CN108983272A - A kind of positioning system and localization method merging Beidou or GPS and sensor - Google Patents
A kind of positioning system and localization method merging Beidou or GPS and sensor Download PDFInfo
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- CN108983272A CN108983272A CN201810880233.3A CN201810880233A CN108983272A CN 108983272 A CN108983272 A CN 108983272A CN 201810880233 A CN201810880233 A CN 201810880233A CN 108983272 A CN108983272 A CN 108983272A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000004807 localization Effects 0.000 title abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 116
- 230000001133 acceleration Effects 0.000 claims abstract description 60
- 230000004927 fusion Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 19
- 238000012937 correction Methods 0.000 claims description 19
- 230000000386 athletic effect Effects 0.000 claims description 10
- 238000011897 real-time detection Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
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- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 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)
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- General Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to wireless location technology field more particularly to the positioning systems and localization method of a kind of fusion Beidou or GPS and sensor, which includes: at least one WIFI AP, for sending WIFI signal to mobile terminal；Mobile terminal, for the real-time reception Beidou 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；Background server, the location information for being stored according to mobile terminal and acceleration parameter from this moment, Beidou positioning signal or GPS positioning signal, WIFI signal carry out fusion calculation to motion profile.The present invention can be merged by multi-party information and be accurately positioned mobile terminal.
Description
Technical field
The present invention relates to the positioning of wireless location technology field more particularly to a kind of fusion Beidou or GPS and sensor
System and localization method.
Background technique
Demand with people to positioning and navigation 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.
Beidou 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 Beidou 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 Beidou or GPS.
Existing indoor wireless locating system mainly uses the short-distance wireless skill 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 first (ACCESS POINT, connects several WIFI AP in system coverage area to setting needs
Access point) fixed point acquires its location information and signal strength forming position database, and acquisition workload data is big, and in order to
Reach higher precision, the position measuring and calculating setting of fixed point AP is comparatively laborious.WIFI AP is WIFI access point, such as be can be
Wireless router, wireless exchange board etc..It is added if any new fixed point AP, needs to carry out its location information and signal strength
After acquisition, it could be used to position.Another WIFI transceiver all can only region within 90 meters of covering radius, and due to wall and barrier
A series of problems, such as hindering the influence of object, weak multipath, absorption and masking can be brought, and covering is had extremely in elevator & stairs etc.
Angle, to influence its precision.WIFI can only orient a range of mobile device, its motion profile can not be depicted.
WIFI positioning can only reflect mobile device with a distance from AP point, and the position of mobile terminal is at one using AP as the center of circle, distance
In the range of radius, its specific orientation not can reflect.Especially when an AP point covers multiple rooms, it not can reflect
Mobile device is on earth in which room.And WIFI is covered with dead angle, cannot accomplish all standing.
3D acceleration transducer is the motion profile 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.
Therefore, it is necessary to one kind can indoors it is outer seamlessly obtain in real time the pinpoint fusion Beidou of mobile terminal or
The positioning system and localization method of GPS and sensor.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the fusion Beidou 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 for merging Beidou or GPS and sensor, comprising:
At least one WIFI AP, for sending WIFI signal to mobile terminal；
Mobile terminal, at outdoor, real-time reception Beidou 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 received Beidou positioning signal or GPS positioning signal and WIFI are believed
Number it is sent to background server；
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 Beidou positioning signal or GPS positioning signal, WIFI signal to prediction
Motion profile carry out fusion correction, to obtain the real-time positioning system of mobile terminal, be sent to mobile terminal.
Further, WIFI AP is electrically connected to mobile terminal, and mobile terminal is electrically connected to background server.
Further, structure chart in background server locker room, doors structure figure include WIFI AP and interior structure
Figure, which provides reference for acceleration parameter, so that motion of mobile terminals trajectory predictions model is more accurate.
Further, background server stores motion feature algorithm model, the position that background server stores mobile terminal
Confidence breath and acceleration parameter from this moment input in the motion feature algorithm model, establish 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 includes:
Beidou positioning module or GPS positioning module, for receiving real-time reception Beidou positioning signal or GPS positioning signal,
Obtain the location information at each moment；
3D acceleration transducer is used for real-time detection acceleration parameter；
Information storage module, location information and acceleration parameter for real-time storage each moment；
Wireless communication module for the WIFI signal that real-time reception WIFI AP is sent, and is sent to background server.
Further, Beidou positioning module or GPS positioning module, when being also used to indoors, when display positions Success Flag
When, real-time reception Beidou positioning signal or GPS positioning signal and the location information for storing each moment are successfully marked when not showing to position
When will, the acceleration parameter of the location information that the newest moment is stored as indoor initial position and from this moment
It is sent to background server, and received WIFI signal is sent to background server.
Further, mobile terminal further include: positioning switching module, it is fixed for real-time detection Beidou positioning module or GPS
Whether position module shows positioning Success Flag, if display positioning Success Flag, sends to background server and stops calculating signal,
If not showing positioning Success Flag, start to calculate signal to background server transmission.
Further, background server includes wireless communication module, background server module and movement by wireless communication
Terminal electrical connection.
Another aspect of the present invention provides a kind of positioning system based on above-mentioned fusion Beidou or GPS and sensor
The localization method of realization, comprising the following steps:
WIFI signal is sent to mobile terminal using at least one WIFI AP；
Using mobile terminal at outdoor, real-time reception Beidou 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 received Beidou positioning signal or GPS positioning signal and WIFI are believed
Number it is sent to background server；
The location information that is stored using background server according to mobile terminal and acceleration from this moment
Parameter establishes motion of mobile terminals trajectory predictions model, according to Beidou positioning signal or GPS positioning signal, WIFI signal to prediction
Motion profile carry out fusion correction, to obtain the real-time positioning system of mobile terminal, be sent to mobile terminal.
The positioning system and localization method of fusion Beidou or GPS and sensor provided by the invention, with prior art phase
Than with following progress:
1. in the positioning system and localization method of fusion Beidou or GPS and sensor of the invention, when mobile terminal exists
Positioned when outdoor using Beidou, when mobile terminal indoors when utilize Beidou or GPS, 3D acceleration parameter, WIFI
The location information of AP carries out fusion positioning, and the indoor and outdoor that can be realized mobile terminal is accurately positioned incessantly；
2. the positioning system and localization method of fusion Beidou or GPS and sensor of the invention are by interior structure figure
Acceleration parameter provides reference, so that motion of mobile terminals trajectory predictions model is more accurate；
3. in the positioning system and localization method of fusion Beidou or GPS and sensor of the invention, motion feature algorithm
There are many motion feature algorithm models according to the athletic posture of mobile terminal for model, pointedly to establish motion of mobile terminals
Trajectory predictions model improves the precision of the indoor positioning of mobile terminal.
The above description is only an overview of the technical scheme 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, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, 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 that Beidou or the positioning system of GPS and sensor are merged in the embodiment of the present invention；
Fig. 2 is that Beidou or the localization method block diagram of GPS and sensor are merged in the embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail 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
It is fully disclosed 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 term), there is meaning identical with the general understanding of 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 otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Embodiment one
Fig. 1 is the connection block diagram that Beidou or the positioning system of GPS and sensor are merged in the embodiment of the present invention, such as Fig. 1
It is shown, the positioning system of fusion Beidou or GPS and sensor provided by the invention, comprising: at least one WIFI AP is used for
WIFI signal is sent to mobile terminal；Mobile terminal, at outdoor, real-time reception Beidou positioning signal or GPS positioning to be believed
Number and store the location information at each moment, indoors when, location information that the newest moment is stored as indoor initial position with
And acceleration parameter from this moment is sent to background server, and received Beidou positioning signal or GPS are determined
Position signal and WIFI signal are sent to background server；Background server, the location information for being stored according to mobile terminal
And acceleration parameter from this moment establishes motion of mobile terminals trajectory predictions model, according to Beidou positioning signal
Or GPS positioning signal, WIFI signal carry out fusion correction to the motion profile of prediction, to obtain the real-time positioning system of mobile terminal
System, is sent to mobile terminal.WIFI AP is electrically connected to mobile terminal, and mobile terminal is electrically connected to background server.Mobile terminal
Motion profile prediction model is to be precipitated according to the appropriate parametric solution of acceleration of the initial position of mobile terminal and the initial position
Mobile terminal speed and direction, predict subsequent time mobile terminal position, or next several moment mobile terminals
Position, forming position-time diagram.
In practical applications, when mobile terminal indoors when, believed according to Beidou positioning signal or GPS positioning signal, WIFI
Number fusion correction is carried out to the motion profile of prediction, specifically includes following three kinds of situations: first, Beidou positioning signal or GPS are fixed
When the signal stabilization of position, using the location information at each moment in the Beidou positioning signal or GPS positioning signal to the movement rail of prediction
Mark is corrected；Second, Beidou positioning signal or the timing of GPS positioning swinging of signal, the movement first with WIFI signal to prediction
Track carries out fusion correction, in the utilization Beidou positioning signal or GPS positioning signal to the further school of motion profile after correction
Just；When third, Beidou positioning signal or GPS positioning blackout, the movement rail of the position real time correction prediction of WIFI AP is utilized
Mark.
In the positioning system of fusion Beidou of the invention or GPS and sensor, north is utilized when mobile terminal is in outdoor
Bucket positioned, when mobile terminal indoors when utilize Beidou or the location information of GPS, 3D acceleration parameter, WIFI AP
Carry out fusion positioning so that indoors when, automatically switched according to different situation, make optimal selection, can be realized it is mobile eventually
The continual accurate positioning of the indoor and outdoor at end.
Referring to Fig. 1, mobile terminal includes wireless communication module, which includes: the first communication unit, is used for
The WIFI signal that real-time reception WIFI AP is 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, Beidou positioning signal or
GPS positioning signal and WIFI signal are sent to background server, and the second communication unit can be WIFI module, 2G module, 3G
One or more of module, 4G module, bluetooth module, NFC module and RFID module.
Structure chart in background server locker room, doors structure figure include WIFI AP and interior structure figure, the interior structure
It makes figure and provides reference for acceleration parameter, so that motion of mobile terminals trajectory predictions model is more accurate.
In practical applications, acceleration parameter combination interior structure figure such as channel, elevator & stairs and door etc. is predicted
Thus the motion profile of mobile terminal out shows position and motion profile of the mobile terminal in building 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 positioning system of bright fusion Beidou or GPS and sensor, motion feature algorithm model is according to the movement appearance of mobile terminal
There are many motion feature algorithm models for state, pointedly to establish motion of mobile terminals trajectory predictions model, improve mobile whole
The precision of the indoor positioning at end.
Mobile terminal includes: Beidou positioning module or GPS positioning module, for receive real-time reception Beidou positioning signal or
GPS positioning signal obtains the location information at each moment；3D acceleration transducer is used for real-time detection acceleration parameter；Letter
Cease memory module, location information and acceleration parameter for real-time storage each moment；Wireless communication module, for real-time
The WIFI signal that WIFI AP is 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 transducer can
With but be not limited to XL40.
Beidou positioning module or GPS positioning module when being also used to indoors, when display positions Success Flag, connect in real time
Beidou 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 received WIFI signal is sent to background server, mobile terminal further include: positioning switching module is used for
Whether real-time detection Beidou positioning module or GPS positioning module show positioning Success Flag, 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 module is electrically connected background server with mobile terminal by wireless communication
It connects.Wireless communication module includes wireless communication module, 2G module, 3G module, 4G module, bluetooth module, NFC module and RFID mould
One or more of block.
Fig. 2 is the localization method block diagram of fusion Beidou or GPS and sensor in the embodiment of the present invention, as shown in Fig. 2,
The localization method provided by the invention realized based on the positioning system of above-mentioned fusion Beidou or GPS and sensor, including it is following
Step: WIFI signal is sent to mobile terminal using at least one WIFI AP；Using mobile terminal at outdoor, real-time reception
Beidou positioning signal or GPS positioning signal and the location information for storing each moment, indoors when, position that the newest moment is stored
Acceleration parameter of the information as indoor initial position and from this moment is sent to background server, and will receive
Beidou positioning signal or GPS positioning signal and WIFI signal be sent to background server；Using background server according to shifting
The location information of dynamic terminal storage and acceleration parameter from this moment establish motion of mobile terminals trajectory predictions
Model carries out fusion correction to the motion profile of prediction according to Beidou positioning signal or GPS positioning signal, WIFI signal, to obtain
The real-time positioning system for taking mobile terminal, is sent to mobile terminal.
Merge Beidou or the localization method of GPS and sensor further include: utilize the interior being stored in background server
Structure chart provides reference for acceleration parameter, so that motion of mobile terminals trajectory predictions model is more accurate.
For embodiment of the method, since it is substantially similar to Installation practice, so be described relatively simple, it is related
Place illustrates referring to the part of Installation practice.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments 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, comprising: choice of parameters module for real-time reception and will include mobile terminal
The wireless signal of motion state parameters and including fixing 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 will fixed position
The relevant parameter of sensor is sent to motion profile 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
The ambiguous location of mobile terminal on the electronic map out, 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
Motion profile；Motion profile corrects module, for the relevant parameter according to the sensor for fixing position, real time calibration mobile terminal
Location information, to obtain mobile terminal accurate motion profile 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 passes through for detecting motion state of mobile terminal
3D acceleration transducer obtain, the GPS or Beidou that mobile terminal initial position store by mobile terminal mobile end when disappearing
The position at end fixes the relevant parameter packet of the WIFI AP of position during motion of mobile terminals in mobile terminal and movement environment
The address and mobile terminal that include WIFI AP detect the signal strength of the WIFI AP.Motion profile indicates mobile terminal at any time
Between change change in location on the electronic map.Fixed in movement environment the sensor of position for example can with when smart home in
Detection signal to mobile terminal carrier is sent to choice of parameters by the infrared sensor such as infrared sensor, door status sensor
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, move 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 transducer accelerates when obtaining motion of mobile terminals
The frequency and amplitude of degree, acceleration transducer placement location is different, acquires acceleration of the 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 transducer
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, while the Structure Comparison with building, whether have door herein or turn right in the channel it is curved, if any just existing
Showed access on map door or turn right it is curved, such as be straight channel herein, then this athletic posture is not shown on map, but
See subsequent athletic posture.
Background server of the invention is by fixing 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 for the WIFI AP that position is fixed in border calibrates the ambiguous location, to obtain mobile terminal in electronic map
On motion profile.
Moving track calculation module further include: WIFI AP information database, for store WIFI AP position and
The signal strength of WIFI AP and the coverage area relation information of WIFI AP.
Moving track calculation module further include: WIFI AP information database real-time update unit, for receiving mobile terminal
The WIFI AP information detected judges the WIFI AP information database 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 data
Library, for calibrating ambiguous location.Specifically, if there is new WIFI AP in interior, signal strength can 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 can be set to 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 quasi-.
Background server of the invention can add automatically WIFI by WIFI AP information database real-time update unit
The WIFI AP not having in AP information database is fixed in mobile terminal and 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 include: WIFI AP information preferred cell, for selecting and showing letter on mobile terminal
Number intensity calibrates the ambiguous location in the WIFI AP of 60dbm or more.Background server of the 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 correction module, for according to motion of mobile terminals shape
The historical data correction motion characteristics algorithm model of state parameter.Motion feature algorithm model correction module is electrically connected to motion profile
Computing module.Background server of the invention is joined using motion feature algorithm model correction module according to motion state of mobile terminal
Several historical data correction motion characteristics algorithm models, enables revised motion feature algorithm model to more precisely compute
The ambiguous location of mobile terminal on the electronic map out.
Motion feature algorithm model correction 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 it is special to establish different acceleration model and movement according to different classes of acceleration parameter
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
Different motion feature algorithm models is answered, 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, for by 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 motion profile and correct module；And it is mobile terminal is accurate on the electronic map
Motion profile sends back mobile terminal.Wireless communication module includes 2G module, 3G module, 4G module, 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, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention 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 Beidou or GPS and sensor characterized by comprising
At least one WIFI AP, for sending WIFI signal to mobile terminal；
Mobile terminal, at outdoor, real-time reception Beidou 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 received Beidou positioning signal or GPS positioning signal and WIFI signal are sent out
It send to background server；
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, according to Beidou positioning signal or GPS positioning signal, WIFI signal to the fortune of prediction
Dynamic rail mark carries out fusion correction, to obtain the real-time positioning system of mobile terminal, is sent to mobile terminal.
2. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that WIFI AP
It is electrically connected to mobile terminal, mobile terminal is electrically connected to background server.
3. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that backstage takes
Structure chart in the locker room Wu Qi, doors structure figure include WIFI AP and interior structure figure, which is acceleration arrow
It measures parameter and reference is provided, so that motion of mobile terminals trajectory predictions model is more accurate.
4. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that backstage takes
Device of being engaged in stores motion feature algorithm model, location information that background server stores mobile terminal and from this moment
Acceleration parameter inputs in the motion feature algorithm model, establishes motion of mobile terminals trajectory predictions model.
5. the positioning system of fusion Beidou according to claim 4 or GPS and sensor, which is characterized in that movement is special
Levying algorithm model, there are many motion feature algorithm models according to the athletic posture of mobile terminal.
6. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that mobile whole
End includes:
Beidou positioning module or GPS positioning module are obtained for receiving real-time reception Beidou positioning signal or GPS positioning signal
The location information at each moment；
3D acceleration transducer is used for real-time detection acceleration parameter；
Information storage module, location information and acceleration parameter for real-time storage each moment；
Wireless communication module for the WIFI signal that real-time reception WIFI AP is sent, and is sent to background server.
7. the positioning system of fusion Beidou according to claim 6 or GPS and sensor, which is characterized in that Beidou is fixed
Position module or GPS positioning module, when being also used to indoors, when display positions Success Flag, real-time reception Beidou positioning signal
Or GPS positioning signal and the location information for storing each moment, when not showing positioning Success Flag, position that the newest moment is stored
Acceleration parameter of the confidence breath as indoor initial position and from this moment is sent to background server, and will connect
The WIFI signal of receipts is sent to background server.
8. the positioning system of fusion Beidou according to claim 7 or GPS and sensor, which is characterized in that mobile whole
End further include: positioning switching module is successfully marked for whether real-time detection Beidou positioning module or GPS positioning module to show to position
Will, if display positioning Success Flag, sends to background server and stops calculating signal, if not showing positioning Success Flag,
Start to calculate signal to background server transmission.
9. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that backstage takes
Business device includes wireless communication module, and module is electrically connected background server with mobile terminal by wireless communication.
10. a kind of positioning side that the positioning system based on fusion Beidou described in claim 1 or GPS and sensor is realized
Method, which comprises the following steps:
WIFI signal is sent to mobile terminal using at least one WIFI AP；
Using mobile terminal at outdoor, real-time reception Beidou 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 received Beidou positioning signal or GPS positioning signal and WIFI signal are sent out
It send to background server；
The location information that is stored using background server according to mobile terminal and acceleration parameter from this moment
Motion of mobile terminals trajectory predictions model is established, according to Beidou positioning signal or GPS positioning signal, WIFI signal to the fortune of prediction
Dynamic rail mark carries out fusion correction, to obtain the real-time positioning system of mobile terminal, is sent to mobile terminal.
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