CN102075936A - Positioning method and terminal - Google Patents
Positioning method and terminal Download PDFInfo
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- CN102075936A CN102075936A CN2010106090785A CN201010609078A CN102075936A CN 102075936 A CN102075936 A CN 102075936A CN 2010106090785 A CN2010106090785 A CN 2010106090785A CN 201010609078 A CN201010609078 A CN 201010609078A CN 102075936 A CN102075936 A CN 102075936A
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- terminal
- location
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- positioning
- height
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention relates to a positioning method and a terminal. The method comprises the following steps of: judging whether the terminal is in an indoor environment or not; and when the terminal is in the indoor environment, positioning the indoor height of the terminal by a first positioning mode and/or positioning the indoor level of the terminal by a second positioning mode. The indoor height of the terminal is positioned by a pneumatic height gauge or an air pressure gauge and/or the indoor level of the terminal is positioned in combination with a height positioning result. By the two positioning modes, the problem of different requirements on height, the positioning accuracy of a horizontal plane and positioning delay time in indoor navigation positioning service is solved, positioning accuracy is enhanced, positioning delay time is shortened, user experience of indoor navigation positioning is improved and various application requirements of indoor navigation positioning and the like are met.
Description
Technical field
The present invention relates to the location and navigation technology field, relate in particular to a kind of localization method and terminal.
Background technology
The radio-positioning navigation technology is used widely at commercial field, mainly comprise satellite positioning tech, GPS (Global Position System) (Global Positioning System for example, GPS), the base station location technology, for example at 3GPP (3rd Generation Partnership Project, third generation affiliate) LBS (Location-Based Service) of the LCS (Location Service) of tissue release and LPP (LTE Positioning Protocol) or IEEE802.16e/m release, wireless location technology based on WLAN (wireless local area network) or individual's net, WIFI (Wireless Fidelity for example, WiMAX), bluetooth, infrared ray location technology etc., and radio frequency identification (Radio Frequency Identification, RFID) location technology.These location technologies extensively are used in people's daily life, and location technology combines with navigation Service usually, thereby the navigator fix technology that is otherwise known as, and provides the system of respective service to be called navigation positioning system.
Usually positioning service has two kinds of system configurations, and a kind of is that the user's (equipment of its use can be described as subscriber equipment) who needs positioning service positions (target terminal is a subscriber equipment) to himself; Another kind is the position that subscriber equipment passes through service network request target terminal.Usually, do not have the terminal of base station communication ability can only use preceding a kind of system configuration, promptly can only provide the service that self is positioned; Terminal with base station communication ability then both can provide self had been positioned, and also can provide positioning service for other user terminal.
With global position system and base station navigation system is that the wireless location system of representative adopts radio wave to position, and it can provide the position (for example use coordinate representation, typical horizontal coordinate is made of longitude and latitude) of the height and the horizontal plane of target object.Height and horizontal plane locating accuracy are subjected to the constraint of location technology, in general, adopt the gps satellite location technology, the precision that outdoor objects is positioned approximately is 10 meters, and adopting the base station location technology that outdoor objects is positioned it, to decide high accuracy approximately be 50 meters.
And radio wave in the air signal can decline, when running into barrier, also can reflect, reflect.When radio wave during in indoor propagation, at this time wireless signal is often run into barriers such as body of wall, and significantly decay and refraction can take place the signal that penetrates, and when being reflected by body of wall, the path can significantly change.Thereby, when the wireless signal that uses satellite or base station to send positions, because the decay of wireless signal, reflection and refraction, can cause receiver (for example mobile phone) can't normally receive signal, and receive under the clog-free situation of time ratio that signal also may signal arrives slower, that is to say that signal is probably by reflection, longer path such as refraction arrives receiver, and the signal of same transmitter may arrive receiver through mulitpath, these can cause the distance between transmitter and the receiver to be difficult to be estimated exactly, thereby cause declining to a great extent of positioning accuracy.Moreover, indoor positioning to the requirement of precision also far above outdoor location, usually, outdoor positioning accuracy just can satisfy the needs that this quasi-representative of picture navigation is used about 10 meters, yet, indoor positioning must navigate to concrete floor (precision is less than 3 meters), and then navigates to concrete room, could satisfy navigation and wait the needs of using.And in fact, even adopt some more advanced localization methods, for example GPS and base station positioning combination are got up to carry out A-GPS (Assisted GPS, the assistant GPS) method of alignment by union, its indoor position accuracy can not satisfy the needs of indoor navigation location far away also just 20～50 meters scopes.
Summary of the invention
Main purpose of the present invention is to provide a kind of localization method and terminal, is intended to improve the precision of indoor positioning.
In order to achieve the above object, the present invention proposes a kind of localization method, comprising:
Judge whether terminal is in indoor environment;
When described terminal is in indoor environment, described terminal is carried out the chamber height location and/or by second locate mode described terminal carried out the indoor horizontal location by first locate mode.
Preferably, described first locate mode comprises that using analog altimeter or barometer to carry out height locatees; Described second locate mode comprises combination or does not carry out horizontal location in conjunction with the result who highly locatees.
Preferably, describedly described terminal is carried out also comprising before the chamber height localization step by first locate mode:
Described analog altimeter or barometer are calibrated.
Preferably, to described analog altimeter or barometer carry out calibrating mode comprise following one of at least: calibrate according to user's input, calibrate according to the radio position finding radio directional bearing technology, calibrate, calibrate according to the data of adjacent end according to the data of adjacent base station; Wherein, radio position finding radio directional bearing technology comprise following one of at least: satellite positioning tech, base station location technology, WLAN (wireless local area network)/individual network technology and radio frequency identification technology.
Preferably, described first locate mode comprises the height that obtains described terminal according to analog altimeter or barometrical measured value and assisted calibration calculation of parameter; Described assisted calibration parameter comprise following one of at least: the temperature at the temperature at the analog altimeter at the height of adjacent base station, adjacent base station place or barometrical measured value, target terminal place, the humidity at target terminal place, adjacent base station place and the humidity at adjacent base station place.
Preferably, described first locate mode comprises that also using the radio position finding radio directional bearing technology to carry out height locatees.
Preferably, describedly described terminal is carried out chamber height location and/or described terminal is carried out also comprising after the indoor horizontal localization step by second locate mode by first locate mode:
Described terminal is obtained local building map;
Show positioning result in conjunction with local building map.
Preferably, the local building map of described combination shows that the step of positioning result also comprises afterwards:
The described positioning result that shows is revised/calibrated.
Preferably, the described terminal mode of obtaining local building map comprises: described terminal is obtained local building map by near base station and/or core net; The authority that described base station and/or core net are obtained local building map by terminal iidentification and/or user ID to described terminal is controlled.
Preferably, described base station is a Home eNodeB; Described Home eNodeB and/or core net are controlled by the authority that access control lists obtains local building map to described terminal.
Preferably, describedly carry out horizontal location in conjunction with the result who highly locatees and comprise:
According to the result who highly locatees the data source of horizontal location is screened and/or filtration and/or weighting; The data source of described horizontal location comprise following one of at least: satellite location data, base station locator data, WLAN (wireless local area network)/individual net locator data, radio frequency identification locator data.
Preferably, describedly described terminal is carried out also comprising before the chamber height localization step by first locate mode:
Station-keeping mode in the priming chamber; Station-keeping mode comprises and manually boots the indoor positioning pattern in the described priming chamber, and/or station-keeping mode in the automatic priming chamber of described terminal.
Preferably, describedly judge terminal also comprises after whether being in the step of indoor environment:
When described terminal is in outdoor environment, priming chamber outside fix pattern; Described priming chamber outside fix pattern comprises and manually boots outdoor station-keeping mode, and/or the automatic priming chamber outside fix of described terminal pattern.
Preferably, this method also comprises: the priority according to described first locate mode and described second locate mode is carried out the indoor or outdoors location to described terminal.
The present invention also proposes a kind of locating terminal, comprising:
Judge module is used to judge whether terminal is in indoor environment;
The indoor positioning module is used for when described terminal is in indoor environment, by first locate mode described terminal is carried out the chamber height location and/or by second locate mode described terminal is carried out the indoor horizontal location; Described first locate mode comprises uses analog altimeter or barometer to carry out the height location; Described second locate mode comprises combination or does not carry out horizontal location in conjunction with the result who highly locatees.
Preferably, described terminal also comprises:
Calibration module is used for described analog altimeter or barometer are calibrated.
Preferably, described terminal also comprises:
The map acquisition module is used to obtain local building map;
Map display module is used for showing positioning result in conjunction with local building map.
Preferably, described terminal also comprises:
Start module, be used for when described terminal is in indoor environment, station-keeping mode in the priming chamber; Perhaps when described terminal is in outdoor environment, priming chamber outside fix pattern.
A kind of localization method and terminal that the present invention proposes, use analog altimeter or barometer that terminal is carried out the chamber height location and/or in conjunction with the result who highly locatees terminal carried out horizontal location, by two kinds of locate modes solved in the indoor navigation positioning service to height with to horizontal plane locating accuracy and the different problem of location requirement time of delay, when improving positioning accuracy, reduce the time that the location postpones, improve the indoor navigation located subscriber and experienced, thereby satisfied various demands of applications such as indoor navigation location.
Description of drawings
Fig. 1 is localization method one an embodiment schematic flow sheet of the present invention;
Fig. 2 is another embodiment schematic flow sheet of localization method of the present invention;
Fig. 3 is locating terminal one an example structure schematic diagram of the present invention;
Fig. 4 is another example structure schematic diagram of locating terminal of the present invention.
In order to make technical scheme of the present invention clearer, clear, be described in further detail below in conjunction with accompanying drawing.
Embodiment
Solution for embodiment of the invention mainly is by using analog altimeter or barometer that terminal is carried out the chamber height location and/or in conjunction with the result who highly locatees terminal carried out horizontal location, to improve the terminal indoor position accuracy.
Along with extensively popularizing that navigator fix is used, people more and more wish can both use the navigator fix service under the various occasions in life.For example, people run into the automobile that can not find oneself in the underground parking through regular meeting, can not find the designer-label store that thinks in commercial building, can not find the situation of the division office that will go in office block, and these occasions all need to use the indoor navigation positioning service.The existing terminal that has navigation locating function generally is based on satellite positioning tech or base station location technology, because these two kinds of location technologies all use radio signal to position, and the reflection that radio signal is produced when running into barrier, refraction, relaxation phenomenon can reduce the precision of radio position finding radio directional bearing significantly.Thereby the existing terminal that has navigation locating function can only be implemented in outdoor navigator fix service usually, and when in user's inlet chamber, low excessively positioning accuracy can't satisfy the requirement of indoor navigation locating accuracy.
Required precision from the indoor navigation positioning service, the indoor navigation positioning service is different from outdoor navigator fix service, its main difference is, the indoor navigation positioning service to the requirement of location highly apparently higher than requirement to horizontal plane location, in building, usually highly differing 3 meters then means and differs 1 floor, then the floor maps that shows of terminal is different fully to differ 1 floor, to cause user experience to descend thus, and aspect the horizontal plane location, even if differ 3 meters even 10 meters, the user can probably know by the map of this floor of showing on the terminal and oneself position is unlikely to too to influence navigation Service.In addition, in the indoor navigation positioning service, the reaction speed of highly locating is required also to be higher than the reaction speed requirement that horizontal plane is located.Based on above analysis, the embodiment of the invention proposes to use respectively two kinds of locate modes to carry out the method that locate highly location and horizontal plane, with solve in the indoor navigation positioning service to height with to horizontal plane locating accuracy and the different problem of location requirement time of delay, when improving positioning accuracy, reduce the time that the location postpones, to improve indoor navigation located subscriber Experience Degree.
As shown in Figure 1, one embodiment of the invention proposes a kind of localization method, comprising:
Step S101 judges whether terminal is in indoor environment;
Judge whether terminal is in the mode of indoor environment, can select automatically also can manually select by terminal by the user such as designated mode such as automatic mode.
When terminal is selected automatically, terminal can judge that the terminal that the user carries is in indoor still outdoor environment according to imposing a condition, and for example: terminal can be located given geographical position according to GPS and be judged that in conjunction with corresponding map terminal is in indoor still outdoor environment; It is indoor or outdoor that terminal can also judge that terminal is in according to the power of gps signal, such as gps signal die down to predetermined condition the time, it is indoor to think that terminal has arrived.
When manually selecting by the user, with the mobile phone is example, when the positioning function of starting hand-set or starting hand-set, whether mobile phone can offer the user by display screen and manually select in the inlet chamber, and the user can be the corresponding terminal environment of living in of indoor or outdoor selection input according to residing environment.
Step S102 when terminal is in indoor environment, carries out the chamber height location and/or by second locate mode terminal is carried out the indoor horizontal location terminal by first locate mode.
First locate mode comprises uses analog altimeter or barometer to carry out the height location; Second locate mode comprises combination or does not carry out horizontal location in conjunction with the result who highly locatees.
Analog altimeter is that a kind of vapour-pressure type principle that adopts is carried out high surely equipment, and in the prior art, usually said electronic altimeter or digital altimeter are the altimeter that adopts the vapour-pressure type principle.The rule that analog altimeter utilizes atmospheric pressure highly to rise and descend with (height above sea level) is according to the functional relation of atmospheric pressure with height, by measuring anti-height above sea level or the relative altitude released of air pressure.
When terminal is in indoor environment, can carry out highly first locate mode of location by analog altimeter or barometer, measure the height at current terminal (user) place, this measuring height can height above sea level or relative altitude represent; On the other hand, the user can in terminal, prestore the building, place map or by near the base station get access to the map in building, place.Behind map and the height that measures, can calculate the floor at terminal place, last terminal demonstrates the plane map of user place floor, and is for reference.
Except terminal being carried out the height location, terminal can also be carried out indoor positioning to terminal by second locate mode of carrying out horizontal location in conjunction with the result who highly locatees.When carrying out horizontal location, terminal can be carried out the location of horizontal plane by GPS and/or base station positioning method or A-GPS, because the required time is longer than the highly time of location to simple horizontal location usually, make the horizontal location result than highly the location is more lately next, therefore, can carry out horizontal location in conjunction with the result who highly locatees, such as, at first pass through the height of analog altimeter measuring terminals, the map (promptly having finished the location of height) that on terminal interface, shows the place floor earlier, by GPS and/or base station positioning method or A-GPS terminal is carried out horizontal location, on terminal interface, show the sign of a certain particular location (for example certain room or corridor, somewhere) of the floor at its place.
Present embodiment uses analog altimeter or barometer that terminal is carried out the chamber height location, and can adopt in conjunction with the result who highly locatees terminal is carried out horizontal location, by two kinds of locate modes solved in the indoor navigation positioning service to height with to horizontal plane locating accuracy and the different problem of location requirement time of delay, improve the indoor navigation located subscriber and experienced, thereby satisfied various demands of applications such as indoor navigation location.
As shown in Figure 2, another embodiment of the present invention proposes a kind of localization method, comprising:
Step S201 judges whether terminal is in indoor environment; If then enter step S202; Otherwise, enter step S208;
Station-keeping mode in the step S202, priming chamber;
In the present embodiment, terminal can be set concrete station-keeping mode, such as indoor positioning pattern and outdoor station-keeping mode, terminal also can be set the mode of selecting indoor positioning pattern or outdoor station-keeping mode, such as selecting automatically by terminal or manually selecting by the user, when terminal is in outdoor inlet chamber or after in the inlet chamber, the user can manually select to open indoor positioning pattern/function.When terminal is selected automatically, terminal can detect terminal by the radio position finding radio directional bearing method, and be in indoor or outdoor environment according to the judgement terminal that imposes a condition, for example: terminal can be located given geographical position according to GPS and be judged that in conjunction with corresponding map terminal is in indoor still outdoor environment; It is indoor or outdoor that terminal can also judge that terminal is in according to the power of gps signal, such as gps signal die down to predetermined condition the time, it is indoor to think that terminal has arrived.
Before the starting terminal indoor positioning pattern, can carry out initialization to parameter and/or its positioning result of station-keeping mode.Behind station-keeping mode in the opening chamber, terminal just can perhaps also can be carried out the location of horizontal plane or carry out horizontal location by the way and in conjunction with the result who highly locatees by the height at analog altimeter or the current terminal of barometric surveying (user) place by GPS and/or base station positioning method or A-GPS etc.
Step S203 calibrates analog altimeter or barometer;
Analog altimeter has and is not subjected to complex environment, particularly the advantage that not influenced by indoor complex environment.Yet the function of air pressure and altitude also is subjected to weather conditions, for example influence of temperature and humidity, and these factors can cause the error of analog altimeter.In addition, analog altimeter also is prone to cumulative errors.More than these bring error all can for the height of deciding of analog altimeter, thereby reduce its precision.Therefore, using analog altimeter or barometer terminal to be carried out to calibrate analog altimeter or barometer before height locatees.
To analog altimeter or barometer carry out calibrating mode comprise following one of at least: calibrate according to user's input, calibrate, calibrate, calibrate according to the data of adjacent end according to the data of adjacent base station according to the radio position finding radio directional bearing technology; Wherein, the radio position finding radio directional bearing technology comprises satellite positioning tech, base station location technology, WLAN (wireless local area network)/individual network technology, radio frequency identification technology.
Through the deciding high level error and can be no more than 2.5 meters of the analog altimeter of calibration, the analog altimeter of not doing calibration then has errors tens of even up to a hundred meters.
Step S204 carries out the chamber height location and/or by second locate mode terminal is carried out the indoor horizontal location terminal by first locate mode;
Analog altimeter through calibration can satisfy in the indoor positioning the highly requirement of location.(comprise the height of representing with floor) behind the height that calculates terminal, terminal can show the map of this floor on display screen, searches this floor maps information apace to make things convenient for the user.
When terminal is highly located, can select to be undertaken highly first locate mode of location by analog altimeter or barometer, measure the height at current terminal (user) place, this measuring height can height above sea level or relative altitude represent.
Except terminal being carried out the height location, terminal can also be carried out indoor positioning to terminal by second locate mode of carrying out horizontal location in conjunction with the result who highly locatees.When carrying out horizontal location, terminal can be carried out the location of horizontal plane by GPS and/or base station positioning method or A-GPS, because the required time is longer than the highly time of location to simple horizontal location usually, make the horizontal location result than highly the location is more lately next, therefore, can carry out horizontal location in conjunction with the result who highly locatees, such as, at first pass through the height of analog altimeter measuring terminals, the map (promptly having finished the location of height) that on terminal interface, shows the place floor earlier, by GPS and/or base station positioning method or A-GPS terminal is carried out horizontal location, on terminal interface, show the sign of a certain particular location (for example certain room or corridor, somewhere) of the floor at its place.
Wherein: carry out horizontal location in conjunction with the result who highly locatees and comprise: the data source of horizontal location is screened and/or filtration and/or weighting according to the result who highly locatees; The data source of horizontal location comprise following one of at least: satellite location data, base station locator data, WLAN (wireless local area network)/individual net locator data, radio frequency identification locator data.
Step S205, terminal is obtained local building map;
Step S206 shows positioning result in conjunction with local building map;
The user can in terminal, prestore the building, place map or by near the base station get access to the map in building, place.Behind map and the height that measures, can calculate the floor at terminal place, last terminal demonstrates the plane map of user place floor, and is for reference.
Particularly, the terminal mode of obtaining local building map comprises: terminal is obtained local building map by near base station and/or core net; The authority that base station and/or core net are obtained local building map by terminal iidentification and/or user ID to described terminal is controlled.
Further, above-mentioned base station can be Home eNodeB; Home eNodeB and/or core net are controlled by the authority that access control lists obtains local building map to terminal.
Step S207 revises/calibrates the positioning result that shows.
The user can be further to highly location or horizontal plane positioning result are revised, for example can indicate current location by touch-screen, when mixing the data of using satellite fix and location, base station, possible locate mode be with the data of a plurality of data sources screen, the processing (for example using Kalman filter Kalman Filter) of filtration and/or weighting, and can revise and calibrate the algorithm of handling (parameter) according to the tram of user's input.
Step S208, priming chamber outside fix pattern.
In the present embodiment, priming chamber outside fix pattern comprises and manually boots outdoor station-keeping mode, perhaps the automatic priming chamber outside fix of terminal pattern.
Further, above-mentioned first locate mode also comprises the height that obtains terminal according to analog altimeter or barometrical measured value and assisted calibration calculation of parameter; The assisted calibration parameter comprises: the temperature at the temperature at the analog altimeter at the height of adjacent base station, adjacent base station place or barometrical measured value, target terminal place, the humidity at target terminal place, adjacent base station place and the humidity at adjacent base station place.
Further, first locate mode comprises that also using the radio position finding radio directional bearing technology to carry out height locatees.
Further, in the present embodiment, also can carry out the indoor or outdoors location to terminal according to the priority of first locate mode and second locate mode.Also can hocket simultaneously, realize indoor or outdoors location terminal with highly locating with the horizontal plane location.
Below in conjunction with the indoor orientation method of instantiation description according to present embodiment.
Example one, when carrying out indoor positioning, terminal uses analog altimeter to carry out height location (or fixed height, promptly calculate the height of terminal), because analog altimeter is to calculate height according to the function between the air pressure and altitude from air pressure, and air pressure also is subjected to the influence of the residing atmospheric environment of terminal (for example temperature, humidity), in order to revise/calibrate the error of analog altimeter, can adopt following method:
1) uses manually correction/Calibration Method, promptly before the use analog altimeter carries out deciding height, come analog altimeter is calibrated according to the known altitude of a certain reference point by user self.For example, if when the user has just opened positioning function in a certain mansion or building, the user can manually import the floor (as Stall) at current place.Owing on the floor at the present user of the fixed high final body as a result place of indoor positioning, therefore, calibrate the needs (and can calibrate) that can satisfy the user according to current floor with height above sea level.When needed, also can extrapolate the height above sea level at user place indirectly according to current floor in conjunction with the building map.
2) use automatic or semi-automatic correction/Calibration Method, for example before the use analog altimeter carried out deciding height, the height that provides according to the GPS navigation system came analog altimeter is calibrated.If the user in the outdoor location navigation function of having opened, when the user is in outdoor inlet chamber soon, can calibrate analog altimeter with the height that radio positioning system (for example GPS and/or base station location) provides.But, even the radio position finding radio directional bearing technology is carried out high surely time error at outdoor environment error more than 10 meters is arranged also.Therefore, this method can only slightly be calibrated, and can't satisfy the height-precision needs of indoor positioning.Better way is, when the user is in the gateway of building, utilize the given horizontal level of radio position finding radio directional bearing to judge in conjunction with the building map user is positioned at which gateway of building, and further obtain height (such as the concrete floor of this gateway, be generally Stall), can calibrate analog altimeter thus.If terminal also has electronic thermometer and/or hygrometer, then terminal can also combine thermometer and/or hygroscopic measured value and atmospheric pressure value, calculates the height of terminal jointly.But, there is certain error possibility in calibration fully automatically, thereby way is to combine calibrating with manual calibration automatically preferably, for example manually revises/calibrates when the user finds that there is error in calibration automatically, can provide than higher user experience like this.
The principle of analog altimeter makes it to react height change very delicately, and power consumption is little, and the reaction time is fast.Therefore, the analog altimeter through calibration can satisfy in the indoor positioning the highly requirement of location.(comprise the height of representing with floor) behind the height that calculates terminal, terminal can show the map of this floor on display screen, searches this floor maps information apace to make things convenient for the user.On the other hand, the horizontal plane location can use gps satellite location or base station to locate resulting horizontal plane position.Like this, after obtaining the horizontal plane positioning result, terminal gets final product the approximate location at explicit user place, uses with user friendly navigator fix.The user can revise the horizontal plane positioning result further, for example by touch-screen indication current location, this correction result can also be used for horizontal location is calibrated, for example, when mixing the data of using satellite fix and location, base station, possible locate mode be with the data of a plurality of data sources screen, the processing (for example using Kalman filter Kalman Filter) of filtration and/or weighting, and can revise and calibrate the algorithm of handling (parameter) according to the tram of user's input.
Example two, terminal have GPS ability and/or base station stationkeeping ability (for example LCS ability of 3GPP normal structure regulation), have the function of electronic altimeter simultaneously concurrently, when terminal is in outdoor inlet chamber or after in the inlet chamber, the user can manually select to open indoor positioning pattern/function, and (terminal can divided chamber's outside fix pattern/function and indoor positioning pattern/function, select to use for the user, in this case, in other words, terminal has outdoor station-keeping mode or indoor positioning pattern).In the opening chamber behind the station-keeping mode, terminal is measured the height at current terminal (user) place by electronic altimeter, and this highly may be represented with height above sea level or relative altitude.And on the other hand, the user can in terminal, prestore the building, place map or by near the base station get access to the map in building, place.Behind map and the height that measures, promptly calculate the terminal floor at user place in other words.At this moment, terminal can demonstrate the plane map of user place floor, and is for reference.
Except highly locating, terminal is also carried out the location of horizontal plane by GPS and/or base station positioning method or A-GPS, because the positioning time that the common required time of this method is longer than the level height meter, thereby the positioning result ratio of horizontal plane highly comes more lately in the location probably, that is to say, terminal may show the map (promptly having finished the location of height) of place floor, the sign of a certain particular location of the floor at display terminal place (for example certain room or corridor, somewhere) more earlier on the interface.
The height location (highly measurement/estimation) of electronic altimeter is subject to its operation principle, and the electronic altimeter of vapour-pressure type is subjected to weather conditions, for example influence of temperature, humidity, and these factors may influence the positioning accuracy of altimeter.Consider this situation, terminal can adopt following method to improve the precision of height.
1) gets access to the weather parameters that influences analog altimeter work of terminal seat (place building), for example temperature and/or humidity, the air pressure that these parameters and electronic altimeter are measured combines again, calculate the precise height of terminal, perhaps parameter is used to revise the original height that electronic altimeter obtains, thereby obtains the precise height of terminal.Acquisition methods have at least comprise following several with and the combination: obtain by near base station (for example indoor base station/Home eNodeB in the building or WIFI access point); Obtain by the manual input of user; Obtain (for example terminal has thermometer and/or hygrometer, can directly obtain the temperature and humidity value to carry out high computational or correction from these modules) from other module of terminal; Obtain (for example by other terminal that has thermometer and/or altimeter under the same serving BS) near other terminal.
2) get access to the height of a certain reference position, then this highly is used for the height that calibrating terminal is estimated.For example, the user is by the manual mode calibrated altitude: the user manually imports the height of a certain reference position, such as the 3rd buildings in 300 meters of height above sea level or a certain market, then terminal with this height value as the calibration reference value, Calibration Method has multiple, below enumerating an example describes, for example, terminal earlier draws terminal/subscriber by altimeter in conjunction with map and is positioned at the 5th buildings in market now (terminal is shown to the user with this result, the user can calibrate on this basis), and the user knows that these data are not right, and it is calibrated to the 3rd buildings, so, terminal knows that deduct 2 layers on the basis of former estimated result again is only correct floor result, thereby when terminal and user move to the 1st building, if the result that terminal draws according to former method of estimation is the 3rd buildings, and terminal deducts the modification method of 2 floor according to the 3rd buildings, and finally providing the new position of terminal is the 1st building.The method of obtaining the calibration reference value can be multiple, and for example manually input, window limit or balcony place utilize height that GPS or outdoor base station location provide as calibrated altitude preferably at outdoor signal.
When terminal being carried out the horizontal plane location, the method that can adopt comprises: GPS, A-GPS and/or base station positioning method, when adopting base station positioning method or A-GPS localization method, terminal can get access to the network topological information of adjacent base station by network, when using base station positioning method or A-GPS localization method, use contiguous base station to position also and can improve locating accuracy.For example, terminal is in the building time, near the possibility WIFI access point and/or Home eNodeB (femto Base Station are arranged, perhaps Home NodeB, HNB, perhaps Home evolved NodeB, HeNB), terminal is by measuring the signal of these access points and/or Home eNodeB, perhaps allow the signal of these access points and/or Home eNodeB measuring terminals, can carry out more accurate localization (comprising the horizontal plane location and highly locate that wherein the height positioning result can combine with the measurement result of altimeter) to terminal.
When terminal is carried out horizontal location, if got access to the height locating information (for example having obtained the elevation information accurately of terminal) of terminal, then when horizontal location, can known elevation information be used (with highly locating location, auxiliary water plane) by the air-pressure type electronic altimeter.That is to say that terminal is highly being carried out horizontal location more accurately behind the location.For example, when being chosen as terminal and carrying out the base station of horizontal location, can be chosen on the height/floor from the nearer base station of terminal, perhaps give on height/floor from the bigger weight in the nearer base station of terminal, perhaps choose from the nearer reference station signal of terminal with the locating accuracy of improving the standard according to following formula:
For the TOA method, with (the difference in height ^2 of path ^2-base station and terminal) ^n, (value of n can be 1/2,1 etc.), perhaps (propagated time ^2-(difference in height/light velocity of base station and terminal) ^2) ^n conduct is chosen the condition of base station signal, perhaps as the weight parameter of base station signal in location Calculation.
Example three, terminal have GPS ability or base station stationkeeping ability (for example LCS ability of 3GPP normal structure regulation) or A-GPS ability, have the function of electronic altimeter simultaneously concurrently.The user may open positioning function in position arbitrarily, and (terminal is divided chamber's outside fix pattern and indoor positioning pattern not, perhaps the user has selected automatic mode), then at first use the GPS positioning function of terminal or base station positioning function or A-GPS positioning function to obtain approximate location (precision is at 10 meters～50 meters), and judge that in conjunction with map terminal is in outdoor environment or indoor environment.If judge that terminal is in indoor environment, then station-keeping mode in the priming chamber.It is similar with example 1 or 2 to carry out the height measurement by electronic altimeter, and height measurement function can obtain more accurate height by serial of methods correction.
And on the other hand, the user can in terminal, prestore the building, place map or by near the base station get access to the map in building, place.Base station and/or core net can be according to terminal iidentifications, for example, International Mobile Station Equipment Identification (International Mobile Equipment Identifier, IMEI), perhaps medium access control preparative layer (MAC) address) and/or user ID, for example, IMSI International Mobile Subscriber Identity (International Mobile Subscriber Identifier, IMSI), perhaps network address identifiers (Network Address Identifier NAI) controls the authority of terminal/subscriber.And if near base station is a Home eNodeB, at this moment, Home eNodeB and/or core-network side can be controlled the authority of terminal/subscriber in conjunction with access control lists (Access Control List) or closed user group list (Closed Subscriber Group list).Behind map and the height that measures, promptly calculate the terminal floor at user place in other words.At this moment, the plane map that terminal can demonstrate user place floor with and the horizontal plane position, for reference.Wherein, the method that the horizontal plane position also can use-case two positions with the face locating accuracy of improving the standard by contiguous base station.
Example four, terminal have GPS ability or base station stationkeeping ability (for example LCS ability of 3GPP normal structure regulation) or A-GPS ability, have the function of electronic altimeter simultaneously concurrently.Position requests side (for example government department) may be by the position of network requests terminal, under the indication of network, the starting terminal positioning function, at first use the GPS positioning function of terminal or base station positioning function or A-GPS positioning function to obtain approximate location (precision is at 10 meters～50 meters), the register control in the network judges that in conjunction with map terminal is in outdoor environment or indoor environment.Be in indoor environment if judge terminal, station-keeping mode in the priming chamber then, for example indicating terminal starts electronic altimeter or barometer is measured and reporting measurement result (air pressure or height).
The height location (highly measurement/estimation) of electronic altimeter is subject to its operation principle, and the electronic altimeter of vapour-pressure type is subjected to weather conditions, for example influence of temperature, humidity etc., and these factors may influence the positioning accuracy of altimeter.Consider this situation, register control or location-server can get access to on-site weather parameters by near base station (for example indoor base station in the building or WIFI access point), comprise temperature, humidity etc., again these parameters are combined with the electronic altimeter measurement result of terminal to report, thereby calculate the precise height of terminal.
And on the other hand, register control or location-server combine the precise height of terminal with the map in building, place, promptly calculate the terminal floor at user place in other words.At this moment, the plane map that Location Request side can demonstrate user place floor with and the horizontal plane position, for reference.Wherein, the method that the horizontal plane position also can use-case two positions with the face locating accuracy of improving the standard by contiguous base station.
Example five, this example are the selection/changing methods in above-mentioned example one supplementary notes indoor positioning pattern and other pattern to the basis of example four.
In order to carry out the height location accurately under the indoor and outdoors environment, the GPS terminal also has analog altimeter.Owing to may adopt different location technologies with indoor environment terminal of following time and/or adopt the different parameters that is provided with outdoor, terminal has two kinds of station-keeping modes, promptly outdoor station-keeping mode and indoor positioning pattern.When the positioning function of starting hand-set or starting hand-set, terminal can offer the ability that the user manually selects station-keeping mode by display screen, the user can be the station-keeping mode of indoor or outdoor selection correspondence according to residing environment, terminal can also offer the ability that the user selects " automatic mode " or " designated mode " (and further being divided into outdoor station-keeping mode or indoor positioning pattern) by display screen, perhaps offers the ability that the user selects " automatic mode " or outdoor station-keeping mode or indoor positioning pattern by display screen.If the user has selected automatic mode, then terminal is in indoor still outdoor environment according to some condition judgment user and terminal, and select corresponding station-keeping mode, for example: terminal is selected corresponding station-keeping mode according to given geographical position, GPS location in conjunction with corresponding map; Terminal can also be selected indoor positioning pattern or outdoor station-keeping mode according to the power of gps signal.If the user has selected designated mode and has further selected indoor or outdoor station-keeping mode, perhaps directly selected outdoor station-keeping mode, perhaps directly selected the indoor positioning pattern, then whether terminal can change residing environment according to some condition judgment user, promptly from indoor come outdoor or from outdoor come indoor, terminal can inquire whether the user has changed residing environment by display screen, perhaps change station-keeping mode by display screen prompting user, and the new station-keeping mode that provides suggestion (for example: suppose that the user had originally selected outdoor station-keeping mode, when the user is in outdoor inlet chamber, terminal detects the change of environment, so the prompting user selects automatic mode or indoor positioning pattern, terminal can also offer the change of its detected environment of user and the reason that trigger mode changes, for example gps signal too a little less than, perhaps terminal may enter indoor environment by the judgement of GPS positioning combination map), if the user accepts, then terminal changes to new station-keeping mode, perhaps change to the new station-keeping mode that terminal is selected, the location technology module that new station-keeping mode does not re-use (for example GPS module) can enter electricity-saving state; If the user does not accept, then terminal is still used original station-keeping mode.
Example six, this example are the selection/changing methods in above-mentioned example one supplementary notes indoor positioning pattern and other pattern to the basis of example four.
In order to carry out the height location accurately under the indoor and outdoors environment, the GPS terminal also has analog altimeter.Owing to may adopt different location technologies outdoor with indoor environment terminal of following time, terminal has two kinds of positioning strategies, and promptly GPS is preferential or altimeter is preferential.When the positioning function of starting hand-set or starting hand-set, terminal can offer the ability that the user manually sets positioning strategy by display screen, the user can be according to the positioning strategy of residing environmental selection correspondence, for example when the user is positioned at indoor environment, the user selects the altimeter preference strategy, when being positioned at the not good outdoor environment of gps signals such as valley, thick forest as the user, the user (for example selects the altimeter preference strategy, when highly measuring, the output result of altimeter is the final height measurement results of conduct directly); When the user is in (common) outdoor environment and altimeter is not done when calibration, the user (for example selects the preferential positioning strategy of GPS, altimeter can be opened), when the user is in outdoor environment but altimeter was done calibration, the user (for example selects the preferential positioning strategy of altimeter, when highly measuring, the output result of altimeter compares the height value of GPS output as a result the time higher weight is arranged calculating final height).
Terminal can also offer the ability that the user selects " automatic setting strategy " or " named policer " (and further being divided into preferential positioning strategy of altimeter or the preferential positioning strategy of GPS) by display screen, perhaps offers the ability that the user selects " automatic setting strategy " or preferential positioning strategy of altimeter or the preferential positioning strategy of GPS by display screen.If the user has selected the automatic setting strategy, then terminal is according to the quality of two kinds of localization methods of some condition judgment, and select corresponding positioning strategy, for example: terminal is selected corresponding station-keeping mode according to given geographical position, GPS location in conjunction with corresponding map; Terminal can also be selected indoor positioning pattern or outdoor station-keeping mode according to the power of gps signal.If the user has selected designated mode and has further selected indoor or outdoor station-keeping mode, perhaps directly selected outdoor station-keeping mode, perhaps directly selected the indoor positioning pattern, then whether terminal can change residing environment according to some condition judgment user, promptly from indoor come outdoor or from outdoor come indoor, terminal can inquire whether the user has changed residing environment by display screen, perhaps change station-keeping mode by display screen prompting user, and the new station-keeping mode that provides suggestion (for example: suppose that the user had originally selected outdoor station-keeping mode, when the user is in outdoor inlet chamber, terminal detects the change of environment, so the prompting user selects automatic mode or indoor positioning pattern, terminal can also offer the change of its detected environment of user and the reason that trigger mode changes, for example gps signal too a little less than, perhaps terminal may enter indoor environment by the judgement of GPS positioning combination map), if the user accepts, then terminal changes to new station-keeping mode, perhaps change to the new station-keeping mode that terminal is selected, if the user does not accept, then terminal is still used original station-keeping mode.
As shown in Figure 3, one embodiment of the invention proposes a kind of locating terminal, comprising: judge module 301 and indoor positioning module 302, wherein:
In the present embodiment, judge module 301 judges whether terminal is in the mode of indoor environment, can select automatically also can manually select such as designated mode by the user such as automatic mode by terminal.
When terminal is selected automatically, terminal can judge that the terminal that the user carries is in indoor still outdoor environment according to imposing a condition, and for example: terminal can be located given geographical position according to GPS and be judged that in conjunction with corresponding map terminal is in indoor still outdoor environment; It is indoor or outdoor that terminal can also judge that terminal is in according to the power of gps signal, such as gps signal die down to predetermined condition the time, it is indoor to think that terminal has arrived.
When manually selecting by the user, with the mobile phone is example, when the positioning function of starting hand-set or starting hand-set, whether mobile phone can offer the user by display screen and manually select in the inlet chamber, and the user can be the corresponding terminal environment of living in of indoor or outdoor selection input according to residing environment.
When terminal is in indoor environment, indoor positioning module 302 can be carried out highly first locate mode of location by analog altimeter or barometer, measure the height at current terminal (user) place, this measuring height can height above sea level or relative altitude represent; On the other hand, the user can in terminal, prestore the building, place map or by near the base station get access to the map in building, place.Behind map and the height that measures, can calculate the floor at terminal place, last terminal demonstrates the plane map of user place floor, and is for reference.
Except terminal being carried out the height location, terminal can also be carried out indoor positioning to terminal by second locate mode of carrying out horizontal location in conjunction with the result who highly locatees.When carrying out horizontal location, terminal can be carried out the location of horizontal plane by GPS and/or base station positioning method or A-GPS, because the required time is longer than the highly time of location to simple horizontal location usually, make the horizontal location result than highly the location is more lately next, therefore, can carry out horizontal location in conjunction with the result who highly locatees, such as, at first pass through the height of analog altimeter measuring terminals, the map (promptly having finished the location of height) that on terminal interface, shows the place floor earlier, by GPS and/or base station positioning method or A-GPS terminal is carried out horizontal location, on terminal interface, show the sign of a certain particular location (for example certain room or corridor, somewhere) of the floor at its place.
As shown in Figure 4, another embodiment of the present invention proposes a kind of locating terminal, comprising: judge module 401, startup module 402, calibration module 403, indoor positioning module 404, map acquisition module 405 and map display module 406, wherein:
First locate mode comprises uses analog altimeter or barometer to carry out the height location; Described second locate mode comprises in conjunction with the result who highly locatees carries out horizontal location.
Map acquisition module 405 is used to obtain local building map;
Wherein, above-mentioned judge module 401, indoor positioning module 404 are corresponding identical with judge module 301, indoor positioning module 30 functional structures in the foregoing description, do not repeat them here.
In the present embodiment, terminal can be set concrete station-keeping mode, such as indoor positioning pattern and outdoor station-keeping mode, terminal also can be set the mode of selecting indoor positioning pattern or outdoor station-keeping mode, such as selecting automatically by terminal or manually selecting by the user, when terminal is in outdoor inlet chamber or after in the inlet chamber, the user can manually select to open indoor positioning pattern/function.When terminal is selected automatically, terminal can detect terminal by the radio position finding radio directional bearing method, and be in indoor or outdoor environment according to the judgement terminal that imposes a condition, for example: terminal can be located given geographical position according to GPS and be judged that in conjunction with corresponding map terminal is in indoor still outdoor environment; It is indoor or outdoor that terminal can also judge that terminal is in according to the power of gps signal, such as gps signal die down to predetermined condition the time, it is indoor to think that terminal has arrived.
When terminal is in indoor environment, start station-keeping mode in module 402 priming chambers.Before the starting terminal indoor positioning pattern, can carry out initialization to parameter and/or its positioning result of station-keeping mode.Behind station-keeping mode in the opening chamber, terminal just can perhaps also can be carried out the location of horizontal plane or carry out horizontal location by the way and in conjunction with the result who highly locatees by the height at analog altimeter or the current terminal of barometric surveying (user) place by GPS and/or base station positioning method or A-GPS etc.
Analog altimeter has and is not subjected to complex environment, particularly the advantage that not influenced by indoor complex environment.Yet the function of air pressure and altitude also is subjected to weather conditions, for example influence of temperature and humidity, and these factors can cause the error of analog altimeter.In addition, analog altimeter also is prone to cumulative errors.More than these bring error all can for the height of deciding of analog altimeter, thereby reduce its precision.Therefore, present embodiment is using analog altimeter or barometer terminal to be carried out calibrate by 403 pairs of analog altimeters of calibration module or barometer before height locatees.
To analog altimeter or barometer carry out calibrating mode comprise following one of at least: calibrate according to user's input, calibrate, calibrate, calibrate according to the data of adjacent end according to the data of adjacent base station according to the radio position finding radio directional bearing technology; Wherein, the radio position finding radio directional bearing technology comprises satellite positioning tech, base station location technology, WLAN (wireless local area network)/individual network technology, radio frequency identification technology.
After obtaining the terminal positioning result, can obtain local building map by map acquisition module 405, and show positioning result in conjunction with local building map by map display module 406.
Particularly, the user can in terminal, prestore the building, place map or by near the base station get access to the map in building, place.Behind map and the height that measures, can calculate the floor at terminal place, last terminal demonstrates the plane map of user place floor, and is for reference.Wherein, the terminal mode of obtaining local building map comprises: terminal is obtained local building map by near base station and/or core net; The authority that base station and/or core net are obtained local building map by terminal iidentification and/or user ID to described terminal is controlled.Above-mentioned base station can be Home eNodeB; Home eNodeB and/or core net are controlled by the authority that access control lists obtains local building map to terminal.
A kind of localization method and terminal that the embodiment of the invention proposes, use analog altimeter or barometer that terminal is carried out the chamber height location and/or in conjunction with the result who highly locatees terminal carried out horizontal location, by two kinds of locate modes solved in the indoor navigation positioning service to height with to horizontal plane locating accuracy and the different problem of location requirement time of delay, when improving positioning accuracy, reduce the time that the location postpones, improve the indoor navigation located subscriber and experienced, thereby satisfied various demands of applications such as indoor navigation location.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or flow process conversion that utilizes specification of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical field, all in like manner be included in the scope of patent protection of the present invention.
Claims (18)
1. a localization method is characterized in that, comprising:
Judge whether terminal is in indoor environment;
When described terminal is in indoor environment, described terminal is carried out the chamber height location and/or by second locate mode described terminal carried out the indoor horizontal location by first locate mode.
2. method according to claim 1 is characterized in that, described first locate mode comprises uses analog altimeter or barometer to carry out the height location; Described second locate mode comprises combination or does not carry out horizontal location in conjunction with the result who highly locatees.
3. method according to claim 2 is characterized in that, describedly by first locate mode described terminal is carried out also comprising before the chamber height localization step:
Described analog altimeter or barometer are calibrated.
4. method according to claim 3, it is characterized in that, to described analog altimeter or barometer carry out calibrating mode comprise following one of at least: calibrate according to user's input, calibrate according to the radio position finding radio directional bearing technology, data according to adjacent base station are calibrated, and calibrate according to the data of adjacent end; Wherein, radio position finding radio directional bearing technology comprise following one of at least: satellite positioning tech, base station location technology, WLAN (wireless local area network)/individual network technology and radio frequency identification technology.
5. method according to claim 2 is characterized in that, described first locate mode comprises the height that obtains described terminal according to analog altimeter or barometrical measured value and assisted calibration calculation of parameter; Described assisted calibration parameter comprise following one of at least: the temperature at the temperature at the analog altimeter at the height of adjacent base station, adjacent base station place or barometrical measured value, target terminal place, the humidity at target terminal place, adjacent base station place and the humidity at adjacent base station place.
6. according to each described method in the claim 2, it is characterized in that described first locate mode also comprises uses the radio position finding radio directional bearing technology to carry out the height location.
7. method according to claim 6 is characterized in that, describedly described terminal is carried out chamber height location and/or by second locate mode described terminal is carried out also comprising after the indoor horizontal localization step by first locate mode:
Described terminal is obtained local building map;
Show positioning result in conjunction with local building map.
8. method according to claim 7 is characterized in that, the local building map of described combination shows that the step of positioning result also comprises afterwards:
The described positioning result that shows is revised/calibrated.
9. method according to claim 7 is characterized in that, the mode that described terminal is obtained local building map comprises: described terminal is obtained local building map by near base station and/or core net; The authority that described base station and/or core net are obtained local building map by terminal iidentification and/or user ID to described terminal is controlled.
10. method according to claim 9 is characterized in that, described base station is a Home eNodeB; Described Home eNodeB and/or core net are controlled by the authority that access control lists obtains local building map to described terminal.
11. method according to claim 2 is characterized in that, the result that described combination is highly located carries out horizontal location and comprises:
According to the result who highly locatees the data source of horizontal location is screened and/or filtration and/or weighting; The data source of described horizontal location comprise following one of at least: satellite location data, base station locator data, WLAN (wireless local area network)/individual net locator data, radio frequency identification locator data.
12. according to each described method among the claim 1-11, it is characterized in that, describedly described terminal carried out also comprising before the chamber height localization step by first locate mode:
Station-keeping mode in the priming chamber; Station-keeping mode comprises and manually boots the indoor positioning pattern in the described priming chamber, and/or station-keeping mode in the automatic priming chamber of described terminal.
13. according to each described method among the claim 1-11, it is characterized in that describedly judge terminal also comprises after whether being in the step of indoor environment:
When described terminal is in outdoor environment, priming chamber outside fix pattern; Described priming chamber outside fix pattern comprises and manually boots outdoor station-keeping mode, and/or the automatic priming chamber outside fix of described terminal pattern.
14. according to each described method among the claim 1-11, it is characterized in that, also comprise: the priority according to described first locate mode and described second locate mode is carried out the indoor or outdoors location to described terminal.
15. a locating terminal is characterized in that, comprising:
Judge module is used to judge whether terminal is in indoor environment;
The indoor positioning module is used for when described terminal is in indoor environment, by first locate mode described terminal is carried out the chamber height location and/or by second locate mode described terminal is carried out the indoor horizontal location; Described first locate mode comprises uses analog altimeter or barometer to carry out the height location; Described second locate mode comprises combination or does not carry out horizontal location in conjunction with the result who highly locatees.
16. terminal according to claim 15 is characterized in that, described terminal also comprises:
Calibration module is used for described analog altimeter or barometer are calibrated.
17. terminal according to claim 15 is characterized in that, described terminal also comprises:
The map acquisition module is used to obtain local building map;
Map display module is used for showing positioning result in conjunction with local building map.
18., it is characterized in that described terminal also comprises according to claim 15,16 or 17 described terminals:
Start module, be used for when described terminal is in indoor environment, station-keeping mode in the priming chamber; Perhaps when described terminal is in outdoor environment, priming chamber outside fix pattern.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010106090785A CN102075936A (en) | 2010-12-28 | 2010-12-28 | Positioning method and terminal |
| PCT/CN2011/075158 WO2012088833A1 (en) | 2010-12-28 | 2011-06-02 | Positioning method and terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106090785A CN102075936A (en) | 2010-12-28 | 2010-12-28 | Positioning method and terminal |
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