CN103220780A - Indoor positioning method, device and system - Google Patents

Abstract

The invention discloses an indoor positioning method, device and system. An AP is selected and a mobile terminal is positioned using the selected AP, which can improve the positioning accuracy. The method includes: when the mobile terminal receives signals of at least three APs at the same time, selecting a target AP from the at least three APs according to the signal quality of the access point AP, the target AP is one or more; according to the signal quality of the target AP Signal and the signal information of the target AP in the pre-stored fingerprint library to locate the mobile terminal. The device includes: a selection unit, configured to select a target AP from the at least three APs according to the signal quality of the access point AP when the mobile terminal receives signals of at least three APs at the same time, and the target APs are one or more; The positioning unit is used to locate the mobile terminal according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint database. The embodiment of the present invention is mainly for indoor positioning, which can improve positioning accuracy.

Description

Indoor positioning method, device and system

technical field

The present invention relates to the technical field of positioning, in particular to an indoor positioning method, device and system.

Background technique

The positioning technology of fingerprint matching is a technology for realizing indoor positioning. The positioning technology of fingerprint matching can be divided into two stages, namely the offline stage (Offline stage) and the online stage (Online stage). The offline stage refers to the selection of fingerprint points (fingerprint points can also be called fingerprint collection points or reference points), each fingerprint point collects the signals of its surrounding APs (access points, English full name is Access Point), and the signals of these APs Store and build a fingerprint library. The online stage means that after the fingerprint library is established, the mobile terminal receives the signals from the surrounding APs, and performs matching calculations between the signals received by the mobile terminal and the signals in the database, and finally obtains the location of the mobile terminal.

In practice, the mobile terminal may receive signal vectors from multiple APs at the same time during the online phase, but some AP signal vectors have little effect on matching calculations. Selecting such signal vectors for matching operations will affect the positioning accuracy.

Contents of the invention

Embodiments of the present invention provide an indoor positioning method, device and system, and a selected AP is used to locate a mobile terminal, thereby improving positioning accuracy.

The embodiment of the present invention adopts following technical scheme:

In the first aspect, an indoor positioning method is provided, including:

When the mobile terminal receives signals of at least three APs at the same time, select a target AP from the at least three APs according to the signal quality of the access point AP, and the target AP is one or more; according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint database to locate the mobile terminal.

Optionally, the selecting a target AP from the at least three APs according to the signal quality of the APs includes:

According to the signal strength of each AP in the at least three APs, select at least one AP from the at least three APs as the target AP; or, combine at least every three APs in the at least three APs A group of AP combinations, using APs included in a group of AP combinations with the smallest geometric precision factor GDOP as the target AP; or, according to the signal strength of each AP in the at least three APs, from the at least three APs Select at least three APs among the selected at least three APs, and at least every three APs in the selected at least three APs form a group of AP combinations, and use the APs included in the group of AP combinations with the smallest GDOP as the target APs.

X_σ的均值为0。Optionally, the signal strength of each AP in the at least three APs is determined according to P _i =P ₀ -10nlgd _i +X _σ , wherein P _i is the signal strength received by the mobile terminal, and P ₀ is the distance The signal strength received at the transmitting node 1m, n is the fading factor of the channel, d _i is the location of the mobile terminal (x, y, z) to at least three beacon nodes ( _xi , _y , zi ₎ distance,

The mean of X _σ is 0.

Optionally, the GDOP of each group of AP combinations is determined according to the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system.

Optionally, the determining the GDOP of each group of AP combinations according to the distance vector from each AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system includes:

Determine the distance vector from each AP in each group of AP combinations to the mobile terminal, and the direction cosines of the coordinate axes of the reference coordinate system; establish an observation matrix corresponding to each group of AP combinations for the determined at least three direction cosines, According to the observation matrix corresponding to each group of AP combinations, the GDOP of each group of AP combinations is determined.

In a second aspect, an indoor positioning device is provided, including:

The selection unit is used to select a target AP from the at least three APs according to the signal quality of the access point AP when the mobile terminal receives signals of at least three APs at the same time, and the target AP is one or more; a positioning unit , for locating the mobile terminal according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint database.

Optionally, the selection unit includes any of the following subunits:

The first subunit is configured to select at least one AP from the at least three APs as the target AP according to the signal strength (such as RSSI) of each of the at least three APs; the second subunit, It is used to form at least every three APs in the at least three APs into a group of AP combinations, and the APs included in the group of AP combinations with the smallest GDOP are used as the target AP; the third subunit is used for according to the at least The signal strength of each AP in the three APs, at least three APs are selected from the at least three APs, at least every three APs in the selected at least three APs are formed into a group of AP combinations, and the one with the smallest GDOP The APs included in the group AP group are used as the target AP.

Optionally, the first subunit is specifically configured to determine the signal strength of each of the at least three APs according to P _i =P ₀ -10nlgd _i +X _σ ; the third subunit is specifically configured to use Determine the signal strength of each AP in the at least three APs according to P _i =P ₀ -10nlgd _i +X _σ ; wherein, P _i is the signal strength received by the mobile terminal, and P ₀ is 1m away from the transmitting node The received signal strength at , n is the fading factor of the channel, d _i is the distance from the location (x, y, z) of the mobile terminal to at least three beacon nodes ( _xi , _y , zi ₎ , $d_i=\sqrt{{(x-x_i)}^2+{(\mathrm{the\; y}-{\mathrm{the\; y}}_i)}^2+{(z-z_i)}^2},$ The mean of X _σ is 0.

Optionally, the second subunit is specifically configured to determine the GDOP of each group of AP combinations according to the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system; The third subunit is specifically configured to determine the GDOP of each group of AP combinations according to the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system.

In a third aspect, an indoor positioning system is provided, including an indoor positioning device and a mobile terminal, wherein:

The indoor positioning device includes the indoor positioning device provided in the second aspect;

The mobile terminal is configured to notify the indoor positioning device when receiving signals of at least three APs, so that the indoor positioning device selects a target AP from the at least three APs to locate the mobile terminal.

Based on the above technical solutions, the indoor positioning method, device and system provided by the embodiments of the present invention, when the mobile terminal receives signals from at least three APs at the same time, selects a target AP from at least three APs according to the signal quality of the APs, and selects the target AP according to the signal quality of the target AP. The signal and the signal information of the target AP in the pre-stored fingerprint database are used to locate the mobile terminal. In this way, by selecting and determining an AP that is more suitable for positioning, the positioning accuracy can be improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

FIG. 1 is a flowchart of an indoor positioning method provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a signal strength distribution provided by an embodiment of the present invention;

FIG. 3 is a flowchart of an indoor positioning sending method provided by another embodiment of the present invention;

Fig. 4 is a schematic structural diagram of an indoor positioning device provided by an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of an indoor positioning device provided by another embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an indoor positioning system provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the present invention can be applied to various communication systems, such as WCDMA (Wideband Code Division Multiple Access, wideband code division multiple access) system, LTE (Long Term Evolution, long-term evolution) system, etc. The signal strength in the embodiment of the present invention may be RSSI (Received Signal Strength Indication, the English full name is Received Signal Strength Indication).

In the example of the present invention, a mobile terminal is a device with a communication function, including but not limited to a mobile phone, a tablet computer, and the like.

Please refer to Fig. 1, an embodiment of the present invention provides an indoor positioning method, and the sending method may include:

101. When the mobile terminal simultaneously receives signals of at least three APs, select a target AP from the at least three APs according to the signal quality of the APs, where there are one or more target APs.

Wherein, the signal quality can be signal strength, and/or GDOP (Geometric Dilution of Precision, English full name is Geometric Dilution of Precision) (total positioning error).

102. Position the mobile terminal according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint library.

The embodiment of the present invention can be realized by an indoor positioning device, and the indoor positioning device can be a computer system or the like, which is not limited in the embodiment of the present invention.

In the indoor positioning method of the embodiment of the present invention, when the mobile terminal receives the signals of at least three APs at the same time, the target AP is selected from at least three APs according to the signal quality of the APs, and the target AP is selected according to the signals of the target AP and the pre-stored fingerprint library. signal information to locate the mobile terminal. In this way, by selecting and determining an AP that is more suitable for positioning, the positioning accuracy can be improved.

In the embodiment of the present invention, optionally, when the target AP is selected from the at least three APs according to the signal quality of the AP in the above 101, any of the following methods may be applied:

method one

According to the signal strength (such as RSSI) of each of the at least three APs, at least one AP is selected from the at least three APs as the target AP.

X_σ的均值为0，方差为σ²的高斯噪声。在不同的信道环境中n的取值不同，通常的取值范围为2-6。For example, the signal strength of each of the at least three APs can be determined according to P _i =P ₀ -10nlgd _i +X _σ , where P _i is the signal strength received by the mobile terminal, and P ₀ is 1m away from the transmitting node The received signal strength at , n is the fading factor of the channel, d _i is the distance from the location of the mobile terminal (x, y, z) to at least three beacon nodes (xi _{, y} , zi ₎ ,

X _σ is Gaussian noise with mean 0 and variance ^σ2 . The value of n is different in different channel environments, and the usual value range is 2-6.

FIG. 2 is a schematic diagram of the relationship between the signal strength (RSSI) of the AP and the distance. It can be seen from Figure 2 that as the distance increases, the absolute value of the slope becomes smaller and the RSSI changes more slowly, and the sensitivity of the RSSI to the change of the distance decreases.

In the embodiment of the present invention, at least one AP may be selected from the at least three APs according to the signal strength (RSSI) of the APs. For example, an AP whose signal strength is greater than a preset threshold is selected as the target AP. The preset threshold can be set and changed according to different application scenarios.

In this way, the target AP selected based on the signal strength (RSSI) has a high degree of discrimination between the selected target collection points, which can improve the positioning accuracy.

Method Two

At least every three APs among the at least three APs are combined into a group of AP combinations, and the APs included in the group of AP combinations with the smallest GDOP are used as the target APs.

For example, the GDOP of each group of AP combinations may be determined according to the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system.

Further, according to the distance vector from each AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system, when determining the GDOP of each group of AP combinations, each group of AP combinations can be determined. The distance vector from the AP to the mobile terminal, and the direction cosines of the coordinate axes of the reference coordinate system; the determined at least three direction cosines are used to establish an observation matrix corresponding to each group of AP combinations, and according to the corresponding observation matrix of each group of AP combinations, Determine the GDPOP for each AP combination.

Among them, GDOP represents the total error during positioning. GDOP includes four parameters: position (PDOP), horizontal (HDOP), vertical (VDOP) and time precision decay factor (TDOP). PDOP, HDOP, VDOP, and TDOP represent positional error, horizontal Magnification of ranging error by position error, vertical position error, and clock error. The relative position between APs during positioning, the difference in the relative position between the mobile terminal and the AP causes the difference in GDOP to affect the positioning accuracy. When other conditions are the same, the smaller the GDOP value, the higher the positioning accuracy ^{Error! Reference source not found.} .

In the embodiment of the present invention, GDOP, PDOP, HDOP, VDOP, TDOP can be determined according to the observation matrix H, for example, the observation matrix H, G=(H ^T H) ^-1 , the diagonal element is g _ii (i=1 ,...,4), then

GDOP=(g ₁₁ +g ₂₂ +g ₃₃ +g ₄₄ ) ^1/2

PDOP=(g ₁₁ +g ₂₂ +g ₃₃ ) ^1/2

HDOP=(g ₁₁ +g22) ^1/2

VDOP=(g ₃₃ ) ^1/2

TDOP=(g ₄₄ ) ^1/2

The observation matrix H can be

$\left[\begin{array}{cccc}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}& \mathrm{<span\; class="notranslate">\; 1</span>}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}& \mathrm{<span\; class="notranslate">\; 1</span>}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}& \mathrm{<span\; class="notranslate">\; 1</span>}\\ <span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>& <span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>& <span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>& <span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; xn</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; yn</span>}}& {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; zn</span>}}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]$

In the term, a _xi , a _yi , a _zi (i=1,...,n) represent the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the X, Y, and Z axes of the reference coordinate system . n is the number of APs participating in positioning, and n is an integer greater than or equal to 3.

method three

According to the signal strength of each AP in the at least three APs, at least three APs are selected from the at least three APs, at least every three APs in the selected at least three APs are formed into a group of AP combinations, and the GDOP is minimized The APs included in a set of AP combinations in are used as the target APs.

The signal strength of each of the at least three APs can be determined according to P _i =P ₀ -10nlgd _i +X _σ , where P _i is the signal strength received by the mobile terminal, and P ₀ is the signal strength received at a distance of 1m from the transmitting node. The received signal strength, n is the fading factor of the channel, d _i is the distance from the location of the mobile terminal (x, y, z) to at least three beacon nodes ( _xi , _y , zi ₎ , $d_i=\sqrt{{(x-x_i)}^2+{(\mathrm{the\; y}-{\mathrm{the\; y}}_i)}^2+{(z-z_i)}^2},$ The mean of X _σ is 0.

For the specific implementation method of determining the AP signal strength, refer to the above method 1.

The GDOP of each group of AP combinations can be determined according to the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system.

For example, the distance vector from each AP in each group of AP combinations to the mobile terminal, and the direction cosines of the coordinate axes of the reference coordinate system can be determined; the determined at least three direction cosines can be used to establish observations corresponding to each group of AP combinations Matrix, according to the observation matrix corresponding to each group of AP combinations, determine the GDOP of each group of AP combinations.

For the specific implementation method of determining the combined GDOP of each group of APs, please refer to the second method above.

In the indoor positioning method of the embodiment of the present invention, when the mobile terminal receives the signals of at least three APs at the same time, the target AP is selected from at least three APs according to the signal quality of the APs, and the target AP is selected according to the signals of the target AP and the pre-stored fingerprint library. signal information to locate the mobile terminal. In this way, by selecting and determining an AP that is more suitable for positioning, the positioning accuracy can be improved.

The specific implementation process of the indoor positioning method according to the embodiment of the present invention will be described in detail below.

Please refer to Figure 3, another indoor positioning method provided by the embodiment of the present invention, Figure 3 corresponds to the indoor positioning method of the embodiment, at least 3 APs are required for positioning based on WLAN location fingerprints, and in the positioning stage, the mobile terminal receives n ₁ AP signal.

As shown in Figure 3, the indoor positioning method may include:

301. When the mobile terminal receives signals from n ₁ APs, judge whether n ₁ ≥ 3.

When n ₁ ≥ 3, execute 302; when n ₁ <3, execute 305 by using the AP signal received by the mobile terminal.

302. Select an AP based on the RSSI, and obtain n ₂ APs whose RSSI is greater than the preset threshold RSSI _th among the n ₁ APs.

303. Determine whether n ₂ ≥3.

When n ₂ ≥ 3, execute 304; when n ₂ <3, execute 305 according to signals of n ₂ APs.

304. According to the AP signal coverage and positioning accuracy, determine the number n ₃ of APs used for positioning (n ₃ is an integer greater than or equal to 3), for Calculate the corresponding GDOP value for each group of AP combinations, and select the AP in the AP combination with the smallest PDOP value.

305. Perform a matching operation according to the signal of the selected AP to determine the location of the mobile terminal.

The indoor positioning method of the embodiment of the present invention corresponding to FIG. 3 is only briefly described. For detailed implementation process, please refer to the indoor positioning method of other embodiments of the present invention.

In the indoor positioning method of the embodiment of the present invention, when the mobile terminal receives the signals of at least three APs at the same time, the target AP is selected from at least three APs according to the signal quality of the APs, and the target AP is selected according to the signals of the target AP and the pre-stored fingerprint library. signal information to locate the mobile terminal. In this way, by selecting and determining an AP that is more suitable for positioning, the positioning accuracy can be improved.

Please refer to Fig. 4, an indoor positioning device provided by an embodiment of the present invention, the device includes: a selection unit 41 and a positioning unit 42, wherein:

The selection unit 41 is used to select a target AP from the at least three APs according to the signal quality of the access point AP when the mobile terminal receives signals of at least three APs at the same time, and the target AP is one or more;

The positioning unit 42 is configured to locate the mobile terminal according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint database.

As shown in FIG. 5, optionally, the selection unit 41 includes any of the following subunits:

The first subunit 411 is configured to select at least one AP from the at least three APs as the target AP according to the signal strength of each of the at least three APs;

The second subunit 412 is configured to form at least every three APs among the at least three APs into a group of AP combinations, and use the AP included in the group of AP combinations with the smallest GDOP as the target AP;

The third subunit 413 is configured to select at least three APs from the at least three APs according to the signal strength of each AP in the at least three APs, and form at least every three APs in the selected at least three APs A set of AP combinations, the APs included in the set of AP combinations with the smallest GDOP are used as the target APs.

In the embodiment of the present invention, optionally, the first subunit 411 is specifically configured to determine the signal strength of each of the at least three APs according to P _i =P ₀ -10nlgd _i +X _σ ;

In the embodiment of the present invention, optionally, the third subunit 413 is specifically configured to determine the signal strength of each of the at least three APs according to P _i =P ₀ -10nlgd _i +X _σ ;

X_σ的均值为0。Among them, P _i is the signal strength received by the mobile terminal, P ₀ is the signal strength received at a distance of 1m from the transmitting node, n is the fading factor of the channel, and d _i is the location of the mobile terminal (x, y, z) the distance to at least three beacon nodes (xi _{, y} , _zi ),

The mean of X _σ is 0.

In the embodiment of the present invention, optionally, the second subunit 412 is specifically configured to determine each group of APs according to the distance vector from the AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system. Combined GDPP;

In the embodiment of the present invention, optionally, the third subunit 413 is specifically configured to determine each group of AP combinations according to the distance vector from the AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system GDPP.

The functions of each unit in the indoor positioning device in the embodiment of the present invention are only briefly described, and for detailed implementation process, please refer to the above-mentioned embodiment of the indoor positioning method. The indoor positioning device in the embodiment of the present invention can implement the above indoor positioning method.

In the indoor positioning device of the embodiment of the present invention, when the mobile terminal receives the signals of at least three APs at the same time, it selects the target AP from at least three APs according to the signal quality of the APs, and selects the target AP according to the signal of the target AP and the target AP in the pre-stored fingerprint database. signal information to locate the mobile terminal. In this way, by selecting and determining an AP that is more suitable for positioning, the positioning accuracy can be improved.

As shown in FIG. 6, an embodiment of the present invention provides an indoor positioning system, including an indoor positioning device 61 and a mobile terminal 62, wherein:

The indoor positioning device 61 is the indoor positioning device provided by the above-mentioned embodiments of the present invention;

The mobile terminal 62 is configured to notify the indoor positioning device when receiving signals from at least three APs, so that the indoor positioning device selects a target AP from the at least three APs to locate the mobile terminal.

In the indoor positioning system of the embodiment of the present invention, when the mobile terminal receives the signals of at least three APs at the same time, the target AP is selected from the at least three APs according to the signal quality of the APs, and the target AP is selected according to the signals of the target AP and the pre-stored fingerprint library. signal information to locate the mobile terminal. In this way, by selecting and determining an AP that is more suitable for positioning, the positioning accuracy can be improved.

The embodiment of the present invention is mainly for indoor positioning, which can improve positioning accuracy.

It should be noted that: the indoor positioning device provided by the above-mentioned embodiments is only illustrated by the division of the above-mentioned functional units. The internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. In addition, the indoor positioning device and the indoor positioning method embodiments provided by the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, and will not be repeated here.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, and the like.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. An indoor positioning method, characterized in that, comprising: When the mobile terminal receives signals of at least three APs at the same time, select a target AP from the at least three APs according to the signal quality of the access point AP, and the target AP is one or more; The mobile terminal is positioned according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint library. 2. The method according to claim 1, wherein the selecting a target AP from the at least three APs according to the signal quality of the APs comprises: Selecting at least one AP from the at least three APs as the target AP according to the signal strength of each of the at least three APs; Alternatively, at least every three APs among the at least three APs are formed into a group of AP combinations, and APs included in a group of AP combinations with the smallest geometric precision factor GDOP are used as the target APs; Or, according to the signal strength of each AP in the at least three APs, select at least three APs from the at least three APs, and form at least every three APs in the selected at least three APs into a group of AP combinations , taking the APs contained in a group of APs with the smallest GDOP as the target APs. 3. The method according to claim 2, wherein the signal strength of each AP in the at least three APs is determined according to P _i =P ₀ -10nlgd _i +X _σ , wherein P _i is the mobile terminal Received signal strength, P ₀ is the signal strength received at a distance of 1m from the transmitting node, n is the fading factor of the channel, d _i is the position (x, y, z) of the mobile terminal to at least three beacon nodes (x _i ,y _i ,zi ₎ distance, $d_i=\sqrt{{(x-x_i)}^2+{(\mathrm{the\; y}-{\mathrm{the\; y}}_i)}^2+{(z-z_i)}^2},$ The mean of X _σ is 0. 4. The method according to claim 2, wherein the GDOP of each group of AP combinations is determined according to the distance vector from the AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system. 5. The method according to claim 4, wherein, according to the distance vector of each AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system, each group of APs is determined The combined GDPP includes: Determine the distance vector from each AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system; The determined at least three direction cosine quantities are used to establish an observation matrix corresponding to each group of AP combinations, and to determine the GDOP of each group of AP combinations according to the observation matrix corresponding to each group of AP combinations. 6. An indoor positioning device, characterized in that it comprises: A selection unit, configured to select a target AP from the at least three APs according to the signal quality of the access point AP when the mobile terminal receives signals of at least three APs at the same time, and the target AP is one or more; The positioning unit is configured to locate the mobile terminal according to the signal of the target AP and the signal information of the target AP in the pre-stored fingerprint library. 7. The device according to claim 6, wherein the selection unit comprises any of the following subunits: A first subunit, configured to select at least one AP from the at least three APs as the target AP according to the signal strength of each of the at least three APs; The second subunit is configured to form at least every three APs among the at least three APs into a group of AP combinations, and use the APs included in the group of AP combinations with the smallest GDOP as the target AP; The third subunit is configured to select at least three APs from the at least three APs according to the signal strength of each of the at least three APs, and at least every three APs in the selected at least three APs A group of AP combinations is formed, and the APs included in the group of AP combinations with the smallest GDOP are used as the target APs. 8. The device according to claim 7, wherein the first subunit is specifically configured to determine the signal strength of each of the at least three APs according to P _i =P ₀ -10nlgd _i +X _σ ; The third subunit is specifically configured to determine the signal strength of each of the at least three APs according to P _i =P ₀ -10nlgd _i +X _σ ; Wherein, P _i is the signal strength received by the mobile terminal, P ₀ is the signal strength received at a distance of 1m from the transmitting node, n is the fading factor of the channel, and _d is the location of the mobile terminal (x, y, z) the distance to at least three beacon nodes (xi _{, y} , _zi ),

The mean of X _σ is 0. 9. The device according to claim 7, wherein the second subunit is specifically configured to, according to the distance vector from the AP in each group of AP combinations to the mobile terminal, and the direction cosine of the coordinate axis of the reference coordinate system , to determine the GDPP of each group of AP combinations; The third subunit is specifically configured to determine the GDOP of each group of AP combinations according to the distance vector from the AP in each group of AP combinations to the mobile terminal and the direction cosine of the coordinate axis of the reference coordinate system. 10. An indoor positioning system, characterized in that it includes an indoor positioning device and a mobile terminal, wherein: The indoor positioning device comprises the indoor positioning device according to any one of claims 6 to 8; The mobile terminal is configured to notify the indoor positioning device when receiving signals of at least three APs, so that the indoor positioning device selects a target AP from the at least three APs to locate the mobile terminal.

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