CN102821464A - Indoor storey positioning method and device - Google Patents
Indoor storey positioning method and device Download PDFInfo
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- CN102821464A CN102821464A CN2012102872212A CN201210287221A CN102821464A CN 102821464 A CN102821464 A CN 102821464A CN 2012102872212 A CN2012102872212 A CN 2012102872212A CN 201210287221 A CN201210287221 A CN 201210287221A CN 102821464 A CN102821464 A CN 102821464A
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Abstract
The invention discloses an indoor storey positioning method, and belongs to the technical field of positioning. The method comprises the following steps of: acquiring a current height value of a user terminal; when the height value is continuously increased/decreased, and is increased/decreased by more than r meters every time, determining that the user terminal is in an ascending/descending state, wherein r is a preset threshold value; and if the height value is accumulatively increased/decreased by more than h meters when the user terminal is in the ascending/descending state, determining that the user terminal ascends/descends by one storey, wherein h is a storey height. According to the indoor storey positioning method, the indoor storey positioning accuracy of a user is greatly improved, and the application of the user is enriched.
Description
Technical field
The present invention relates to field of locating technology, particularly a kind of indoor floor location method and device.
Background technology
Along with the quickening of social work rhythm, people's workaday at ordinary times scope of activities often is confined to indoor range, indoor location information just become people work the life in important information.
GPS (Global Positioning System, global positioning system) is the location technology that is widely used at present, but since signal can not covering chamber in and can not be used for indoor positioning.The main employing of indoor positioning technology is wireless location technology at present, and wireless location technology commonly used comprises ultrasonic locating technology, infrared ray indoor positioning technology, Bluetooth technology, wireless local area network technology, wireless sensor network technology, super-broadband tech, REID and mobile communication base station location technology.
At present, existing indoor positioning technology only can't realize when the user gets into new floor, the automatic accurate map that switches to new floor.
In realizing process of the present invention, the inventor finds that there is following problem at least in prior art:
Existing indoor positioning technology can't realize when the user gets into new floor, and the automatic accurate map that switches to new floor also promptly, can't be accomplished the location of user when floor switches accurately.
Summary of the invention
In order to realize that user's floor switches the location accurately, the embodiment of the invention provides a kind of indoor floor location method and device.Said technical scheme is following:
A kind of indoor floor location method, said method comprises:
Obtain the current height value of user terminal;
When said height value rise continuously/descend and each rising/decline greater than r rice, confirm that said user terminal is in downstairs movement state; Said r is a pre-set threshold;
User terminal is in said when going up in the downstairs movement state, and the rising/decline of said height value accumulative total is greater than h rice, confirms the said user terminal first floor that rises/descended; Said h is a story height.
Before the said height value that obtains user terminal, also comprise:
Set buffering area at every floor in advance;
Confirm that user terminal is positioned within the said buffering area.
Said method also comprises:
Obtain said height value rise continuously/descend and each risings/decline greater than r rice height value before, as initial floor absolute altitude;
When said user terminal add up risings/decline r rice fail to be in said on during downstairs movement state; Obtain the current height value of said user terminal; If the current height value of said user terminal differs above said story height h with said initial floor absolute altitude, confirm the said user terminal first floor that rises/descended.
If the current height value of said user terminal differs above said story height h with said initial floor absolute altitude, confirms the said user terminal first floor that rises/descended, and comprising:
Setting threshold k, said k be greater than the said error of obtaining the height value of user terminal, and said k half the less than said story height h;
The height value that said user terminal is current is compared with said initial floor absolute altitude, if difference is greater than said story height h ± k, then confirms the said user terminal first floor that rises/descended.
Said initial floor absolute altitude be said height value rise continuously/descend and each risings/decline greater than r rice height value ± said error of obtaining the height value of user terminal before.
Said pre-set threshold r must be greater than the said error of obtaining the height value of user terminal.
Said story height h is set at actual floor layer height ± said error of obtaining the height value of user terminal.
A kind of indoor floor location device, said device comprises height value acquiring unit, first judging unit and second judging unit, wherein,
Said height value acquiring unit is used to obtain the current height value of user terminal;
Said first judging unit, be used to judge said height value whether continuously rising/decline and each rising/decline greater than r rice, if confirm that said user terminal is in downstairs movement state; Otherwise, confirm that said user terminal fails to be in downstairs movement state; Said r is a pre-set threshold;
Said second judging unit is used for being in saidly when going up downstairs movement state when user terminal, judges whether said height value adds up rising/decline greater than h rice, if confirm the said user terminal first floor that rises/descended; Otherwise, continue to judge according to the height value of said user terminal; Said h is a story height.
Said device further comprises the buffering area judging unit, is used for confirming whether said user terminal is positioned at predefined buffering area.
Said device further comprises the 3rd judging unit, is used to judge height value and said initial floor absolute altitude that said user terminal is current differ whether surpass said story height h, if then confirm the said user terminal first floor that rises/descended; Otherwise, proceed to judge;
Said initial floor absolute altitude be said height value rise continuously/descend and each risings/decline greater than r rice height value before;
On said/absolute altitude of following first floor layer calculates according to said initial floor absolute altitude and story height h.
The beneficial effect that the technical scheme that the embodiment of the invention provides is brought is:
Continuously whether whether risings/declines and each rising/decline are in the state of going downstairs greater than r rice in order to definite user terminal to come continuous judges height value through the current height value of user terminal.The user is when last downstairs movement state, if user's first floor that rises/descended, is then thought in the rising/decline of height value continuous integration greater than h rice.What the embodiment of the invention provided carries out the method for floor switching judging according to user's relative altitude, has improved the indoor floor location accuracy of user greatly, has enriched user's application.Further; The embodiment of the invention is through judging in advance whether user terminal is in preset buffering area (stair zone) and prevents that erroneous judgement is disconnected; Judgement conduct through to user's absolute altitude replenishes; Prevent to solve the accurate location of user in the floor gap switching because the determination methods of relative altitude causes replenishing of erroneous judgement when the height value reading is unstable.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention; The accompanying drawing of required use is done to introduce simply in will describing embodiment below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the indoor floor location method flow diagram that the embodiment of the invention one provides;
Fig. 2 is another method flow diagram of the indoor floor location that provides of the embodiment of the invention two;
Fig. 3 is that the embodiment of the invention three adopts relative altitude barometric leveling technology to obtain the principle schematic of the elevation information of target;
Fig. 4 is that the embodiment of the invention four adopts different handover mechanisms to carry out the flow chart that indoor floor switches;
The indoor floor location apparatus structure sketch map that Fig. 5 provides for the embodiment of the invention five.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below.
The measured height of existing barometric leveling can not be precise and stable at a certain height in long-term, and relative altitude at short notice is comparatively accurate.Utilize the accurate at short notice relative altitude of barometric leveling to carry out floor and switch, and utilize barometric leveling absolute altitude within a certain period of time to assist, in the indoor positioning navigation system, can realize that floor automaticallyes switch accurately.User's relative altitude that the embodiment of the invention utilizes barometric leveling to obtain is just differentiated the user and whether is in downstairs movement state, differentiates in relative altitude under the situation about losing efficacy, and adopts absolute altitude to differentiate, and has effectively guaranteed the accuracy of user terminal location.
Embodiment one
Referring to Fig. 1, present embodiment provides a kind of indoor floor location method, comprising:
In the present embodiment, through obtaining the current height value of user terminal, and according to the current height value continually varying of user terminal result; Whether judges is in continuous rising or decline; If explain that the user is in state downstairs probably, in view of the above; Whether continuous further judges terminal the rising or the certain altitude that descended, this highly generally is the height of floor.That is to say that behind the continuous rising of user terminal or the story height that descended, we think and like this, have just obtained user's present located floor accurately by user's first floor that rises or descended.
Embodiment two
As shown in Figure 2, present embodiment provides other a kind of indoor floor location method, comprising:
Usually the height value that obtains user terminal is the mode that adopts barometric leveling, utilizes built-in barometer in terminal or alternate manner to obtain.Here the height value of user terminal obtains continuously, also can obtain according to preset period.Obtain the current height value of user, just prepare for follow-up judgement.Here, in fact the height value of user terminal is exactly user's height value, through the judgement of user terminal height being confirmed user's height.
Through the continuous height value that obtains user terminal, and then whether the height at judges terminal is in continuous rising or decline, if think that then the user possibly be in downstairs movement state.Why needing continuous judgement, is for fear of because user's height value that the instability of height value reading possibly brought fluctuates within the specific limits, thinks that the user is rising or descending thereby cause erroneous judgement to break.
The height value r that judges rises or descends passes through setting in advance.The setting of R need be obtained the error range σ of height value with reference to user terminal; We can be used as σ our error; But owing to change in time; Surrounding environment can change and causes measuring that air pressure is different with benchmark air pressure changes synchronously, thereby waving of high value (height value that measures) occur surveying, and error becomes greatly.Usually the setting of r need be greater than this error σ, to avoid causing that in error range erroneous judgement is disconnected.
When step 203, user terminal were in the downstairs movement state, the rising/decline of height value accumulative total was greater than h rice, confirmed the user terminal first floor that rises/descended.
In the process that the user terminal height value is confirmed, can judge to the user whether be in downstairs movement state, in last downstairs movement state, through to the user terminal height value continue obtain, go downstairs on can judges whether continuous.If the continuous rising of user terminal height value or the certain height that descended, the height of the normally continuous rising or the floor that descended thinks that then the user rises or descended first floor.
In fact, the thresholding decision content h that the user terminal height value rises continuously or descends can be the height of floor, also can consider the error of user terminal height value when obtaining.That is to say, need the error σ of barometric surveying user terminal height value be taken into account.Set the threshold to h-Δ h and be not set at the reason of story height h: because the measure error of barometric leveling; When the actual rising of user's middle-end or the h rice that descended; And the relative altitude that barometric leveling obtained changes and might not reach h rice and (be generally h ± σ), so in order to guarantee to switch accuracy rate, cast out the real-time of certain switching; Set the threshold to h ± Δ h, generally get Δ h=σ.
The above, the floor changing method that provides for present embodiment, in fact; In order to improve the accuracy rate of switching, also need be at the preset buffering area of every floor, when user terminal is in buffering area; Just start the program that floor switches; Outside buffering area, do not start floor and switch, the erroneous judgement that can effectively avoid like this causing in user's normal activity process is broken.Common buffering area all is arranged on the stair district of each floor, and just the zone of downstairs movement state possibly take place the user.
Further; For fear of judging in the floor of possible appearance according to user terminal height value relative position; User terminal is unstable and jump out downstairs movement state midway owing to the height value of highly measuring or other reason is brought; Cause and accurately to judge the problem of locating on the user terminal downstairs, also need position, replenish as what the relative altitude value positioned according to the absolute altitude value of user terminal.
In the localization method of absolute altitude value, with the height value of user terminal at the beginning of getting into downstairs movement state, just height value rise continuously/descend and each rising/decline greater than r rice height value before, as initial floor absolute altitude.The absolute altitude of this initial floor is exactly the height value of the initial place of user floor.When user terminal adds up rising/decline h rice and fails to be in downstairs movement state, obtain the current height value of user terminal, compare with initial floor absolute altitude, differ above story height h, confirm the user terminal first floor that rises/descended.Certainly, also can calculate/absolute altitude of following first floor layer according to initial floor absolute altitude and story height h.That is to say that we are actually according to the height value of the initial floor of user and the height of floor, judge the height value of first floor under next level perhaps.Again with the current height value of user terminal and next level or down the height value of first floor compare to confirm whether user terminal has been accomplished upstairs or gone downstairs.
Special, still there is certain error in the judgement of user terminal height value, and in order to solve error agency's influence, setting threshold k, k be greater than the error of the height value that obtains user terminal, and k half the less than story height h.Also be σ ≤k ≤h/2.
The height value that user terminal is current is compared with initial floor absolute altitude, if difference, is then confirmed the user terminal first floor that rises/descended greater than story height h ± k.
Certainly, in order to consider fully the influence of error, the initial floor absolute altitude here is that height value rises/height value before the decline r rice ± the obtain error σ of the height value of user terminal continuously.
So far, present embodiment has been realized the method for a complete indoor floor location, can effectively improve the accuracy that the indoor floor location of user is switched.
Embodiment three
Referring to Fig. 3, show the principle schematic that adopts relative altitude barometric leveling technology to obtain the elevation information of target among the present invention.
In order to make those of ordinary skill in the art understand the present invention better, in the face of the principle schematic that adopts relative altitude barometric leveling technology to obtain the elevation information of target makes an explanation, specific as follows said down:
Adopt following formula (1) to calculate and adopt the barometric leveling technology to come the error that height produced of measurement target;
Wherein,
n is for measuring number of times, and σ is the error of barometric leveling.
At short notice, we can be used as σ our error, but owing to change in time, and surrounding environment can change and causes measuring that air pressure is different with benchmark air pressure changes synchronously, thereby waving of high value occur surveying, and the error change supposes that this error is Φ greatly.
The reason of the implication of r and setting among Fig. 3:
Implication: judge whether to be in the threshold value that goes up downstairs movement state, when continuous decline (rising) highly=r, be judged as downstairs;
Set reason:,, when anchor point is in buffering area, the erroneous judgement of downstairs movement state can occur if do not set because barometric leveling, records height and floats in error σ scope when motionless in same place.So set r >=σ gets final product.
The implication of h among Fig. 3:
Implication: h is the actual height of floor.
The implication of h-Δ h and the reason of setting among Fig. 3:
Implication: the switching threshold that utilizes the method for relative altitude to switch, as relative altitude variation=h-Δ h, realize that promptly floor switches;
Set the threshold to h-Δ h and be not set at the reason of story height h: because the measure error of barometric leveling; When locating terminal the is actual h rice that descended; And the relative altitude that barometric leveling obtained changes and might not reach h rice and (be generally h ± σ), so in order to guarantee to switch accuracy rate, turn round and look at and cast out the real-time of certain switching; Set the threshold to h-Δ h, generally get Δ h=σ.
The reason of the implication of k and setting among Fig. 3:
Implication: the switching threshold scope of utilizing the method for absolute altitude to switch; For example among the figure, the height that obtains when barometric leveling is just judged at the N layer when H1 ± k; When height just judges that at the N-1 layer, height is judged to be to keep goes up downstairs movement state during at H1-h ± k between this.
The reason of setting:, judge the regional accuracy of switching that improves so set this because the error of barometric leveling can be waved in the particularly long-term time.General Φ ≤the k ≤h/2 that sets.
Embodiment four
Referring to Fig. 4, show the flow chart that the different handover mechanism of employing carries out indoor floor switching among the present invention.
1) obtains the positional information of said target through the mobile communication base station location technology;
2) in the stair zone of contiguous floors the buffer area of switching is set;
3) if the measurement target r rice that descends continuously is in the threshold value of downstairs movement state for judging said target in the buffer area;
As long as the distance value that measurement target descends continuously in the buffer area judges then that greater than said r rice said target is in downstairs movement state;
4) if the measurement target h-Δ h rice that descends continuously adopts different mechanisms to carry out the threshold value that floor switches for judging said target in the buffer area;
If the measurement target h-Δ h rice that descends continuously then adopts relative altitude handover mechanism handover success in the buffer area, when said target got into next floor regional, automaticallying switch obtained the two-dimensional map information of next floor;
If measurement target does not have continuous decline h-Δ h rice in the buffer area; Then obtain the height H 2=H1 ± h of time high floor; Obtain threshold range between H1 ± k and H2 ± k; If the height value that employing absolute altitude barometric leveling commercial measurement obtains obtains threshold range between H1 ± k and H2 ± k at the height H 2=H1 ± h of above-mentioned high floor, then adopt absolute altitude handover mechanism handover success; When said target got into next floor regional, automaticallying switch obtained the two-dimensional map information of next floor.
Handover mechanism among the present invention---relative altitude handover mechanism and absolute altitude handover mechanism, mainly as follows:
Handover mechanism: relative altitude handover mechanism, absolute altitude handover mechanism; The relative altitude handover mechanism is meant and the corresponding indoor floor handoff technique of the said first height barometric leveling method; The absolute altitude handover mechanism is meant and the corresponding indoor floor handoff technique of the said second height barometric leveling method.
Two kinds of all monitorings simultaneously of handover mechanism, but relative altitude handover mechanism priority is higher than the absolute altitude handover mechanism, when the relative altitude handover mechanism can't switch, uses the absolute altitude handover mechanism to assist switching.
Relative altitude handover mechanism step:
Condition: in buffering area, be in and go up downstairs movement state, rise continuously or descend.
If the height that the location middle-end is gone downstairs on continuously in buffering area then is judged to be and goes up downstairs movement state greater than threshold value r, with the first distance value H1 of said threshold value down as the initial height of floor (height of N layer in for example scheming); If the location middle-end continues to go up continuously downstairs to second distance value H2, and the relative altitude value is that the absolute value of initial story height and second distance value H2 equals switching threshold h-Δ h, realizes the floor switching; Realize switching all record initialization of back, carry out handover mechanism step next time.
Absolute altitude handover mechanism step:
Condition: in buffering area, be in and go up downstairs movement state, relative altitude handover mechanism and lost efficacy.
Relative altitude handover mechanism failure condition: the barometric leveling value that the barometric leveling module obtains rises no longer continuously or descends; Because the height that the barometric leveling module records can not be stabilized in sustained height in the different continuously moment of same point; But in error range, float; So, can jump out the relative altitude handover mechanism when after stopping on the stair.
If the height that locating terminal is gone downstairs on continuously in buffering area then is judged to be and goes up downstairs movement state greater than threshold value r, with the first distance value H1 of said threshold value down as the initial height (the for example height of N layer among Fig. 3) of floor; If jumped out the relative altitude handover mechanism; Deduct the story height (for example N-1 becomes height H 1-h among the figure) that story height h obtains down one deck by initial story height H1; And form threshold value H1 ± k and the H1-h ± k of absolute altitude handover mechanism, for example shown in the figure, when the height of barometric leveling acquisition during at H1 ± k; Just judge at the N layer; Just judge that at the N-1 layer, height is judged to be to keep goes up downstairs movement state when height during at H1-h ± k between this, wait for that the barometric leveling module records and highly reach certain layer of absolute altitude threshold value; Realize switching all record initialization of back, carry out handover mechanism step next time.
Adopt the reason of absolute altitude handover mechanism:, possibly again can't reach relative switching threshold h-Δ h and realize switching when the relative altitude handover mechanism is jumped out for the first time as supplementary means.
Select the reason of relative altitude handover mechanism: than the absolute altitude handover mechanism, better accuracy and real-time are arranged, thereby better user experience is arranged as first handover mechanism.
Embodiment five
Referring to Fig. 5, be the indoor floor location apparatus structure sketch map that the embodiment of the invention provides, this device comprises height value acquiring unit 501, first judging unit 503 and second judging unit 503, wherein,
Height value acquiring unit 501 is used to obtain the current height value of user terminal;
First judging unit 502, be used for the decision height value whether continuously rising/decline and each rising/decline greater than r rice, if confirm that user terminal is in downstairs movement state; Otherwise, confirm that user terminal fails to be in downstairs movement state; R is a pre-set threshold;
Further, this device also comprises buffering area judging unit 504, is used for confirming whether user terminal is positioned at predefined buffering area.
Further, this device also comprises the 3rd judging unit 505, is used for the current height value in judges terminal and differs whether surpass story height h with initial floor absolute altitude, if then confirm the user terminal first floor that rises/descended; Otherwise, proceed to judge;
Initial floor absolute altitude be height value rise continuously/descend and each rising/decline greater than r rice height value before;
On/absolute altitude of following first floor layer calculates according to initial floor absolute altitude and story height h.
Need to prove: the indoor floor location device that the foregoing description provides is when indoor floor location; Only the division with above-mentioned each functional module is illustrated; In the practical application; Can as required above-mentioned functions be distributed by the different functional completion, the internal structure that is about to device is divided into different functional, to accomplish all or part of function of above description.In addition, indoor floor location device that the foregoing description provides and indoor floor location method embodiment belong to same design, and its concrete implementation procedure sees method embodiment for details, repeats no more here.
The invention described above embodiment sequence number is not represented the quality of embodiment just to description.
In sum, whether continuously each embodiment of the present invention takes continuous judges height value rising/decline r rice through the current height value of user terminal, whether is in state downstairs in order to confirm user terminal.The user is when last downstairs movement state, if height value continuous integration rising/decline h rice is then thought user's first floor that rises/descended.What the embodiment of the invention provided carries out the method for floor switching judging according to user's relative altitude, has improved the indoor floor location accuracy of user greatly, has enriched user's application.Further; The embodiment of the invention is through judging in advance whether user terminal is in preset buffering area (stair zone) and prevents that erroneous judgement is disconnected; Judgement conduct through to user's absolute altitude replenishes; Prevent to solve the accurate location of user in the floor gap switching because the determination methods of relative altitude causes replenishing of erroneous judgement when the height value reading is unstable.
The all or part of step that one of ordinary skill in the art will appreciate that realization the foregoing description can be accomplished through hardware; Also can instruct relevant hardware to accomplish through program; Described program can be stored in a kind of computer-readable recording medium; The above-mentioned storage medium of mentioning can be a read-only memory, disk or CD etc.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. indoor floor location method is characterized in that said method comprises:
Obtain the current height value of user terminal;
When said height value rise continuously/descend and each rising/decline greater than r rice, confirm that said user terminal is in downstairs movement state; Said r is a pre-set threshold;
User terminal is in said when going up in the downstairs movement state, if the said user terminal first floor that rises/descended, is confirmed in the rising/decline of said height value accumulative total greater than h rice; Said h is a story height.
2. the method for claim 1 is characterized in that, before the said height value that obtains user terminal, also comprises:
Set buffering area at every floor in advance;
Confirm that user terminal is positioned within the said buffering area.
3. according to claim 1 or claim 2 method is characterized in that said method also comprises:
Obtain said height value rise continuously/descend and each risings/decline greater than r rice height value before, as initial floor absolute altitude;
When said user terminal add up risings/decline r rice fail to be in said on during downstairs movement state; Obtain the current height value of said user terminal; If the current height value of said user terminal differs above said story height h with said initial floor absolute altitude, confirm the said user terminal first floor that rises/descended.
4. method as claimed in claim 3 is characterized in that, if the current height value of said user terminal differs above said story height h with said initial floor absolute altitude, confirms the said user terminal first floor that rises/descended, and comprising:
Setting threshold k, said k be greater than the said error of obtaining the height value of user terminal, and said k half the less than said story height h;
The height value that said user terminal is current is compared with said initial floor absolute altitude, if difference is greater than said story height h ± k, then confirms the said user terminal first floor that rises/descended.
5. method as claimed in claim 3 is characterized in that, said initial floor absolute altitude be said height value rise continuously/descend and each risings/decline greater than r rice height value ± said error of obtaining the height value of user terminal before.
6. the method for claim 1 is characterized in that, said pre-set threshold r must be greater than the said error of obtaining the height value of user terminal.
7. the method for claim 1 is characterized in that, said story height h is set at actual floor layer height ± said error of obtaining the height value of user terminal.
8. an indoor floor location device is characterized in that, said device comprises height value acquiring unit, first judging unit and second judging unit, wherein,
Said height value acquiring unit is used to obtain the current height value of user terminal;
Said first judging unit, be used to judge said height value whether continuously rising/decline and each rising/decline greater than r rice, if confirm that said user terminal is in downstairs movement state; Otherwise, confirm that said user terminal fails to be in downstairs movement state; Said r is a pre-set threshold;
Said second judging unit is used for being in saidly when going up downstairs movement state when user terminal, judges whether said height value adds up rising/decline greater than h rice, if confirm the said user terminal first floor that rises/descended; Otherwise, continue to judge according to the height value of said user terminal; Said h is a story height.
9. device as claimed in claim 8 is characterized in that said device further comprises the buffering area judging unit, is used for confirming whether said user terminal is positioned at predefined buffering area.
10. like claim 8 or 9 described devices; It is characterized in that; Said device further comprises the 3rd judging unit; Be used to judge height value and said initial floor absolute altitude that said user terminal is current differ whether surpass said story height h, if then confirm the said user terminal first floor that rises/descended; Otherwise, proceed to judge;
Said initial floor absolute altitude be said height value rise continuously/descend and each risings/decline greater than r rice height value before;
On said/absolute altitude of following first floor layer calculates according to said initial floor absolute altitude and story height h.
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| CN114074869A (en) * | 2020-08-14 | 2022-02-22 | 北京金坤科创技术有限公司 | Upstairs and downstairs state identification method |
| CN114074869B (en) * | 2020-08-14 | 2023-12-22 | 北京金坤科创技术有限公司 | Upstairs and downstairs state identification method |
| CN113709860A (en) * | 2021-08-12 | 2021-11-26 | 电子科技大学 | Indoor positioning device and method for interlayer transition area |
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| CN113747566A (en) * | 2021-08-27 | 2021-12-03 | 深圳市前海智车科技有限公司 | Floor positioning method and system based on Beacon signal, mobile terminal and storage medium |
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