such as infrared sensor, door status sensor will be sent to choice of parameters to the detection signal of mobile terminal carrier
Door opening signal is sent to choice of parameters module by module, door status sensor.Since a WIFI AP can cover multiple rooms
Between, and infrared sensor, door status sensor in smart home etc. can be identified single room, be moved so as to correct
Dynamic terminal location information.
Motion feature algorithm model is established using probabilistic method, specifically, probabilistic method carries out movement identification
It is the set for each static posture of movement being defined as a state or a state, by these by way of network
State connects, and the switching between state and state is described using probability, mainly has Hidden Markov Model (HMM), most
Big entropy Markov model (MEMM), condition random field (CRF) etc.；3D acceleration transducers accelerate when obtaining motion of mobile terminals
The frequency and amplitude of degree, acceleration transducer placement location is different, acceleration of the acquisition mobile terminal in various attitudes vibrations
Delta data, training Hidden Markov Model (HMM) are final to generate motion feature algorithm model.The number of 3D acceleration transducers
After uploading to background server, background server obtains the movement appearance of motive objects by data in motion feature algorithm model
State, for example turn right, at the same with the Structure Comparison of building, whether have door herein or turn right in the channel it is curved, if any just existing
Door is showed access on map or turns right curved, is such as straight channel herein, is not then shown this athletic posture on map, but
See subsequent athletic posture.
The background server of the present invention passes through fixed position in mobile terminal during motion of mobile terminals and movement environment
The relevant parameter of WIFI AP preliminary correction, and the correlation of the sensor according to fixed position are carried out to the position of mobile terminal
Parameter carries out secondary correction to the position of mobile terminal, improves the problem of complicated indoor moving terminal can not be accurately positioned.
Moving track calculation module includes：Motion state parameters resolution unit is used for motion state of mobile terminal parameter
It is parsed into mobile terminal initial position and motion of mobile terminals acceleration；Ambiguous location computing unit, for passing through movement
Characteristics algorithm model calculates mobile terminal in electronics according to mobile terminal initial position and motion of mobile terminals acceleration
Ambiguous location on map；Location information computing unit, for according to mobile terminal during motion of mobile terminals and sports ring
The relevant parameter of the WIFI AP of fixed position calibrates the ambiguous location in border, to obtain mobile terminal in electronic map
On movement locus.
Moving track calculation module further includes：WIFI AP information databases, position for storing WIFI AP and
The signal strength of WIFI AP and the coverage area relation information of WIFI AP.
Moving track calculation module further includes：WIFI AP information database real-time update units, for receiving mobile terminal
The WIFI AP information detected judges the WIFI AP information databases of WIFI AP information and the storage of moving track calculation module
In the WIFI AP information that prestores whether match, if mismatching, which is added to WIFI AP information datas
Library, for calibrating ambiguous location.Specifically, if interior there are new WIFI AP, can signal strength be obtained by mobile terminal, be uploaded to
Background server, the server calculate this WIFI AP by the position of mobile terminal and the signal strength of new WIFI AP
Position can make this WIFIAP's after multiple mobile terminals, which for example could be provided as 5 mobile terminals, uploads this WIFI AP
Position accuracy is gradually increased, and becomes fixed point WIFI AP, at this point, mobile terminal can carry out school by this WIFI AP point
It is accurate.
The background server of the present invention can add WIFI automatically by WIFI AP information database real-time update units
The WIFI AP not having in AP information databases, mobile terminal is fixed with movement environment during according to motion of mobile terminals
When the relevant parameter of the WIFI AP of position calibrates the ambiguous location, more selections are provided so that calibration is more accurate,
And save artificial addition WIFI AP.
Moving track calculation module further includes：WIFI AP information preferred cells, for selecting and showing letter on mobile terminal
Number intensity calibrates the ambiguous location in the WIFI AP of 60dbm or more.The background server of the present invention utilizes WIFI AP
Information preferred cell, which is selected, carries out the ambiguous location with WIFI AP of the signal strength in 60dbm or more is shown on mobile terminal
Calibration, the bigger WIFI AP of signal strength calibrate the ambiguous location so that calibration is more accurate.
Above-mentioned background server further includes：Motion feature algorithm model correcting module, for according to motion of mobile terminals shape
The historical data correction motion characteristics algorithm model of state parameter.Motion feature algorithm model correcting module is electrically connected to movement locus
Computing module.The background server of the present invention is joined using motion feature algorithm model correcting module according to motion state of mobile terminal
Several historical data correction motion characteristics algorithm model so that revised motion feature algorithm model can more precisely compute
Go out the ambiguous location of mobile terminal on the electronic map.
Motion feature algorithm model correcting module includes：Acceleration parameter extraction unit, for extracting mobile terminal fortune
Acceleration parameter in the historical data of dynamic state parameter；Motion feature algorithm model taxon, for acceleration
Vector parameters are classified, and establish different acceleration models according to different classes of acceleration parameter and movement is special
Sign algorithm model simultaneously stores, to establish different motion feature algorithm models for different motion posture；Specifically, according to history
The acceleration delta data of the athletic posture of mobile terminal in data, such as movement parallel to the ground, fortune perpendicular to the ground
Dynamic and ground movement in different angles, correction motion characteristics algorithm model so that for the mobile terminal pair of different motion posture
Answer different motion feature algorithm models so that the calculating of ambiguous location is more accurate.In addition, moving track calculation module is also wrapped
It includes：Acceleration Model Matching unit is used for motion of mobile terminals acceleration and different acceleration models
It is matched；Motion feature algorithm model transfers unit, for transferring corresponding fortune according to the acceleration model matched
Dynamic characteristics algorithm model.
Above-mentioned background server further includes：Wireless communication module, what it is for the transmission of real-time reception mobile terminal includes movement
The wireless signal of motion state of terminal parameter and including fixed in mobile terminal during motion of mobile terminals and movement environment
The wireless signal of the relevant parameter of the WIFI AP of position, and it is sent to choice of parameters module；The fixed bit that receiving sensor is sent
The relevant parameter for the sensor set, and be sent to movement locus and correct module；And it is mobile terminal is accurate on the electronic map
Movement locus sends back mobile terminal.Wireless communication module includes 2G modules, 3G module, 4G modules, bluetooth module and NFC module
One or more of.Wireless communication module is electrically connected to choice of parameters module and mobile terminal.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. the positioning system of a kind of fusion Big Dipper or GPS and sensor, which is characterized in that including：
At least one WIFI AP, for sending WIFI signal to mobile terminal；
Mobile terminal, at outdoor, real-time reception Big Dipper positioning signal or GPS positioning signal and the position for storing each moment
Information, indoors when, the acceleration of location information that the newest moment is stored as indoor initial position and from this moment
Degree vector parameters are sent to background server, and the Big Dipper positioning signal of reception or GPS positioning signal and WIFI signal are sent out
It send to background server；
At least one station acquisition device, for sending orientation sensing signal to background server in real time；
Background server, the location information for being stored according to mobile terminal and acceleration parameter from this moment
Motion of mobile terminals trajectory predictions model is established, is passed according to Big Dipper positioning signal or GPS positioning signal, WIFI signal and positioning
Sense signal carries out fusion correction to the movement locus of prediction, to obtain the real-time positioning system of mobile terminal, is sent to mobile whole
End.
2. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that mobile terminal
It is electrically connected to background server, station acquisition device is electrically connected to background server.
3. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that
Station acquisition device is additionally operable to storage authority information, for mobile terminal enquiry；
Mobile terminal includes：Info access module, for accessing station acquisition device, with search access right information.
4. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that
Mobile terminal further includes：Distance-sensing module for sensing the distance between station acquisition device in real time, and is sent to
Background server and station acquisition device；
Station acquisition device is additionally operable to according to the order to prestore with the distance between mobile terminal execution.
5. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that background service
Structure chart in device locker room, doors structure figure include position and the interior structure figure of WIFI AP and station acquisition device, the room
Interior structural map provides reference for acceleration parameter so that motion of mobile terminals trajectory predictions model is more accurate.
6. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that background service
Device stores motion feature algorithm model, location information that mobile terminal store by background server and adding from this moment
Velocity vector parameter inputs in the motion feature algorithm model, establishes motion of mobile terminals trajectory predictions model.
7. the positioning system of the fusion Big Dipper according to claim 6 or GPS and sensor, which is characterized in that motion feature
There are many motion feature algorithm models according to the athletic posture of mobile terminal for algorithm model.
8. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that mobile terminal
Further include：
Beidou positioning module or GPS positioning module are obtained for receiving real-time reception Big Dipper positioning signal or GPS positioning signal
The location information at each moment；
3D acceleration transducers, for detecting acceleration parameter in real time；
Information storage module is used for the location information and acceleration parameter at real-time storage each moment；
Wireless communication module for the WIFI signal that real-time reception WIFI AP are sent, and is sent to background server.
9. the positioning system of the fusion Big Dipper according to claim 1 or GPS and sensor, which is characterized in that station acquisition
Device includes infrared sensor and door status sensor.
10. a kind of localization method realized based on the fusion Big Dipper described in claim 1 or the positioning system of GPS and sensor,
It is characterized by comprising the following steps：
Using at least one WIFI AP WIFI signal is sent to mobile terminal；
Using mobile terminal at outdoor, real-time reception Big Dipper positioning signal or GPS positioning signal and the position for storing each moment
Information, indoors when, the acceleration of location information that the newest moment is stored as indoor initial position and from this moment
Degree vector parameters are sent to background server, and the Big Dipper positioning signal of reception or GPS positioning signal and WIFI signal are sent out
It send to background server；
Using at least one station acquisition device orientation sensing signal is sent to background server in real time；
The location information that is stored according to mobile terminal using background server and acceleration parameter from this moment
Motion of mobile terminals trajectory predictions model is established, is passed according to Big Dipper positioning signal or GPS positioning signal, WIFI signal and positioning
Sense signal carries out fusion correction to the movement locus of prediction, to obtain the real-time positioning system of mobile terminal, is sent to mobile whole
End.
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