CN114302319A - Optimized triangulation positioning method and system based on visual configuration base station - Google Patents
Optimized triangulation positioning method and system based on visual configuration base station Download PDFInfo
- Publication number
- CN114302319A CN114302319A CN202111433716.7A CN202111433716A CN114302319A CN 114302319 A CN114302319 A CN 114302319A CN 202111433716 A CN202111433716 A CN 202111433716A CN 114302319 A CN114302319 A CN 114302319A
- Authority
- CN
- China
- Prior art keywords
- wireless
- base station
- wireless base
- base stations
- algorithm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 47
- 238000004364 calculation method Methods 0.000 claims abstract description 16
- 239000011159 matrix material Substances 0.000 claims description 12
- 230000002238 attenuated effect Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention provides an optimized triangulation location method and system based on a visual configuration base station, which specifically comprise the following steps: acquiring indoor drawings, performing visual display, calculating the number of wireless base stations according to the indoor area and the parameters of the wireless base stations, and determining the positions of the wireless base stations on the visual indoor drawings; setting a distance calculation algorithm of a wireless base station and wireless equipment; selecting at least three wireless base stations according to a triangulation algorithm, acquiring the distances between the wireless base stations and wireless equipment, and drawing a circular area and an intersection area thereof by taking the distances as radiuses; and solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment. The invention solves the problems that when a GPS receiver receives signals indoors, the signals are greatly attenuated due to the influence of obstacles, the positioning precision is reduced, and the requirement of indoor positioning service cannot be met.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an optimized triangulation positioning method and system based on a visual configuration base station.
Background
GPS is the most widely used positioning technology at present, however, when the GPS receiver is working indoors, the positioning accuracy is also degraded because the signal is greatly attenuated by the influence of buildings, and it is very difficult to achieve the same effect as outdoor by extracting navigation data and time information from satellite broadcasting. Therefore, it is necessary to extend the outdoor positioning technology, and solve the problem that the traditional satellite positioning data of large indoor places such as various exhibition halls, museums, scenic spots and the like cannot be covered or is inaccurate.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an optimized triangular positioning method and system based on a visual configuration base station, which solve the problem of GPS indoor attenuation, realize the coverage of positioning data of large indoor places such as various exhibition halls, museums, scenic spots and the like and improve the positioning accuracy.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
an optimized triangulation location method based on a visual configuration base station specifically comprises the following steps:
s1, acquiring indoor drawings, performing visual display, calculating the number of the wireless base stations according to the indoor area and the parameters of the wireless base stations, and determining the positions of the wireless base stations on the visual indoor drawings;
s2, setting a distance calculation algorithm between the wireless base station and the wireless equipment;
s3, selecting at least three wireless base stations according to a triangulation algorithm, obtaining the distances between the wireless base stations and wireless equipment, and drawing a circular area and an intersection area thereof by taking the distances as radii;
and S4, solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment.
Preferably, the distance calculation algorithm between the wireless base station and the wireless device in step S2 specifically refers to:
determining the distance between the wireless base station and the wireless device according to the signal strength of the wireless base station, and the relation between the signal strength and the distanceAccording to the formula: pR＝P0-10 γ log (d), wherein PRIs the signal strength, P, of the radio base station0γ is a dielectric constant, and d is a distance.
Preferably, the step S4 of solving by using a non-linear least squares algorithm to obtain the calculated value of the coordinates of the wireless device specifically includes the following steps:
the following equation set is established according to the intersection region in step 3
Subtracting the nth equation from the first n-1 equations in sequence to obtain a matrix representation AX ═ b;
wherein
Solving the matrix by adopting a least square algorithm, namely solving the minimum value of AX-b two norms
Obtaining X ═ ATA)-1 ATb, wherein X is a coordinate calculation value of the wireless device.
Preferably, the wireless base station and the wireless device perform wireless communication through bluetooth, WiFi or ZigBee.
An optimized triangulation location system based on visual configuration base stations comprises an intelligent navigation location management system, a plurality of wireless base stations and wireless terminals, wherein the wireless base stations are in wireless connection with the wireless terminals;
the intelligent navigation positioning management system is used for visually displaying an indoor drawing, calculating the number of the wireless base stations according to the indoor area and the parameters of the wireless base stations, and simulating and determining the positions of the wireless base stations on the visual indoor drawing; selecting at least three wireless base stations according to a triangulation algorithm, calculating the distance between the wireless base stations and wireless equipment according to a distance calculation algorithm, and drawing a circular area and an intersection area thereof by taking the distance as a radius; and solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment.
Preferably, the calculating the distance between the wireless base station and the wireless device according to the distance calculation algorithm specifically includes:
determining the distance between the wireless base station and the wireless equipment according to the signal strength of the wireless base station, wherein the relation between the signal strength and the distance conforms to the formula: pR＝P0-10 γ log (d), wherein PRIs the signal strength, P, of the radio base station0γ is a dielectric constant, and d is a distance.
Preferably, solving by using a nonlinear least squares algorithm to obtain a coordinate calculation value of the wireless device specifically means:
the equations are set up according to the intersection region as follows
Subtracting the nth equation from the first n-1 equations in sequence to obtain a matrix representation AX ═ b;
wherein
Solving the matrix by adopting a least square algorithm, namely solving the minimum value of AX-b two norms
Obtaining X ═ ATA)-1 ATb, wherein X is a coordinate calculation value of the wireless device.
Preferably, the wireless base station and the wireless device perform wireless communication through bluetooth, WiFi or ZigBee.
Preferably, the intelligent navigation positioning management system is installed on the wireless terminal and the server, the wireless terminal acquires the signal intensity of the wireless base station and transmits the signal intensity to the intelligent navigation positioning management system, and the intelligent navigation positioning management system outputs the real-time position of the wireless terminal and displays the position of the wireless terminal on an indoor drawing; the wireless terminal is also used for selecting a terminal point on the indoor drawing to start navigation;
the server acquires the RSSI data packet from the wireless base station, and the real-time position of the wireless terminal is calculated and displayed through the intelligent navigation positioning management system so as to be conveniently monitored and checked in a centralized manner.
The invention has the beneficial effects that: the problem of GPS receiver when indoor received signal, because receive the barrier influence and attenuate greatly, positioning accuracy reduces, can't satisfy the demand of indoor location service is solved, adopts a visual mode, deploys wireless base station indoor, extends outdoor positioning technology, provides more accurate indoor location service.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an optimized triangulation method based on a visual configuration base station according to the invention;
FIG. 2a is a diagram of signal strength when the wireless terminal is far away from the wireless base station, and FIG. 2b is a diagram of signal strength when the wireless terminal is near the wireless base station;
FIG. 3 is a schematic diagram of a signal strength versus distance distribution;
FIG. 4 is a schematic view of spatial triangulation;
fig. 5 is a schematic block diagram of an optimized triangulation system based on visual configuration of base stations.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the present invention provides an optimized triangulation location method based on a visual configuration base station, which specifically includes the following steps:
s1, acquiring indoor drawings, performing visual display, calculating the number of the wireless base stations according to the indoor area and the parameters of the wireless base stations, and determining the positions of the wireless base stations on the visual indoor drawings;
s2, setting a distance calculation algorithm between the wireless base station and the wireless equipment;
the distance calculation algorithm between the wireless base station and the wireless device in step S2 specifically includes:
the signal strength of the wireless base station is determined according to the signal strengthDistance from the wireless device, the further the distance, the weaker the signal strength: the closer the distance, the stronger the signal strength: the relationship between signal strength and distance follows the formula: pR＝P0-10 γ log (d), wherein PRIs the signal strength, P, of the radio base station0γ is a dielectric constant, and d is a distance.
S3, selecting at least three wireless base stations according to a triangulation algorithm, obtaining the distances between the wireless base stations and wireless equipment, and drawing a circular area and an intersection area thereof by taking the distances as radii; combining a triangulation positioning algorithm, adopting a nonlinear least square optimization algorithm to solve the n-D space triangulation calculation problem and realize indoor positioning; a localization algorithm that solves the n-D triangulation problem using nonlinear least squares optimization:
double[][]positions＝newdouble[][]{{5.0,-6.0},{13.0,-15.0},{21.0,-3.0},{12.4,-21.2}}；
double[]distances＝newdouble[]{8.06,13.97,23.32,15.31}；
NonLinearLeastSquaresSolver solver＝new NonLinearLeastSquaresSolver(newTrilaterationFunction(positions,distances),newLevenbergMarquardtOptimizer())；
Optimumoptimum＝solver.solve()；
double[]centroid＝optimum.getPoint().toArray()；
RealVectorstandardDeviation＝optimum.getSigma(0)；
RealMatrixcovarianceMatrix＝optimum.getCovariances(0)；
the optimized algorithm is to provide at least more than three effective base station information, such as A, B, C three base stations, the distances from the three base stations to an unknown positioning point are R1, R2 and R3 respectively, three intersected circles can be drawn by taking the coordinates of the three base stations as the circle center and the distances from the three base stations to the unknown terminal as the radius, and the coordinates of the unknown positioning point are the intersection points of the three circles. In actual positioning, due to the error of the signal distance, three circles do not intersect at one point but intersect at one area, and in this case, the solution is performed by using the least square method.
And S4, solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment.
Step S4 specifically includes the following steps:
the following equation set is established according to the intersection region in step 3
Subtracting the nth equation from the first n-1 equations in sequence to obtain a matrix representation AX ═ b;
wherein
Solving the matrix by adopting a least square algorithm, namely solving the minimum value of AX-b two norms
Obtaining X ═ ATA)-1 ATb, wherein X is a coordinate calculation value of the wireless device.
Preferably, the wireless base station and the wireless device perform wireless communication through bluetooth, WiFi or ZigBee.
As shown in fig. 5, the present invention further provides an optimized triangulation location system based on a visually configured base station, which includes an intelligent navigation location management system, a plurality of wireless base stations and a wireless terminal, wherein the wireless base stations are wirelessly connected to the wireless terminal;
the intelligent navigation positioning management system is used for visually displaying an indoor drawing, calculating the number of the wireless base stations according to the indoor area and the parameters of the wireless base stations, and simulating and determining the positions of the wireless base stations on the visual indoor drawing; selecting at least three wireless base stations according to a triangulation algorithm, calculating the distance between the wireless base stations and wireless equipment according to a distance calculation algorithm, and drawing a circular area and an intersection area thereof by taking the distance as a radius; and solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment.
Preferably, the calculating the distance between the wireless base station and the wireless device according to the distance calculation algorithm specifically includes:
determining the distance between the wireless base station and the wireless equipment according to the signal strength of the wireless base station, wherein the relation between the signal strength and the distance conforms to the formula: pR＝P0-10 γ log (d), wherein PRIs the signal strength, P, of the radio base station0γ is a dielectric constant, and d is a distance.
Preferably, solving by using a nonlinear least squares algorithm to obtain a coordinate calculation value of the wireless device specifically means:
the equations are set up according to the intersection region as follows
Subtracting the nth equation from the first n-1 equations in sequence to obtain a matrix representation AX ═ b;
wherein
Solving the matrix by adopting a least square algorithm, namely solving the minimum value of AX-b two norms
Obtaining X ═ ATA)-1 ATb, wherein X is a coordinate calculation value of the wireless device.
Preferably, the wireless base station and the wireless device perform wireless communication through bluetooth, WiFi or ZigBee.
Preferably, the intelligent navigation positioning management system is installed on the wireless terminal and the server, the wireless terminal acquires the signal intensity of the wireless base station and transmits the signal intensity to the intelligent navigation positioning management system, and the intelligent navigation positioning management system outputs the real-time position of the wireless terminal and displays the position of the wireless terminal on an indoor drawing; the wireless terminal is also used for selecting a terminal point on the indoor drawing to start navigation; the wireless terminal continuously acquires the signal intensity of different wireless base stations, displays the real-time position on the intelligent navigation positioning management system and experiences indoor positioning. In addition, the intelligent navigation positioning management system can also be configured with a recommended route.
The server acquires the RSSI data packet from the wireless base station, and the real-time position of the wireless terminal is calculated and displayed through the intelligent navigation positioning management system so as to be conveniently monitored and checked in a centralized manner. If some users lose the articles, the positions of the articles can be acquired through the wireless base station.
The server acquires RSSI data from the wireless base station, and the intelligent navigation positioning management system also performs Kalman filtering processing on the acquired signal strength data so as to reduce the volatility and the error of the signal strength RSSI data. If more than three wireless base stations acquire RSSI data corresponding to the lost object, judging the size of the lost object, if the volume of the lost object is larger than a set threshold value, selecting the three largest numerical values in the RSSI data, calculating the position of the lost object through a triangular positioning algorithm and a nonlinear least square algorithm, and if the volume of the lost object is smaller than the set threshold value, calculating the position of the lost object by adopting a position fingerprint algorithm. The position fingerprint algorithm needs to establish a coordinate system on an indoor drawing in advance, a grid area is divided, each point of a grid is a fingerprint point, a wireless terminal is arranged on the divided fingerprint point, a wireless base station starts to detect RSSI data of the wireless terminal on the fingerprint point, and a position fingerprint database is established. When the position of the lost article is calculated by adopting a position fingerprint algorithm, a fingerprint point which is closest to the received RSSI data in a position fingerprint database is compared to be used as the position of the lost article, and the matching comparison comprises that the wireless base station can calculate the position of the lost article according to the period f0Transmitting signals, selecting m RSSI values from the filtered RSSI data to compare with a position fingerprint database, wherein m is less than 1/f0Setting the RSSI value collected at the current time as RtThe RSSI value collected at the last moment is Rt-1Calculating the mean value Rt'＝αRt+(1-α)Rt-1Is set at a positionThe RSSI data of the fingerprint points stored in the fingerprint database is R0And calculating Δ R ═ Rt'-R0Solving for the nearest R0The corresponding coordinates of the fingerprint points are recorded as the positions of lost objects. Since the position of the lost object is generally fixed, α is taken to be 0.5, and if the position fingerprint database is applied to find lost children or old people, the value of α can be increased to 2/3.
The invention has the beneficial effects that: the problem of GPS receiver when indoor received signal, because receive the barrier influence and attenuate greatly, positioning accuracy reduces, can't satisfy the demand of indoor location service is solved, adopts a visual mode, deploys wireless base station indoor, extends outdoor positioning technology, provides more accurate indoor location service.
In light of the foregoing description of the preferred embodiments of the present invention, those skilled in the art can now make various alterations and modifications without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. An optimized triangulation location method based on a visual configuration base station is characterized by specifically comprising the following steps:
s1, acquiring indoor drawings, performing visual display, calculating the number of the wireless base stations according to the indoor area and the parameters of the wireless base stations, and determining the positions of the wireless base stations on the visual indoor drawings;
s2, setting a distance calculation algorithm between the wireless base station and the wireless equipment;
s3, selecting at least three wireless base stations according to a triangulation algorithm, obtaining the distances between the wireless base stations and wireless equipment, and drawing a circular area and an intersection area thereof by taking the distances as radii;
and S4, solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment.
2. The method according to claim 1, wherein the algorithm for calculating the distance between the wireless base station and the wireless device in step S2 specifically refers to:
determining the distance between the wireless base station and the wireless equipment according to the signal strength of the wireless base station, wherein the relation between the signal strength and the distance conforms to the formula: pR＝P0-10 γ log (d), wherein PRIs the signal strength, P, of the radio base station0γ is a dielectric constant, and d is a distance.
3. The method according to claim 1, wherein the step S4 of solving by using a nonlinear least squares algorithm to obtain the calculated coordinates of the wireless device comprises the following steps:
the following equation set is established according to the intersection region in step 3
Subtracting the nth equation from the first n-1 equations in sequence to obtain a matrix representation AX ═ b; wherein
Solving the matrix by adopting a least square algorithm, namely solving the minimum value of AX-b two norms
Obtaining X ═ ATA)-1ATb, wherein X is a coordinate calculation value of the wireless device.
4. The optimized triangulation method based on visually configured base stations as claimed in any of claims 1-3, wherein the wireless base station and the wireless device communicate wirelessly via Bluetooth, WiFi or ZigBee.
5. An optimized triangulation location system based on visual configuration base stations is characterized by comprising an intelligent navigation location management system, a plurality of wireless base stations and wireless terminals, wherein the wireless base stations are in wireless connection with the wireless terminals;
the intelligent navigation positioning management system is used for visually displaying an indoor drawing, calculating the number of the wireless base stations according to the indoor area and the parameters of the wireless base stations, and simulating and determining the positions of the wireless base stations on the visual indoor drawing; selecting at least three wireless base stations according to a triangulation algorithm, calculating the distance between the wireless base stations and wireless equipment according to a distance calculation algorithm, and drawing a circular area and an intersection area thereof by taking the distance as a radius; and solving by adopting a nonlinear least square algorithm to obtain a coordinate calculation value of the wireless equipment.
6. The optimized triangulation system based on visually configured base stations as claimed in claim 5, wherein the calculating of the distance between the wireless base station and the wireless device according to the distance calculation algorithm specifically means:
determining the distance between the wireless base station and the wireless equipment according to the signal strength of the wireless base station, wherein the relation between the signal strength and the distance conforms to the formula: pR＝P0-10 γ log (d), wherein PRIs the signal strength, P, of the radio base station0γ is a dielectric constant, and d is a distance.
7. The optimized triangulation positioning system based on visual configuration base stations as claimed in claim 5, wherein the solving is performed by using a nonlinear least squares algorithm, and the obtaining of the calculated coordinate value of the wireless device specifically means:
the equations are set up according to the intersection region as follows
Subtracting the nth equation from the first n-1 equations in sequence to obtain a matrix representation AX ═ b; wherein
Solving the matrix by adopting a least square algorithm, namely solving the minimum value of AX-b two norms
Obtaining X ═ ATA)-1ATb, wherein X is a coordinate calculation value of the wireless device.
8. The optimized triangulation system based on visual configuration base station according to any of the claims 5 to 7 characterized in that the wireless base station and the wireless device communicate wirelessly via Bluetooth, WiFi or ZigBee.
9. The optimized triangulation positioning system based on visual configuration base station as claimed in claim 5, wherein the intelligent navigation positioning management system is installed on a wireless terminal and a server, the wireless terminal acquires the signal intensity of the wireless base station and transmits the signal intensity to the intelligent navigation positioning management system, the intelligent navigation positioning management system outputs the real-time position of the wireless terminal, and displays the position of the wireless terminal on an indoor drawing; the wireless terminal is also used for selecting a terminal point on the indoor drawing to start navigation;
the server acquires the RSSI data packet from the wireless base station, and the real-time position of the wireless terminal is calculated and displayed through the intelligent navigation positioning management system so as to be conveniently monitored and checked in a centralized manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111433716.7A CN114302319A (en) | 2021-11-29 | 2021-11-29 | Optimized triangulation positioning method and system based on visual configuration base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111433716.7A CN114302319A (en) | 2021-11-29 | 2021-11-29 | Optimized triangulation positioning method and system based on visual configuration base station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114302319A true CN114302319A (en) | 2022-04-08 |
Family
ID=80964838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111433716.7A Pending CN114302319A (en) | 2021-11-29 | 2021-11-29 | Optimized triangulation positioning method and system based on visual configuration base station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114302319A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102752855A (en) * | 2012-08-01 | 2012-10-24 | 重庆大学 | Indoor personnel positioning system and method based on path rule and prediction |
| CN104869555A (en) * | 2015-04-23 | 2015-08-26 | 杭州华三通信技术有限公司 | Processing method and apparatus based on terminal roaming |
| CN105247384A (en) * | 2013-04-12 | 2016-01-13 | 惠普发展公司，有限责任合伙企业 | Distance determination of a mobile device |
| CN108650623A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | A kind of intelligent personnel visibility's management method based on UWB indoor location technology |
| CN109195099A (en) * | 2018-07-06 | 2019-01-11 | 广东工业大学 | A kind of indoor orientation method merged based on iBeacon and PDR |
| CN109525937A (en) * | 2018-12-13 | 2019-03-26 | 山东清博智能科技有限公司 | The indoor positioning management system and its localization method of integrated multiple positioning modes |
-
2021
- 2021-11-29 CN CN202111433716.7A patent/CN114302319A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102752855A (en) * | 2012-08-01 | 2012-10-24 | 重庆大学 | Indoor personnel positioning system and method based on path rule and prediction |
| CN105247384A (en) * | 2013-04-12 | 2016-01-13 | 惠普发展公司，有限责任合伙企业 | Distance determination of a mobile device |
| CN104869555A (en) * | 2015-04-23 | 2015-08-26 | 杭州华三通信技术有限公司 | Processing method and apparatus based on terminal roaming |
| CN108650623A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | A kind of intelligent personnel visibility's management method based on UWB indoor location technology |
| CN109195099A (en) * | 2018-07-06 | 2019-01-11 | 广东工业大学 | A kind of indoor orientation method merged based on iBeacon and PDR |
| CN109525937A (en) * | 2018-12-13 | 2019-03-26 | 山东清博智能科技有限公司 | The indoor positioning management system and its localization method of integrated multiple positioning modes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Shchekotov | Indoor localization method based on Wi-Fi trilateration technique | |
| EP2805176B1 (en) | Improved positioning system | |
| CA2574794C (en) | Apparatus and method for determining a current position of a mobile device | |
| CN106814345B (en) | It is easy to data acquisition and high-precision indoor orientation method | |
| CN103179661B (en) | Indoor orientation method and device based on WLAN | |
| US9451404B2 (en) | System and method for determining a position of a mobile unit | |
| US9949079B2 (en) | Method of and system for estimating position | |
| US9763219B2 (en) | Method of estimating position of user device | |
| CN105938189B (en) | Multi-person cooperation type floor positioning method and system | |
| CN106341887B (en) | A kind of Position Method for Indoor Robot and device | |
| CN113923596B (en) | Indoor positioning method, device, equipment and medium | |
| CN103162683A (en) | Apparatus and method for performing map matching | |
| CN108156580B (en) | Indoor floor positioning method based on smart phone | |
| CN112911514A (en) | Evacuation navigation method and device based on Bluetooth positioning and computer equipment | |
| EP3255451B1 (en) | Enabling improved user experience with location estimates | |
| CN106604236A (en) | Indoor positioning system | |
| CN108731662A (en) | Three-dimensional positioning device and method | |
| US9210543B2 (en) | Apparatus for determining indoor location and method for determining indoor location in multi-story building using the same | |
| CN114485656A (en) | Indoor positioning method and related device | |
| CN105592418A (en) | Method for accurately positioning AR glasses indoors in virtue of WIFI and G-sensor | |
| CN105044659A (en) | Indoor positioning device based on environment spectrum fingerprint | |
| CN107105411A (en) | A kind of mobile intelligent terminal track monitoring system and method based on intelligent switch panel | |
| CN111654816B (en) | Method for displaying non-penetrating barrier by Bluetooth indoor positioning point | |
| CN114302319A (en) | Optimized triangulation positioning method and system based on visual configuration base station | |
| KR20220077542A (en) | Indoor location idendifying system based on wireless communication signal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |