CN103206952A - Positioning method and positioning apparatus - Google Patents
Positioning method and positioning apparatus Download PDFInfo
- Publication number
- CN103206952A CN103206952A CN2012100132302A CN201210013230A CN103206952A CN 103206952 A CN103206952 A CN 103206952A CN 2012100132302 A CN2012100132302 A CN 2012100132302A CN 201210013230 A CN201210013230 A CN 201210013230A CN 103206952 A CN103206952 A CN 103206952A
- Authority
- CN
- China
- Prior art keywords
- terminal device
- target area
- electronic chart
- acceleration
- anglec
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Navigation (AREA)
Abstract
An embodiment of the invention discloses a positioning method and a positioning apparatus, relates to the spatial positioning field, and can realize relatively precise positioning. The positioning method comprises the steps of acquiring an electronic map of an object area; determining a first coordinate position on the electronic map corresponding to an initial position of a terminal apparatus in the object area; acquiring a first data parameter of the movement of the terminal apparatus in the object area acquired by a space relative position sensor; and determining a second coordinate position on the electronic map of the terminal apparatus currently according to the first data parameter and the first coordinate position. The embodiment of the invention is mainly applied in relative positioning processes.
Description
Technical field
The present invention relates to the space orientation field, relate in particular to a kind of localization method and device.
Background technology
At present, people when realizing outdoor, indoor location, use as GPS (Global Positioning System, GPS), technology such as radio-frequency (RF) identification, Wi-Fi (WiMAX), location, base station.But, because the GPS technology only has signal outdoor, and in outdoor no signal, so it can only generally can not be worked indoor in outdoor application.And technology such as radio-frequency (RF) identification, Wi-Fi are followed the tracks of though can realize indoor location and trace, and it implements to need to arrange network that use is inconvenient, and cost is higher.By the location that the base station mode is carried out, its error is at 50 meters, and precision is not high.
In order to realize also utilizing single acceleration transducer in the prior art in the location simply and easily, the step number of step was calculated the distance of walking when the test people walked, and realized indoor positioning; Though said method does not need to arrange network, realize indoor location cheaply, said method is to utilize step to calculate the distance of people's walking, makes test error bigger, and the directivity of people's walking is difficult to draw; So can't realize the location accurately.
Summary of the invention
Embodiments of the invention provide a kind of localization method and device, can realize relative accurate localization.
For achieving the above object, embodiments of the invention adopt following technical scheme:
A kind of localization method is applied to terminal device, comprising:
Obtain the electronic chart of target area;
Determine first coordinate position of the reference position of terminal device in described target area correspondence in described electronic chart;
First data parameters that the described terminal device that acquisition is gathered by the relative space position sensor moves in described target area;
Determine current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position.
A kind of locating device is applied to terminal device, comprising:
First acquiring unit is used for obtaining the electronic chart of target area;
First determining unit is used for determining that the reference position of terminal device in described target area is at the first corresponding coordinate position of described electronic chart;
Second acquisition unit, first data parameters that the described terminal device of being gathered by the relative space position sensor for acquisition moves in described target area;
Second determining unit is used for determining current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position
The localization method that the embodiment of the invention provides and device, can obtain the electronic chart of target area, and acquisition is by first data parameters of described terminal device movement in described target area of relative space position sensor collection, and can determine current second coordinate position on described electronic chart of described terminal device according to the reference position of terminal device in described target area corresponding first coordinate position and this first data parameters in described electronic chart, thereby realize the location; And based on the characteristic of relative space position sensor, the data parameters of its collection comprises the mobile anglec of rotation and acceleration, only uses the distance of walking to realize locating with prior art and compares, can realize the location relatively accurately.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, 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 process flow diagram of a kind of localization method in the embodiment of the invention 1;
Fig. 2 is the method flow diagram of determining the reference position of terminal device in described target area first corresponding coordinate position on described electronic chart in the embodiment of the invention 1;
Fig. 3 is acceleration of gravity sensor x in the embodiment of the invention 1, y, the indication synoptic diagram that z is three;
Fig. 4 is a kind of method flow diagram of determining current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position in the embodiment of the invention 1;
Fig. 5 determines the method flow diagram of current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position for another kind in the embodiment of the invention 1;
Fig. 6 is the process flow diagram of a kind of localization method in the embodiment of the invention 2;
Fig. 7 is the process flow diagram of another kind of localization method in the embodiment of the invention 2;
Fig. 8 is the composition frame chart of a kind of locating device in the embodiment of the invention 3;
Fig. 9 is the composition frame chart of another kind of locating device in the embodiment of the invention 3;
Figure 10 is the composition frame chart of another kind of locating device in the embodiment of the invention 3;
Figure 11 is the composition frame chart of another kind of locating device in the embodiment of the invention 3;
Figure 12 is the composition frame chart of another kind of locating device in the embodiment of the invention 3;
Figure 13 is the composition frame chart of another kind of locating device in the embodiment of the invention 3;
Figure 14 is the composition frame chart of another kind of locating device in the embodiment of the invention 3;
Figure 15 is the composition frame chart of another kind of locating device in the embodiment of the invention 3.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Embodiment 1
The embodiment of the invention provides a kind of localization method, is applied to terminal device, and as shown in Figure 1, this method comprises:
101, obtain the electronic chart of target area.
Wherein, obtain the target area electronic chart can by but be not limited to following method and realize that this method comprises:
Obtain the terminal device current position information by the absolute position location technology, obtain the electronic chart with described terminal device current location near zone, and with the electronic chart of described electronic chart as the target area; Perhaps obtain the target area of user's input, and obtain the electronic chart of described target area.
Wherein, the size of this terminal device current location near zone can specifically limit according to user's demand, for example, this annex zone can be the zone the shortest with terminal device current location distance, it also can be the zone in the predetermined radii scope centered by the terminal device current location, can also be the zone that other modes are determined, the embodiment of the invention limit this.
In addition, this absolute position location technology can be any absolute fix technology of the prior art, and the embodiment of the invention does not limit this yet; For example, this absolute position location technology can be GPS location technology, Wi-Fi location technology and base station location technology etc.
Need to prove that the electronic chart of above-mentioned related target area can be the plane electronics map, also can be the tridimensional electronic map, the concrete embodiment of the invention does not limit this.When being the plane electronics map, it can be the set of the floor plan of concrete building in the target area; When being the tridimensional electronic map, be the stereographic map of concrete building in the target area.
102, determine first coordinate position of the reference position of terminal device in described target area correspondence in described electronic chart.
Wherein, determine the reference position of terminal device in described target area corresponding first coordinate position on described electronic chart, can by but be not limited to following method and realize that this method comprises as shown in Figure 2:
1021, obtain the reference position of terminal device in described target area by the absolute position location technology.
Wherein, this absolute position location technology can be any absolute fix technology of the prior art, and the embodiment of the invention does not limit this yet; For example, this absolute position location technology can be GPS location technology, Wi-Fi location technology and base station location technology etc.
1022, calculate according to the starting point coordinate on the described electronic chart and described reference position, obtain first coordinate position of the reference position of terminal device in described target area correspondence on described electronic chart.
Need to prove, any electronic chart all can have a starting point coordinate, namely (0,0) point coordinate, the coordinate of any point of other on this electronic chart all is to serve as with reference to the relative coordinate of determining with this starting point coordinate, therefore to determine on the electronic chart, during first coordinate points except this starting point coordinate, as long as obtain the reference position of this first coordinate points, just can be according to calculating for starting point coordinate and described reference position, obtain the coordinate position of this first coordinate points on electronic chart, namely obtain first coordinate position of the reference position of terminal device in described target area correspondence on described electronic chart in the embodiment of the invention.
103, acquisition is by first data parameters of described terminal device movement in described target area of relative space position sensor collection.
Need to prove, this relative space position sensor can be set to acceleration of gravity sensor and gyroscope acceleration transducer; In addition, because acceleration of gravity sensor and gyroscope acceleration transducer self characteristics, passing along with service time, there is certain loss in himself performance, make the data that collect have certain deviation, therefore when to the having relatively high expectations of bearing accuracy, can be set to the acceleration of gravity sensor by this relative space position sensor, the gyroscope acceleration transducer, geomagnetic sensor and pressure transducer, wherein geomagnetic sensor is used for the anglec of rotation that the gyroscope acceleration transducer collects is proofreaied and correct, and pressure transducer is used for gathering the variation of height.
Concrete, when this relative space position sensor is set to acceleration of gravity sensor and gyroscope acceleration transducer, acquisition is comprised by first data parameters of described terminal device movement in described target area of relative space position sensor collection: first steric acceleration that receives described terminal device movement in described target area of described acceleration of gravity sensor collection, and the anglec of rotation of described terminal device movement in described target area of reception gyroscope acceleration transducer collection, described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, the y axle is a vertical definite plane mutually, and described z axle is perpendicular to described plane.
When this relative space position sensor is set to acceleration of gravity sensor, gyroscope acceleration transducer, geomagnetic sensor and pressure transducer, obtain to be comprised by described terminal device first mobile data parameters in described target area of relative space position sensor collection: receive described terminal device that described acceleration of gravity sensor gathers mobile first steric acceleration in described target area; Receive the anglec of rotation of described terminal device movement in described target area of described gyroscope acceleration transducer collection; The described terminal device mobile anglec of rotation in described target area that receives described geomagnetic sensor collection changes; Receive the height change of terminal device movement in described target area of described pressure transducer collection; Described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane.
Need to prove, for x, y, the embodiment of the invention that specifically arranges that z is three does not limit this, as long as x, the y axle is a vertical definite plane mutually, described z axle gets final product perpendicular to described plane.For example, when implementing the embodiment of the invention, can set x by following mode, y, the direction that z is three: first kind, fixedly install x, y, the direction that z is three; Second kind, determine x according to the direction that terminal device moves, y, the direction that z is three.When fixedly installing x, y, during direction that z is three, such as, due east or positive west are set to being the x axle, positive north or positive south orientation are the y axle, gravity to or antigravity to being the z axle; When the direction that moves according to terminal device is determined x, y is during direction that z is three, such as, as shown in Figure 3, it is x axle (namely to front axle) that the direction that terminal device moves is set, y axle (lateral axis) becomes 90 degree to determine a plane with the x axle, and z axle (being Z-axis) is vertical with this plane.
104, determine current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position.
Be directed to the description of step 103, when this relative space position sensor is set to acceleration of gravity sensor and gyroscope acceleration transducer, determine that according to described first data parameters and described first coordinate position current second coordinate position on described electronic chart of described terminal device can be by following method realization, as shown in Figure 4, this method comprises:
1041, calculate according to described terminal device mobile time and described first steric acceleration in described target area, obtain first distance that described terminal device moves in described target area.
Wherein, calculate according to described terminal device mobile time and described first steric acceleration in described target area, obtain first distance that described terminal device moves in described target area, be specially:
Described terminal device mobile time and described first steric acceleration in described target area calculated, obtain first linear speed; Described terminal device mobile time and described first linear speed in described target area calculated, obtained first distance that described terminal device moves in described target area.
Need to prove that first linear speed is described acceleration of gravity sensor x, y, the linear speed that z is three; Described first distance is described acceleration of gravity sensor x, y, the distance that z is three.Obtain the linear speed that this terminal device moves and to merge computing to this first linear speed (being described acceleration of gravity sensor x, y, the linear speed that z is three); Equally, obtain the distance that this terminal device moves and to merge computing to this first distance (being described acceleration of gravity sensor x, y, the distance that z is three).
1042, by pre-defined algorithm the described anglec of rotation and described first distance are merged computing, obtain the vector data that described terminal device moves, described vector data comprises direction and the distance that described terminal device moves.
Wherein, this pre-defined algorithm can be for any can merge the method for computing in the prior art, and the embodiment of the invention does not limit this, for example can be sensor fusion algorithm etc.
1043, according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
Wherein, according to first direction, described first coordinate position and described vector data, determine that current second coordinate position on described electronic chart of described terminal device is specially:
The direction that moves according to first direction and described terminal device is determined the absolute direction after described terminal device moves; And the distance that on this absolute direction, moves according to this first cursor position and described terminal device, determine current second coordinate position on described electronic chart of described terminal device.
Wherein, by pre-defined algorithm the described anglec of rotation being merged computing, to obtain the direction that described terminal device moves be a space relative direction, obtain current second coordinate position on described electronic chart of terminal device, the absolute direction that the reference position of a terminal device in described target area need be arranged, and then according to the direction that this absolute direction and terminal device move, determine the absolute direction after terminal device moves.Wherein, obtaining of the absolute direction of the reference position of this terminal device in described target area, can by but be not limited to following mode and obtain, this mode comprises: first kind, fixedly install the absolute direction of this reference position, positive north, due south, positive west or due east for example are set are the absolute direction of this reference position; Second kind, determine the absolute direction of this reference position by the absolute fix technology; Because this absolute fix technology can be oriented the direction that this terminal device moves, the direction that this terminal device moves is set to the absolute direction of this reference position.
When this relative space position sensor is set to acceleration of gravity sensor, gyroscope acceleration transducer, geomagnetic sensor and pressure transducer, determine that according to described first data parameters and described first coordinate position current second coordinate position on described electronic chart of described terminal device can be by following method realization, as shown in Figure 5, this method comprises:
1044, calculate according to described terminal device mobile time and described first steric acceleration in described target area, obtain first distance that described terminal device moves in described target area.
Wherein, for calculating according to described terminal device mobile time and described first steric acceleration in described target area, obtain first distance that described terminal device moves in described target area, and for the related description of first linear speed and first distance, associated description in can refer step 1041, the embodiment of the invention will repeat no more herein.
1045, change the described anglec of rotation of correction, the anglec of rotation after obtaining proofreading and correct by the described anglec of rotation.
1046, by pre-defined algorithm to described first distance, the anglec of rotation and height change after the correction merge computing, obtain the vector data that described terminal device moves, described vector data comprises direction and the distance that described terminal device moves.
Wherein, this pre-defined algorithm can be for any can merge the method for computing in the prior art, and the embodiment of the invention does not limit this, for example can be sensor fusion algorithm etc.
1047, according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
Wherein, according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, and the specific descriptions of first direction, associated description in can refer step 1043, the embodiment of the invention will repeat no more at this.
Further, for the continuity that realizes locating, the embodiment of the invention provides a kind of method, and absolute fix technology and relative positioning technology are combined, and concrete method comprises:
When described terminal device does not receive the absolute position positioning signal, obtain the electronic chart of target area, and carry out the correlation step of the embodiment of the invention 102 to 104.Correlation step about 102 to 104 will repeat no more herein.
Further, when this terminal device when ad-hoc location moves, the embodiment of the invention also provides a kind of method, realize the location of this ad-hoc location, this method comprises: when obtain the vector data that described terminal device moves by the sensor fusion algorithm after, determine the height change that described terminal device moves according to direction and distance that described terminal device moves; Judge whether described height change surpasses the predetermined altitude threshold value; If surpass described predetermined altitude threshold value, determine that then the current location of described terminal device is for only carrying out the ad-hoc location of height change.
Wherein, above-mentioned ad-hoc location can be elevator or stair.In addition, this predetermined altitude threshold value is an empirical value, and it can specifically arrange according to the height of concrete floor, and the embodiment of the invention does not limit this.
The localization method that the embodiment of the invention provides and device, can obtain the electronic chart of target area, and acquisition is by first data parameters of described terminal device movement in described target area of relative space position sensor collection, and can determine current second coordinate position on described electronic chart of described terminal device according to the reference position of terminal device in described target area corresponding first coordinate position and this first data parameters in described electronic chart, thereby realize the location; And based on the characteristic of relative space position sensor, the data parameters of its collection comprises the mobile anglec of rotation and acceleration, only uses the distance of walking to realize locating with prior art and compares, can realize the location relatively accurately.
And, when the embodiment of the invention does not receive the absolute position positioning signal at terminal device, obtaining the electronic chart of target area, and carry out the relative positioning method, feasible location to terminal device has continuity, has improved user's experience.
Embodiment 2
The embodiment of the invention provides a kind of localization method, and as shown in Figure 6, this method comprises:
201, obtain the electronic chart of target area.
202, determine first coordinate position of the reference position of terminal device in described target area correspondence in described electronic chart.
203, acquisition is by first data parameters of described terminal device movement in described target area of relative space position sensor collection.
204, determine current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position.
Wherein, need to prove, about the specific descriptions of step 201 to 204, can reference example 1 in the associated description of step 101 to 104, the embodiment of the invention will repeat no more herein.
205, obtain the coordinates of targets position that described terminal device will arrive objective.
206, obtain the first road navigation track information between described second coordinate position and the coordinates of targets position, and described first road navigation track is presented on the described electronic chart, so that road guide is mobile in the target area according to this first road navigation track with reference to the person, arrived the target location.
Wherein, obtain the first road navigation track information between described second coordinate position and the coordinates of targets position, can obtain according to any method of the prior art, the embodiment of the invention will repeat no more herein.
Further, after being presented at described first road navigation track on the described electronic chart, road guide can move according to this first road navigation track with reference to the person, also can not move according to this first road navigation track; When the road navigation is not moved according to this first road navigation track with reference to the person, when namely having departed from described first road navigation track and having moved, the embodiment of the invention also provides a kind of method, can in time determine another road navigation track according to road guide with reference to the new walking position of person, to guarantee correct navigation; This method comprises as shown in Figure 7
207, obtain the described terminal device gathered by described relative space position sensor mobile second data parameters in described target area, and determine the current three-dimensional position on described electronic chart of described terminal device according to described second data parameters and second coordinate position.
Wherein, second data parameters that the described terminal device that acquisition is gathered by described relative space position sensor moves in described target area, and determine the specific descriptions of the current three-dimensional position on described electronic chart of described terminal device according to described second data parameters and second coordinate position, can reference example 1 step 103 and step 104 in associated description, the embodiment of the invention will repeat no more herein.
208, judge that described three-dimensional position is whether on described first road navigation track; If do not exist, then execution in step 209; If, then execution in step 210.
209, obtain the second road navigation track information between described three-dimensional position and the coordinates of targets position, and described second road navigation track is presented on the described electronic chart, so that road guide is mobile in the target area according to this second road navigation track with reference to the person, to arrive the target location.And execution in step 208.
210, mobile in the target area according to this first road navigation track, with the arrival target location, and execution in step 208.
In the embodiment of the invention, after realizing accurate relatively realization location, also determine the guidance path between current position location and the target location, made things convenient for road guide with reference to the movement of person in the target area, improved user's experience.
And, behind the guidance path of having determined between current position location and the target location, determine further also whether road guide has departed from fixed guidance path with reference to person's movement, if departed from, then according to the position of new location, redefine new guidance path, thereby guaranteed correct navigation, make things convenient for use, improved user's experience.
Embodiment 3
The embodiment of the invention provides a kind of locating device, is applied to terminal device, and as shown in Figure 8, this locating device comprises: first acquiring unit 301, first determining unit 302, second acquisition unit 303 and second determining unit 304.
First acquiring unit 301 is used for obtaining the electronic chart of target area;
First determining unit 302 is used for determining that the reference position of terminal device in described target area is at the first corresponding coordinate position of described electronic chart;
Second determining unit 304 is used for determining current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position.
Need to prove, this relative space position sensor can be set to acceleration of gravity sensor and gyroscope acceleration transducer; In addition, because acceleration of gravity sensor and gyroscope acceleration transducer self characteristics, passing along with service time, there is certain loss in himself performance, make the data that collect have certain deviation, therefore when to the having relatively high expectations of bearing accuracy, can be set to the acceleration of gravity sensor by this relative space position sensor, the gyroscope acceleration transducer, geomagnetic sensor and pressure transducer, wherein geomagnetic sensor is used for the anglec of rotation that the gyroscope acceleration transducer collects is proofreaied and correct, and pressure transducer is used for gathering the variation of height.
Further alternative, when this relative space position sensor was set to acceleration of gravity sensor and gyroscope acceleration transducer, as shown in Figure 9, described second acquisition unit 303 comprised: first receiver module 3031 and second receiver module 3032; Described second determining unit 304 comprises: first computing module 3041, second computing module 3042 and determination module 3043.
Described first receiver module 3031, first steric acceleration that the described terminal device of gathering for the described acceleration of gravity sensor of reception moves in described target area, described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane.
Described second receiver module 3032, the anglec of rotation that the described terminal device of gathering for reception gyroscope acceleration transducer moves in described target area, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane.
Described first computing module 3041 is used for calculating according to described terminal device mobile time and described first steric acceleration in described target area, obtains first distance that described terminal device moves in described target area.
Described second computing module 3042 is used for by pre-defined algorithm the described anglec of rotation and described first distance being merged computing, obtains the vector data that described terminal device moves, and described vector data comprises direction and the distance that described terminal device moves.
Described determination module 3043, be used for according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
Further alternative, when this relative space position sensor is set to acceleration of gravity sensor, gyroscope acceleration transducer, geomagnetic sensor and pressure transducer, as shown in figure 10, described second acquisition unit 303 comprises: first receiver module 3031, second receiver module 3032, the 3rd receiver module 3033 and the 4th receiver module 3034: described second determining unit 304 comprises: first computing module 3041, second computing module 3042, determination module 3043 and correction module 3044.
Described first receiver module 3031, first steric acceleration that the described terminal device of gathering for the described acceleration of gravity sensor of reception moves in described target area, described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Described second receiver module 3032, the anglec of rotation that the described terminal device of gathering for the described gyroscope acceleration transducer of reception moves in described target area, described first anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Described second receiver module 3033, the described terminal device mobile anglec of rotation in described target area that is used for the described geomagnetic sensor collection of reception changes;
Described the 4th receiver module 3034, the height change that the terminal device of gathering for the described pressure transducer of reception moves in described target area;
Described first computing module 3041 is used for calculating according to described terminal device mobile time and described first steric acceleration in described target area, obtains first distance that described terminal device moves in described target area;
Described correction module 3044 is used for changing the described anglec of rotation of correction, the anglec of rotation after obtaining proofreading and correct by the described anglec of rotation;
Described determination module 3043, be used for according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
Further alternative, as shown in figure 11, described first acquiring unit 301 comprises: first acquisition module 3011 and/or second acquisition module 3012.
Further alternative, as shown in figure 12, described first determining unit 302 comprises: the 3rd acquisition module 3021 and the 3rd computing module 3022.
The 3rd acquisition module 3021 is used for obtaining the reference position of terminal device in described target area by the absolute position location technology;
The 3rd computing module 3022 is used for calculating according to the starting point coordinate on the described electronic chart and described reference position, obtains first coordinate position of the reference position of terminal device in described target area correspondence on described electronic chart.
Further alternative, described first acquiring unit 301 also is used for, and when described terminal device does not receive the absolute position positioning signal, obtains the electronic chart of target area.
Further alternative, as shown in figure 13, this locating device also comprises: the 3rd acquiring unit 305, the 4th acquiring unit 306 and display unit 307.
The 3rd acquiring unit 305, be used for after described second acquisition unit is determined current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position, obtaining the coordinates of targets position that described terminal device will arrive objective;
The 4th acquiring unit 306 is used for obtaining the first road navigation track information between described second coordinate position and the coordinates of targets position;
Further alternative, as shown in figure 14, this locating device also comprises: the 5th acquiring unit 308, the 3rd determining unit 309 and first judging unit 3010.
The 5th acquiring unit 308, be used for after described display unit is presented at described first road navigation track on the described electronic chart second data parameters that the described terminal device that obtains to be gathered by described relative space position sensor moves in described target area;
The 3rd determining unit 309 is used for determining the current three-dimensional position on described electronic chart of described terminal device according to described second data parameters and second coordinate position;
First judging unit 3010 is used for judging that whether described three-dimensional position is at described first road navigation track;
Described the 4th acquiring unit 306 also is used for, if do not exist, then obtains the second road navigation track information between described three-dimensional position and the coordinates of targets position;
Described display unit 307 also is used for described second road navigation track is presented at described electronic chart.
Further alternative, as shown in figure 15, this locating device also comprises: the 4th determining unit 3011, second judging unit 3012 and the 5th determining unit 3013.
The 4th determining unit 3011 is used for when obtain the vector data that described terminal device moves by the sensor fusion algorithm after, the height change that the direction that moves according to described terminal device and the definite described terminal device of distance move;
The 5th determining unit 3013 is used for if surpass described predetermined altitude threshold value, determines that then the current location of described terminal device is for only carrying out the ad-hoc location of height change.
Need to prove that other of each functional module that the locating device that the embodiment of the invention provides comprises are described, can reference example 1 and embodiment 2 in associated description, the embodiment of the invention will repeat no more herein.
The localization method that the embodiment of the invention provides and device, can obtain the electronic chart of target area, and acquisition is by first data parameters of described terminal device movement in described target area of relative space position sensor collection, and can determine current second coordinate position on described electronic chart of described terminal device according to the reference position of terminal device in described target area corresponding first coordinate position and this first data parameters in described electronic chart, thereby realize the location; And based on the characteristic of relative space position sensor, the data parameters of its collection comprises the mobile anglec of rotation and acceleration, only uses the distance of walking to realize locating with prior art and compares, can realize the location relatively accurately.
And, when the embodiment of the invention does not receive the absolute position positioning signal at terminal device, obtaining the electronic chart of target area, and carry out the relative positioning method, feasible location to terminal device has continuity, has improved user's experience.
Further, in the embodiment of the invention, after realizing accurate relatively realization location, also determine the guidance path between current position location and the target location, made things convenient for road guide with reference to the movement of person in the target area, improved user's experience.
Further, behind the guidance path of having determined between current position location and the target location, determine further also whether road guide has departed from fixed guidance path with reference to person's movement, if departed from, then according to the position of new location, redefine new guidance path, thereby guaranteed correct navigation, make things convenient for use, improved user's experience.
Through the above description of the embodiments, the those skilled in the art can be well understood to the present invention and can realize by the mode that software adds essential common hardware, can certainly pass through hardware, but the former is better embodiment under a lot of situation.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product is stored in the storage medium that can read, floppy disk as computing machine, hard disk or CD etc., comprise some instructions with so that computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out the described method of each embodiment of the present invention.
The above; only be the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; can expect easily changing or replacing, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (18)
1. a localization method is applied to terminal device, it is characterized in that, comprising:
Obtain the electronic chart of target area;
Determine first coordinate position of the reference position of terminal device in described target area correspondence in described electronic chart;
First data parameters that the described terminal device that acquisition is gathered by the relative space position sensor moves in described target area;
Determine current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position.
2. localization method according to claim 1 is characterized in that, described relative space position sensor comprises: acceleration of gravity sensor and gyroscope acceleration transducer;
Described acquisition is comprised by described terminal device first mobile data parameters in described target area of relative space position sensor collection:
Receive first steric acceleration of described terminal device movement in described target area of described acceleration of gravity sensor collection, and the anglec of rotation of described terminal device movement in described target area of reception gyroscope acceleration transducer collection, described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, the y axle is a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Describedly determine that according to described first data parameters and described first coordinate position current second coordinate position on described electronic chart of described terminal device comprises:
Calculate according to described terminal device mobile time and described first steric acceleration in described target area, obtain first distance that described terminal device moves in described target area;
By pre-defined algorithm the described anglec of rotation and described first distance are merged computing, obtain the vector data that described terminal device moves, described vector data comprises direction and the distance that described terminal device moves;
According to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
3. localization method according to claim 1 is characterized in that, described relative space position sensor comprises: acceleration of gravity sensor, gyroscope acceleration transducer, geomagnetic sensor and pressure transducer;
Described acquisition is comprised by described terminal device first mobile data parameters in described target area of relative space position sensor collection:
Receive first steric acceleration of described terminal device movement in described target area of described acceleration of gravity sensor collection; Receive the anglec of rotation of described terminal device movement in described target area of described gyroscope acceleration transducer collection; The described terminal device mobile anglec of rotation in described target area that receives described geomagnetic sensor collection changes; Receive the height change of terminal device movement in described target area of described pressure transducer collection; Described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Describedly determine that according to described first data parameters and described first coordinate position current second coordinate position on described electronic chart of described terminal device comprises:
Calculate according to described terminal device mobile time and described first steric acceleration in described target area, obtain first distance that described terminal device moves in described target area;
Change the described anglec of rotation of correction, the anglec of rotation after obtaining proofreading and correct by the described anglec of rotation;
To described first distance, the anglec of rotation and height change after the correction merge computing, obtain the vector data that described terminal device moves by pre-defined algorithm, and described vector data comprises direction and the distance that described terminal device moves;
According to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
4. localization method according to claim 1 is characterized in that, the described electronic chart that obtains the target area comprises:
Obtain the terminal device current position information by the absolute position location technology, obtain the electronic chart with described terminal device current location near zone, and with the electronic chart of described electronic chart as the target area; Perhaps
Obtain the target area of user's input, and obtain the electronic chart of described target area.
5. localization method according to claim 1 is characterized in that, first coordinate position of the reference position of described definite terminal device in described target area correspondence on described electronic chart comprises:
Obtain the reference position of terminal device in described target area by the absolute position location technology;
Calculate according to the starting point coordinate on the described electronic chart and described reference position, obtain first coordinate position of the reference position of terminal device in described target area correspondence on described electronic chart.
6. according to each described localization method of claim 1-5, it is characterized in that the described electronic chart that obtains the target area comprises:
When described terminal device does not receive the absolute position positioning signal, obtain the electronic chart of target area.
7. according to each described localization method of claim 1-5, it is characterized in that, after determining current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position, also comprise:
Obtain described terminal device and will arrive the coordinates of targets position of objective;
Obtain the first road navigation track information between described second coordinate position and the coordinates of targets position, and described first road navigation track is presented on the described electronic chart.
8. localization method according to claim 7 is characterized in that, after being presented at described first road navigation track on the described electronic chart, also comprises:
The described terminal device that acquisition is gathered by described relative space position sensor mobile second data parameters in described target area, and determine the current three-dimensional position on described electronic chart of described terminal device according to described second data parameters and second coordinate position;
Judge that described three-dimensional position is whether on described first road navigation track;
If do not exist, then obtain the second road navigation track information between described three-dimensional position and the coordinates of targets position, and described second road navigation track is presented on the described electronic chart.
9. according to claim 2 or 3 described localization methods, it is characterized in that, when obtain the vector data that described terminal device moves by the sensor fusion algorithm after, also comprise:
Determine the height change that described terminal device moves according to direction and distance that described terminal device moves;
Judge whether described height change surpasses the predetermined altitude threshold value;
If surpass described predetermined altitude threshold value, determine that then the current location of described terminal device is for only carrying out the ad-hoc location of height change.
10. a locating device is applied to terminal device, it is characterized in that, comprising:
First acquiring unit is used for obtaining the electronic chart of target area;
First determining unit is used for determining that the reference position of terminal device in described target area is at the first corresponding coordinate position of described electronic chart;
Second acquisition unit, first data parameters that the described terminal device of being gathered by the relative space position sensor for acquisition moves in described target area;
Second determining unit is used for determining current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position.
11. locating device according to claim 10 is characterized in that, described relative space position sensor comprises: acceleration of gravity sensor and gyroscope acceleration transducer;
Described second acquisition unit comprises: first receiver module and second receiver module;
Described first receiver module, first steric acceleration that the described terminal device of gathering for the described acceleration of gravity sensor of reception moves in described target area, described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Described second receiver module, the anglec of rotation that the described terminal device of gathering for reception gyroscope acceleration transducer moves in described target area, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Described second determining unit comprises: first computing module, second computing module and determination module.
Described first computing module is used for calculating according to described terminal device mobile time and described first steric acceleration in described target area, obtains first distance that described terminal device moves in described target area;
Described second computing module is used for by pre-defined algorithm the described anglec of rotation and described first distance being merged computing, obtains the vector data that described terminal device moves, and described vector data comprises direction and the distance that described terminal device moves;
Described determination module, be used for according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
12. locating device according to claim 10 is characterized in that, described relative space position sensor comprises: acceleration of gravity sensor, gyroscope acceleration transducer, geomagnetic sensor and pressure transducer;
Described second acquisition unit comprises: first receiver module, second receiver module, the 3rd receiver module and the 4th receiver module:
Described first receiver module, first steric acceleration that the described terminal device of gathering for the described acceleration of gravity sensor of reception moves in described target area, described first steric acceleration is described acceleration of gravity sensor x, y, the acceleration that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Described second receiver module, the anglec of rotation that the described terminal device of gathering for the described gyroscope acceleration transducer of reception moves in described target area, the described anglec of rotation is described gyroscope acceleration transducer x, y, the anglec of rotation that z is three, described x, y axle be a vertical definite plane mutually, and described z axle is perpendicular to described plane;
Described second receiver module, the described terminal device mobile anglec of rotation in described target area that is used for the described geomagnetic sensor collection of reception changes;
Described the 4th receiver module, the height change that the terminal device of gathering for the described pressure transducer of reception moves in described target area;
Described second determining unit comprises: first computing module, correction module, second computing module and determination module;
Described first computing module is used for calculating according to described terminal device mobile time and described first steric acceleration in described target area, obtains first distance that described terminal device moves in described target area;
Described correction module is used for changing the described anglec of rotation of correction, the anglec of rotation after obtaining proofreading and correct by the described anglec of rotation;
Second computing module, be used for by pre-defined algorithm described first distance, the anglec of rotation and height change after the correction merge computing, obtain the vector data that described terminal device moves, and described vector data comprises direction and the distance that described terminal device moves;
Described determination module, be used for according to first direction, described first coordinate position and described vector data, determine current second coordinate position on described electronic chart of described terminal device, described first direction is the absolute direction of the reference position of terminal device in described target area.
13. locating device according to claim 10 is characterized in that, described first acquiring unit comprises:
First acquisition module is used for obtaining the terminal device current position information by the absolute position location technology, obtains the electronic chart with described terminal device current location near zone, and with the electronic chart of described electronic chart as the target area; And/or
Second acquisition module obtains the target area of user's input, and obtains the electronic chart of described target area.
14. locating device according to claim 10 is characterized in that, described first determining unit comprises:
The 3rd acquisition module is used for obtaining the reference position of terminal device in described target area by the absolute position location technology;
The 3rd computing module is used for calculating according to the starting point coordinate on the described electronic chart and described reference position, obtains first coordinate position of the reference position of terminal device in described target area correspondence on described electronic chart.
15., it is characterized in that described first acquiring unit also is used for according to each described locating device of claim 10-14, when described terminal device does not receive the absolute position positioning signal, obtain the electronic chart of target area.
16. according to each described locating device of claim 10-14, it is characterized in that, also comprise:
The 3rd acquiring unit, be used for after described second acquisition unit is determined current second coordinate position on described electronic chart of described terminal device according to described first data parameters and described first coordinate position, obtaining the coordinates of targets position that described terminal device will arrive objective;
The 4th acquiring unit is used for obtaining the first road navigation track information between described second coordinate position and the coordinates of targets position;
Display unit is used for described first road navigation track is presented at described electronic chart.
17. locating device according to claim 16 is characterized in that, also comprises:
The 5th acquiring unit, be used for after described display unit is presented at described first road navigation track on the described electronic chart second data parameters that the described terminal device that obtains to be gathered by described relative space position sensor moves in described target area;
The 3rd determining unit is used for determining the current three-dimensional position on described electronic chart of described terminal device according to described second data parameters and second coordinate position;
First judging unit is used for judging that whether described three-dimensional position is at described first road navigation track;
Described the 4th acquiring unit also is used for, if do not exist, then obtains the second road navigation track information between described three-dimensional position and the coordinates of targets position;
Described display unit also is used for described second road navigation track is presented at described electronic chart.
18. according to claim 11 or 12 described locating devices, it is characterized in that, also comprise:
The 4th determining unit is used for when obtain the vector data that described terminal device moves by the sensor fusion algorithm after, the height change that the direction that moves according to described terminal device and the definite described terminal device of distance move;
Second judging unit is used for judging whether described height change surpasses the predetermined altitude threshold value;
The 5th determining unit is used for if surpass described predetermined altitude threshold value, determines that then the current location of described terminal device is for only carrying out the ad-hoc location of height change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100132302A CN103206952A (en) | 2012-01-16 | 2012-01-16 | Positioning method and positioning apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100132302A CN103206952A (en) | 2012-01-16 | 2012-01-16 | Positioning method and positioning apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103206952A true CN103206952A (en) | 2013-07-17 |
Family
ID=48754250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100132302A Pending CN103206952A (en) | 2012-01-16 | 2012-01-16 | Positioning method and positioning apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103206952A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487049A (en) * | 2013-09-04 | 2014-01-01 | 罗朝劲 | Novel geographic location positioning scheme |
| CN103557861A (en) * | 2013-11-20 | 2014-02-05 | 胡达广 | High-precision self-locating system |
| CN104006811A (en) * | 2014-05-13 | 2014-08-27 | 北京红旗胜利科技发展有限责任公司 | Navigation shoes indoor navigation correction method and device |
| CN104750726A (en) * | 2013-12-30 | 2015-07-01 | 北京中盈安信技术服务有限公司 | Three-dimensional map coordinate determining method and device |
| CN104768132A (en) * | 2015-05-05 | 2015-07-08 | 深圳市欧珀通信软件有限公司 | Communication detection method and device |
| CN105928533A (en) * | 2016-04-26 | 2016-09-07 | 北京小米移动软件有限公司 | Navigation method, navigation device and electronic apparatus |
| CN105989707A (en) * | 2015-02-16 | 2016-10-05 | 杭州快迪科技有限公司 | Method for determining relative directions of GPS equipment and target position |
| CN106228127A (en) * | 2016-07-18 | 2016-12-14 | 乐视控股（北京）有限公司 | Indoor orientation method and device |
| CN106332272A (en) * | 2015-07-01 | 2017-01-11 | 广东欧珀移动通信有限公司 | Positioning method and device |
| CN106357010A (en) * | 2015-07-08 | 2017-01-25 | 联想(北京)有限公司 | Control method and control device |
| CN106375937A (en) * | 2016-08-26 | 2017-02-01 | 无锡卓信信息科技股份有限公司 | Indoor positioning control system based on sensing |
| CN104469677B (en) * | 2014-11-21 | 2018-07-13 | 上海斐讯数据通信技术有限公司 | Motion track based on intelligent terminal records system and method |
| CN108595095A (en) * | 2018-04-13 | 2018-09-28 | 百度在线网络技术（北京）有限公司 | Method and apparatus based on gesture control simulated target body movement locus |
| CN109335443A (en) * | 2018-09-28 | 2019-02-15 | 中民筑友科技投资有限公司 | A kind of shelf positioning system, method and apparatus |
| CN109581292A (en) * | 2018-10-31 | 2019-04-05 | 北京洪泰同创信息技术有限公司 | The bearing measuring method and device of intelligentized Furniture |
| CN111624636A (en) * | 2020-05-25 | 2020-09-04 | 腾讯科技（深圳）有限公司 | Data processing method and device, electronic equipment and computer readable medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1096230A2 (en) * | 1999-10-29 | 2001-05-02 | Visteon Global Technologies, Inc. | Method and apparatus for inertial guidance for an automobile navigation system |
| DE10350108A1 (en) * | 2002-12-03 | 2004-06-24 | Robert Bosch Gmbh | User orientation and navigation based on INS |
| CN1779416A (en) * | 2004-11-23 | 2006-05-31 | 佛山市顺德区瑞图万方科技有限公司 | Navigation system and method on board |
| CN101382431A (en) * | 2007-09-04 | 2009-03-11 | 联发科技股份有限公司 | Positioning system and method thereof |
| CN102023305A (en) * | 2010-08-05 | 2011-04-20 | 深圳市赛格导航科技股份有限公司 | Positioning method and device as well as vehicle-mounted terminal |
| CN102192742A (en) * | 2010-03-09 | 2011-09-21 | 陈新伟 | Navigation method and device |
-
2012
- 2012-01-16 CN CN2012100132302A patent/CN103206952A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1096230A2 (en) * | 1999-10-29 | 2001-05-02 | Visteon Global Technologies, Inc. | Method and apparatus for inertial guidance for an automobile navigation system |
| DE10350108A1 (en) * | 2002-12-03 | 2004-06-24 | Robert Bosch Gmbh | User orientation and navigation based on INS |
| CN1779416A (en) * | 2004-11-23 | 2006-05-31 | 佛山市顺德区瑞图万方科技有限公司 | Navigation system and method on board |
| CN101382431A (en) * | 2007-09-04 | 2009-03-11 | 联发科技股份有限公司 | Positioning system and method thereof |
| CN102192742A (en) * | 2010-03-09 | 2011-09-21 | 陈新伟 | Navigation method and device |
| CN102023305A (en) * | 2010-08-05 | 2011-04-20 | 深圳市赛格导航科技股份有限公司 | Positioning method and device as well as vehicle-mounted terminal |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487049A (en) * | 2013-09-04 | 2014-01-01 | 罗朝劲 | Novel geographic location positioning scheme |
| CN103557861A (en) * | 2013-11-20 | 2014-02-05 | 胡达广 | High-precision self-locating system |
| CN104750726A (en) * | 2013-12-30 | 2015-07-01 | 北京中盈安信技术服务有限公司 | Three-dimensional map coordinate determining method and device |
| CN104006811A (en) * | 2014-05-13 | 2014-08-27 | 北京红旗胜利科技发展有限责任公司 | Navigation shoes indoor navigation correction method and device |
| CN104006811B (en) * | 2014-05-13 | 2017-03-15 | 北京红旗胜利科技发展有限责任公司 | A kind of method and device of navigation shoe indoor navigation correction |
| CN104469677B (en) * | 2014-11-21 | 2018-07-13 | 上海斐讯数据通信技术有限公司 | Motion track based on intelligent terminal records system and method |
| CN105989707A (en) * | 2015-02-16 | 2016-10-05 | 杭州快迪科技有限公司 | Method for determining relative directions of GPS equipment and target position |
| CN105989707B (en) * | 2015-02-16 | 2021-05-28 | 杭州快迪科技有限公司 | Method for determining relative position of GPS equipment and target position |
| CN104768132A (en) * | 2015-05-05 | 2015-07-08 | 深圳市欧珀通信软件有限公司 | Communication detection method and device |
| US10591577B2 (en) | 2015-07-01 | 2020-03-17 | Guangdong Oppo Mobile Telecommunication Corp., Ltd. | Positioning method and device |
| CN106332272A (en) * | 2015-07-01 | 2017-01-11 | 广东欧珀移动通信有限公司 | Positioning method and device |
| CN106357010A (en) * | 2015-07-08 | 2017-01-25 | 联想(北京)有限公司 | Control method and control device |
| CN106357010B (en) * | 2015-07-08 | 2020-02-21 | 联想(北京)有限公司 | Control method and device |
| CN105928533B (en) * | 2016-04-26 | 2019-03-29 | 北京小米移动软件有限公司 | Air navigation aid and device, electronic equipment |
| CN105928533A (en) * | 2016-04-26 | 2016-09-07 | 北京小米移动软件有限公司 | Navigation method, navigation device and electronic apparatus |
| CN106228127A (en) * | 2016-07-18 | 2016-12-14 | 乐视控股（北京）有限公司 | Indoor orientation method and device |
| CN106375937A (en) * | 2016-08-26 | 2017-02-01 | 无锡卓信信息科技股份有限公司 | Indoor positioning control system based on sensing |
| CN108595095A (en) * | 2018-04-13 | 2018-09-28 | 百度在线网络技术（北京）有限公司 | Method and apparatus based on gesture control simulated target body movement locus |
| CN108595095B (en) * | 2018-04-13 | 2022-07-15 | 百度在线网络技术（北京）有限公司 | Method and device for simulating movement locus of target body based on gesture control |
| CN109335443A (en) * | 2018-09-28 | 2019-02-15 | 中民筑友科技投资有限公司 | A kind of shelf positioning system, method and apparatus |
| CN109581292A (en) * | 2018-10-31 | 2019-04-05 | 北京洪泰同创信息技术有限公司 | The bearing measuring method and device of intelligentized Furniture |
| CN111624636A (en) * | 2020-05-25 | 2020-09-04 | 腾讯科技（深圳）有限公司 | Data processing method and device, electronic equipment and computer readable medium |
| CN111624636B (en) * | 2020-05-25 | 2023-06-20 | 腾讯科技（深圳）有限公司 | Data processing method, device, electronic equipment and computer readable medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103206952A (en) | Positioning method and positioning apparatus | |
| CN106556854B (en) | A kind of indoor and outdoor navigation system and method | |
| US10257659B2 (en) | Positioning device and positioning system | |
| KR101728123B1 (en) | Simultaneous Localization and Mapping by Using Earth's Magnetic Fields | |
| EP3064963B1 (en) | System and method for mapping an indoor environment | |
| CN102192742B (en) | Navigation method and device | |
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| CN105674984B (en) | A method of acquisition for mobile terminal pedestrian advancing direction is used without constraint | |
| US20120245885A1 (en) | Positioning device, positioning method, program, and recording medium | |
| CN103052151A (en) | Terminal positioning method and device as well as mobile terminal | |
| CN103091662B (en) | Localization method, drive test terminal and handheld terminal | |
| CN105072580A (en) | WIFI (Wireless Fidelity) fingerprint map automatic acquisition system and method based on sweeping robot | |
| CN108235736A (en) | Positioning method, cloud server, terminal, system, electronic device and computer program product | |
| CN104205960A (en) | Collecting positioning reference data | |
| CN103207383A (en) | Method for performing two-dimensional wireless positioning on stationary node based on single mobile node | |
| CN104796866A (en) | Indoor positioning method and device | |
| CN104197929B (en) | Localization method, device and system based on geomagnetism and WIFI | |
| CN103797376A (en) | Device and method for collecting information relating to access points | |
| CN102087109A (en) | System, device and method for estimating position | |
| CN106197406A (en) | A kind of based on inertial navigation with the fusion method of RSSI wireless location | |
| JP5742794B2 (en) | Inertial navigation device and program | |
| CN105509716A (en) | Geographic information collection method based on augmented reality technology and device | |
| WO2016145905A1 (en) | Network signal recording method, device, mobile terminal and storage medium | |
| CN106949892A (en) | A kind of localization method and device | |
| KR20160105628A (en) | Distance and position measurement method with beacon and acceleration sensor and indoor positioning system using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130717 |