CN103402254A - Method and device for indoor positioning - Google Patents
Method and device for indoor positioning Download PDFInfo
- Publication number
- CN103402254A CN103402254A CN2013102793516A CN201310279351A CN103402254A CN 103402254 A CN103402254 A CN 103402254A CN 2013102793516 A CN2013102793516 A CN 2013102793516A CN 201310279351 A CN201310279351 A CN 201310279351A CN 103402254 A CN103402254 A CN 103402254A
- Authority
- CN
- China
- Prior art keywords
- light
- data
- wireless terminal
- current
- wifi
- 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.)
- Granted
Links
Images
Abstract
The invention provides a method and device for indoor positioning. The method is characterized by: in a light abrupt-change excavation phase, obtaining light brightness data collected at the positions where indoor WIFI data is collected, determining light abrupt-change points and storing the position information, moving directions and abrupt-change forms of the light abrupt-change points into a light abrupt-change database; and in an indoor positioning phase, obtaining WIFI data, moving direction and light brightness data detected by a wireless terminal to be positioned, when the wireless terminal to be positioned is being carried out WIFI positioning, if the light brightness data detected by the wireless terminal to be positioned changes abruptly, utilizing the current moving direction and light abrupt-change form of the wireless terminal to be positioned to search the corresponding position information in the light abrupt-change database, and regarding the searched position information as a current positioning result of the wireless terminal to be positioned. According to the method and device for indoor positioning, abrupt-change characteristics of the indoor light brightness are utilized to perform indoor auxiliary positioning, so that precision of indoor positioning is improved.
Description
[technical field]
The present invention relates to wireless location technology, particularly a kind of method and apparatus of indoor positioning.
[background technology]
Quick increase along with data service and multimedia service, people increase day by day to location and the demand of navigation, gradually the indoor environment in complexity also has this demand, in the environment such as airport hall, exhibition room, warehouse, supermarket, library, underground parking, mine, usually need to determine the positional information of mobile terminal.
The main localization method of indoor positioning is the WIFI location at present, namely gather in advance the WIFI signal strength signal intensity of indoor each point and deposit the WIFI database in, thereby the current WIFI signal strength signal intensity that relies on wireless terminal to scan when positioning is inquired about WIFI database realization location.Yet the precision of WIFI location depends on the reasonable deployment of WIFI to a great extent, at WIFI, disposes poor zone and may have larger position error.
[summary of the invention]
In view of this, the invention provides a kind of method and apparatus of indoor positioning, so that improve the precision of indoor positioning.
Concrete technical scheme is as follows:
A kind of method of indoor positioning, the method comprises:
Light sudden change excavation phase:
S11, obtain the light luminance data that collect at each location point that gathers indoor WIFI data;
S12, determine the light catastrophe point to deposit the positional information of light catastrophe point, direction of travel and mutant form in the light mutation database;
The indoor positioning stage:
S21, obtain WIFI data, direction of travel and light luminance data that wireless terminal to be positioned detects;
S22, carry out WIFI when location treating the positioned radio terminal, if find that the light luminance data that wireless terminal to be positioned detects undergo mutation, utilize the current direction of travel of wireless terminal to be positioned and light mutant form to search positional information corresponding in described light mutation database;
S23, the positional information that will find are as the current positioning result of wireless terminal to be positioned.
One preferred implementation according to the present invention, described in step S12, determine that the light catastrophe point specifically comprises: if more than light intensity variation preset multiple appears in an adjacent n collection point, last sampled point in a described n sampled point is defined as to the light catastrophe point, n is default positive integer;
In described step S22, more than if the light intensity of the light luminance data of the current light luminance data that detect of described wireless terminal to be positioned and adjacent front n-1 sensing point changes preset multiple, find that the light luminance data that wireless terminal to be positioned detects undergo mutation.
One preferred implementation according to the present invention, if the current light luminance data of not finding that wireless terminal to be positioned detects are undergone mutation in described step S22, using the WIFI positioning result as current positioning result; Perhaps,
If in described light mutation database, do not find correspondence position information in described step S22, using the WIFI positioning result as current positioning result.
One preferred implementation according to the present invention, in described step S22, if search the light mutation database, obtain plural positional information, from search the positional information that obtains, determine and the immediate positional information of WIFI positioning result so, will be described in described step S23 and the immediate positional information of WIFI positioning result as the current positioning result of wireless terminal to be positioned.
One preferred implementation according to the present invention, in different time sections, carry out described step S11 and step S12 respectively, the data that respectively different time sections collected in described light mutation database identify, while in step S22, searching described light mutation database, search the data that current slot identifies; Perhaps,
In the different weather situation, carry out described step S11 and step S12 respectively, the data that collect under respectively to the different weather situation in described light mutation database identify, while in step S22, searching described light mutation database, search the data that current weather condition identifies; Perhaps,
In Various Seasonal, carry out described step S11 and step S12 respectively, the data that respectively Various Seasonal collected in described light mutation database identify, while in step S22, searching described light mutation database, search the data that identify current season.
A kind of device of indoor positioning, this device comprises: excavate unit and positioning unit;
Described excavation unit comprises:
First obtains subelement, be used to obtaining the light luminance data that collect at each location point that gathers indoor WIFI data;
The Database subelement, for determining the light catastrophe point, deposit the positional information of light catastrophe point, direction of travel and mutant form in the light mutation database;
Described positioning unit comprises:
Second obtains subelement, the WIFI data, direction of travel and the light luminance data that be used to obtaining wireless terminal to be positioned, detect;
The Optical ray analysis subelement, for carrying out WIFI when location treating the positioned radio terminal, if find that the light luminance data that wireless terminal to be positioned detects undergo mutation, utilize the current direction of travel of wireless terminal to be positioned and light mutant form to search positional information corresponding in described light mutation database;
Result is determined subelement, for positional information that described Optical ray analysis subelement the is found current positioning result as wireless terminal to be positioned.
One preferred implementation according to the present invention, described Database subelement is when definite light catastrophe point, if an adjacent n collection point is defined as the light catastrophe point by last sampled point in a described n sampled point more than occurring that light intensity changes preset multiple, n is default positive integer;
More than if described Optical ray analysis subelement is determined the light intensity variation preset multiple of the current light luminance data that detect of described wireless terminal to be positioned and the light luminance data of adjacent front n-1 sensing point, find that the light luminance data that wireless terminal to be positioned detects undergo mutation.
One preferred implementation according to the present invention, if the current light luminance data of not finding that wireless terminal to be positioned detects of described Optical ray analysis subelement are undergone mutation, described result determines that subelement is using the WIFI positioning result as current positioning result; Perhaps,
If described Optical ray analysis subelement does not find correspondence position information in described light mutation database, described result determines that subelement is using the WIFI positioning result as current positioning result.
One preferred implementation according to the present invention, if described Optical ray analysis subelement is searched the light mutation database and is obtained plural positional information, so described result determines that subelement searches the positional information that obtains and to determine and the immediate positional information of WIFI positioning result from described Optical ray analysis subelement, and will be described and the immediate positional information of WIFI positioning result as the current positioning result of wireless terminal to be positioned.
One preferred implementation according to the present invention, described excavation unit is respectively in the different time sections executable operations, the data that respectively different time sections collected in described light mutation database identify, described Optical ray analysis subelement, when searching described light mutation database, is searched the data that current slot identifies; Perhaps,
Described excavation unit is respectively in different weather situation executable operations, the data that collect under respectively to the different weather situation in described light mutation database identify, described Optical ray analysis subelement, when searching described light mutation database, is searched the data that current weather condition identifies; Perhaps,
Described excavation unit is respectively in the Various Seasonal executable operations, the data that respectively Various Seasonal collected in described light mutation database identify, described Optical ray analysis subelement, when searching described light mutation database, is searched the data that identify current season.
As can be seen from the above technical solutions, the present invention is based on indoor light and compare the obviously weak a lot of difference characteristic of outdoor natural daylight, even if make in the poor zone of WIFI deployment, also can utilize the catastrophe characteristics of indoor light brightness to carry out indoor assist location, thereby improve the precision of indoor positioning.
[accompanying drawing explanation]
Fig. 1 is the system construction drawing that the present invention was suitable for;
The method flow diagram of the indoor positioning that Fig. 2 provides for the embodiment of the present invention one;
The light catastrophe point situation schematic diagram of the window both sides that Fig. 3 provides for the embodiment of the present invention one;
The structure chart of the indoor positioning device that Fig. 4 provides for the embodiment of the present invention two.
[embodiment]
In order to make the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with the drawings and specific embodiments, describe the present invention.
Owing at indoor almost everywhere, there being light to exist, for a building that illumination is good, indoor light is compared outdoor natural daylight and is obviously wanted weak a lot, difference wherein can detect by the light sensor of wireless terminal, usually natural daylight is ten thousand magnitudes, therefore under incandescent lamp, be hundred magnitudes, the zone that abnormal brightness is arranged is mainly near window, can utilize in the present invention the sudden change of indoor light to assist and carry out indoor positioning.
For convenient, understand, at first the system configuration that the present invention was suitable for is simply described, as shown in Figure 1, this system comprises the indoor positioning server, for wireless terminal and the wireless terminal to be positioned of data acquisition.Indoor orientation method of the present invention is completed by the indoor positioning device that is arranged on the indoor positioning server side.Below by a pair of method provided by the invention of embodiment, be described in detail.
Embodiment mono-
The method flow diagram of the indoor positioning that Fig. 2 provides for the embodiment of the present invention one mainly comprises two stages in the present embodiment: light sudden change excavation phase and indoor positioning stage.In light sudden change excavation phase, be mainly in advance indoor light information to be gathered, excavate the positional information of light catastrophe point and set up the light mutation database; In the indoor positioning stage, be mainly to utilize the current light abrupt information that detects of wireless terminal to search the current location that the light mutation database is determined wireless terminal.As shown in Figure 2, the method can comprise the following steps:
Step 201: obtain the light luminance data that collect at each location point that gathers indoor WIFI data.
Utilize wireless terminal according to default collection circuit, to gather the WIFI data of indoor each location point, the WIFI data of each location point are a WIFI sequence, in this WIFI sequence, are included in MAC Address and the WIFI intensity of the WIFI focus that this location point scans, for example:
{(mac1,-50),(mac2,-60),(mac3,-70,),(mac4,-75),(mac5,-78)}
Light sensor by wireless terminal can detect the light luminance data, but at night due to the indoor light that is all incandescent lamp, the light sudden change is also not obvious, therefore need to carry out by day the collecting work of this step.But consider different time sections natural daylight parameter difference, preferably, can N time period will be divided in one day, at this N, in the time period, gather respectively the light luminance data of each location point, wherein N is default positive integer, for example 6:00-18:00 can be divided into to 5 time period: 6:00-8:00,8:00-10:00,10:00-14:00,14:00-16:00 and 16:00-18:00 according to the similar situation of light intensity, within these time periods, gather respectively the light luminance data of each location point.
Further, due to the natural daylight parameter difference of different weather situation, preferably, can also gather respectively for the different weather situation light luminance data of each location point, for example respectively for fine day and the cloudy light luminance data that gather respectively each location point.
In addition, the natural daylight parameter is also different for Various Seasonal, preferably, and can also be for the light luminance data that gather respectively each location point each season, for example respectively for spring, summer, autumn, winter four light luminance data that gather each location point season.
It should be noted that, above-mentioned time, weather, season, the light collection of three dimensions can be cross one another, for example for each season, under the different weather situation, gathered respectively the light luminance data of each location point in different time sections.
Step 202: determine the light catastrophe point, deposit the positional information of light catastrophe point, direction of travel and mutant form in the light mutation database.
It should be noted that, this step is all carried out for gathering each time, if gather respectively for different time sections, in the light mutation database respectively the data to different time sections identify.If gather respectively for the different weather situation, in the light mutation database respectively the data for each weather conditions identify.If gather respectively for Various Seasonal, in the light mutation database respectively the data for each season identify.
So-called light catastrophe point, refer to light and change into dark or become bright that time from blackout from bright.When definite light catastrophe point, if an adjacent n collection point light intensity occurs and changes the satisfied default requirement that changes, last sampled point in n sampled point is defined as to the light catastrophe point, n is default positive integer, and it can be more than light intensity changes preset multiple that so-called light intensity changes satisfied default variation requirement.Give an example, suppose that n is 6, if every collection point of 0.5s, that is exactly take 3s as an interval, see in this interval and whether occur that light intensity changes more than 10 times, for example, if the light intensity of i collection point is more than 10 times of light intensity of i+n-1 collection point, perhaps the light intensity of i+n-1 collection point is more than 10 times of light intensity of i sampled point, and determining i+n-1 collection point is the light catastrophe point.Deposit the position of this light catastrophe point, direction of travel and mutant form in the light mutation database.So-called mutant form refer to light from by force to weak still from weak to strong.
In addition, owing to gathering the WIFI data, be to gather according to default collection circuit, so the direction of each location point is gathering on circuit and can determine.Perhaps also can by direction sensor (for example compass), gather bearing data simultaneously at each location point that gathers indoor WIFI data.
In the light mutation database that obtains like this, the content of every data just can be stored according to (position, direction, light version) such mode, for example:
(x1, y1), 160 °, strong-a little less than
(x2, y2), 80 °, weak-strong
(x3, y3), 220 °, strong-a little less than
(x4, y4), 310 °, weak-strong
In addition, because the WIFI data are based on the location that the WIFI signal strength signal intensity is carried out, therefore when gathering indoor WIFI data, do not consider directionality problem, it is unidirectional usually gathering circuit.But because light changes, to be closely-related with direction of travel, therefore in order positioning different direction of travel, when gathering, along gathering circuit, with the backward both direction, to gather respectively in order respectively.In the light mutation database of setting up like this, as the same position of light catastrophe point, just may have two data, be respectively opposite direction.For example:
(x1, y1), 160 °, strong-a little less than
(x1, y1), 340 °, weak-strong
This phenomenon is comparatively obvious in the window both sides, as shown in Figure 3, there are respectively two light catastrophe points the both sides of one fan window, corresponding two direction of travel of each light catastrophe point, namely, there are four data in corresponding two data in the light mutation database once the fan window so in the light mutation database.
Above step 201 and step 202 are light sudden change excavation phase, are the stages that need to carry out in advance.The indoor positioning stage comprises the following steps:
Step 203: obtain WIFI data, direction of travel and light luminance data that wireless terminal to be positioned detects.
The bearing data of wireless terminal to be positioned and light luminance data are surveyed by direction sensor and light sensor respectively.This locate mode that the embodiment of the present invention provides mainly is applicable to treat the situation that the positioned radio terminal is carried out continuous positioning, namely in the process that wireless terminal to be positioned moves, every setting-up time, treat the positioned radio terminal and carry out one-time positioning, for example every 20s, carry out one-time positioning.
Step 204: carry out WIFI when location treating the positioned radio terminal, if find the light luminance data generation light sudden change that wireless terminal to be positioned detects, utilize the current direction of travel of wireless terminal to be positioned and light mutant form to search positional information corresponding in the light mutation database.
Still adopt in embodiments of the present invention the WIFI location as the foundation location mode, if but find to occur the light sudden change, be more than the light intensity variation preset multiple of the current light luminance data that detect and adjacent front n-1 sensing point light luminance data, determine to occur the light sudden change.
When searching the light mutation database, not necessarily consistent completely for searching of direction of travel, as long as the difference of the direction of travel in the light mutation database and current direction of travel just can think that both direction is consistent in certain difference range.This difference range can be chosen according to the requirement to accuracy, for example in 30 degree scopes, chooses.
When searching the light mutation database, can be further combined with at least a data of searching corresponding sign in the light mutation database in current time period, weather conditions and season situation.For example suppose the current Clear Days Summer 12:30 at noon that is, when searching the light mutation database, specifically search the data that identified by summer, fine day and 12:30 place time period simultaneously so.The current time period and season situation can determine according to system time, weather conditions can be by from weather server, obtaining real-time Weather information, or obtain real-time Weather information from wireless terminal (the weather APP of wireless terminal).
Step 205: utilize and search the current positioning result of positional information corresponding in the light mutation database as wireless terminal to be positioned.
If do not find the light sudden change, directly using the WIFI positioning result as current positioning result.If search the light mutation database, there is no correspondence position information, will the WIFI positioning result as current positioning result.If search the light mutation database, obtain a positional information, so can be using this positional information as revised positioning result.If search the light mutation database, obtain plural positional information, from search the positional information that obtains, determine that so (this WIFI positioning result may relate to the problem that the note step is calculated with the WIFI positioning result, but this belongs to definite method that prior art no longer describes the WIFI positioning result in detail) immediate positional information, using this positional information as revised positioning result.
Then just positioning result can be sent to wireless terminal to be positioned show.
Be more than the detailed description that method provided by the present invention is carried out, below by bis-pairs of devices provided by the invention of embodiment, be described in detail.
Embodiment bis-,
The structure chart of the indoor positioning device that Fig. 4 provides for the embodiment of the present invention two, as shown in Figure 4, this indoor positioning device comprises and excavates unit 00 and positioning unit 10.Wherein excavate unit 00 in order to carry out the processing of light sudden change excavation phase, positioning unit 10 is in order to carry out the processing in indoor positioning stage.
Excavating unit 00 specifically comprises: first obtains subelement 01 and Database subelement 02.
First obtains subelement 01 is responsible for obtaining the light luminance data that collect at each location point that gathers indoor WIFI data, first obtains subelement 01 can directly obtain these data from the wireless terminal for data acquisition, also can obtain these data from the indoor positioning server.
So-called mutant form refer to light from by force to weak still from weak to strong.In addition, owing to gathering the WIFI data, be to gather according to default collection circuit, so the direction of each location point is gathering on circuit and can determine.Perhaps also can by direction sensor (for example compass), gather bearing data simultaneously at each location point that gathers indoor WIFI data.
In addition, because the WIFI data are based on the location that the WIFI signal strength signal intensity is carried out, therefore when gathering indoor WIFI data, do not consider directionality problem, it is unidirectional usually gathering circuit.But because light changes, to be closely-related with direction of travel, therefore in order positioning different direction of travel, at wireless terminal, when gathering, along gathering circuit, with the backward both direction, to gather respectively in order respectively.
Be more than the formation of excavating unit 00, positioning unit 10 can comprise: second obtains subelement 11, Optical ray analysis subelement 12 and result determines subelement 13.In addition can also comprise and be responsible for utilizing the WIFI data to carry out the WIFI locator unit of WIFI location, in view of it is the existing unit of indoor positioning server, at this, not specifically describe this unit, also also not shown in figure.
Second obtains subelement 11 is responsible for obtaining WIFI data, direction of travel and the light luminance data that wireless terminal to be positioned detects.Second what obtain that subelement 11 obtains is the real time data that wireless terminal to be positioned sends, thereby carries out instant location.
When Optical ray analysis subelement 12 carries out the WIFI location in WIFI locator unit, treating the positioned radio terminal, if find that the light luminance data that wireless terminal to be positioned detects undergo mutation, utilize the current direction of travel of wireless terminal to be positioned and light mutant form to search positional information corresponding in the light mutation database.Still adopt in embodiments of the present invention the WIFI location as the foundation location mode, if but find to occur the light sudden change, be more than the light intensity variation preset multiple of the current light luminance data that detect and adjacent front n-1 sensing point light luminance data, determine to occur the light sudden change.
At this moment, result is determined positional information that subelement 13 the finds Optical ray analysis subelement 12 current positioning result as wireless terminal to be positioned.
If the current light luminance data of not finding that wireless terminal to be positioned detects of Optical ray analysis subelement 12 are undergone mutation, result determines that subelement 13 is using the WIFI positioning result as current positioning result.If Optical ray analysis subelement 12 does not find correspondence position information in the light mutation database, result determines that subelement 13 is also using the WIFI positioning result as current positioning result.
Also there is such a case: if Optical ray analysis subelement 12 is searched the light mutation database, obtain plural positional information, result determines that subelement 13 searches the positional information that obtains and to determine and the immediate positional information of WIFI positioning result from Optical ray analysis subelement 12 so, and will with the current positioning result of the immediate positional information of WIFI positioning result as wireless terminal to be positioned.
For result, determine that current positioning result that subelement 13 determines just can send to mobile terminal to be positioned to show by the unit that communicates with mobile terminal to be positioned.
In addition, consider different time sections, weather conditions or season, natural daylight parameter difference, a kind of in therefore can be in the following ways or combined crosswise arbitrarily:
Mode one, excavation unit 00, respectively in the different time sections executable operations, for example can will be divided into N time period daytime according to the Irradiance on daytime, and N is default positive integer.Namely first obtain subelement 01 and in different time sections, obtain the light luminance data that collect at each location point that gathers indoor WIFI data, after by Database subelement 02, determining respectively the light catastrophe point and carry out the data storage of light mutation database, the data that respectively different time sections collected in the light mutation database identify, in this case, Optical ray analysis subelement 12, when searching the light mutation database, is searched the data that current slot identifies.
Mode two, excavate unit 00 respectively in different weather situation executable operations, such as can be respectively for weather conditions such as cloudy day and fine days.Namely first obtain subelement 01 and under the different weather situation, obtain the light luminance data that collect at each location point that gathers indoor WIFI data, after by Database subelement 02, determining respectively the light catastrophe point and carry out the data storage of light mutation database, in the light mutation database, respectively the data that collect under the different weather situation are identified, Optical ray analysis subelement 12, when searching the light mutation database, is searched the data that current weather condition identifies.
Mode three, excavation unit 00, for example can be respectively for spring, summer, autumn, winter executable operations respectively in the Various Seasonal executable operations.Namely first obtain subelement 01 and in Various Seasonal, obtain the light luminance data that collect at each location point that gathers indoor WIFI data, after by Database subelement 02, determining respectively the light catastrophe point and carry out the data storage of light mutation database, the data that respectively Various Seasonal collected in the light mutation database identify, Optical ray analysis subelement 12, when searching the light mutation database, is searched the data that identify current season.
In several embodiment provided by the present invention, should be understood that, disclosed system, apparatus and method, can realize by another way.For example, device embodiment described above is only schematically, and for example, the division of described unit, be only that a kind of logic function is divided, and during actual the realization, other dividing mode can be arranged.
Described unit as separating component explanation can or can not be also physically to separate, and the parts that show as unit can be or can not be also physical locations, namely can be positioned at a place, or also can be distributed on a plurality of network element.Can select according to the actual needs wherein some or all of unit to realize the purpose of the present embodiment scheme.
The integrated unit that above-mentioned form with SFU software functional unit realizes, can be stored in a computer read/write memory medium.Above-mentioned SFU software functional unit is stored in a storage medium, comprise that some instructions are with so that a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) carry out the part steps of the described method of each embodiment of the present invention.And aforesaid storage medium comprises: the various media that can be program code stored such as USB flash disk, portable hard drive, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (10)
1. the method for an indoor positioning, is characterized in that, the method comprises:
Light sudden change excavation phase:
S11, obtain the light luminance data that collect at each location point that gathers indoor WIFI data;
S12, determine the light catastrophe point to deposit the positional information of light catastrophe point, direction of travel and mutant form in the light mutation database;
The indoor positioning stage:
S21, obtain WIFI data, direction of travel and light luminance data that wireless terminal to be positioned detects;
S22, carry out WIFI when location treating the positioned radio terminal, if find that the light luminance data that wireless terminal to be positioned detects undergo mutation, utilize the current direction of travel of wireless terminal to be positioned and light mutant form to search positional information corresponding in described light mutation database;
S23, the positional information that will find are as the current positioning result of wireless terminal to be positioned.
2. method according to claim 1, it is characterized in that, described in step S12, determine that the light catastrophe point specifically comprises: if more than light intensity variation preset multiple appears in an adjacent n collection point, last sampled point in a described n sampled point is defined as to the light catastrophe point, n is default positive integer;
In described step S22, more than if the light intensity of the light luminance data of the current light luminance data that detect of described wireless terminal to be positioned and adjacent front n-1 sensing point changes preset multiple, find that the light luminance data that wireless terminal to be positioned detects undergo mutation.
3. method according to claim 1, is characterized in that, if the current light luminance data of not finding that wireless terminal to be positioned detects are undergone mutation in described step S22, using the WIFI positioning result as current positioning result; Perhaps,
If in described light mutation database, do not find correspondence position information in described step S22, using the WIFI positioning result as current positioning result.
4. method according to claim 1, it is characterized in that, in described step S22, if search the light mutation database, obtain plural positional information, from search the positional information that obtains, determine and the immediate positional information of WIFI positioning result so, will be described in described step S23 and the immediate positional information of WIFI positioning result as the current positioning result of wireless terminal to be positioned.
5. the described method of arbitrary claim of according to claim 1 to 4, it is characterized in that, in different time sections, carry out described step S11 and step S12 respectively, the data that respectively different time sections collected in described light mutation database identify, while in step S22, searching described light mutation database, search the data that current slot identifies; Perhaps,
In the different weather situation, carry out described step S11 and step S12 respectively, the data that collect under respectively to the different weather situation in described light mutation database identify, while in step S22, searching described light mutation database, search the data that current weather condition identifies; Perhaps,
In Various Seasonal, carry out described step S11 and step S12 respectively, the data that respectively Various Seasonal collected in described light mutation database identify, while in step S22, searching described light mutation database, search the data that identify current season.
6. the device of an indoor positioning, is characterized in that, this device comprises: excavate unit and positioning unit;
Described excavation unit comprises:
First obtains subelement, be used to obtaining the light luminance data that collect at each location point that gathers indoor WIFI data;
The Database subelement, for determining the light catastrophe point, deposit the positional information of light catastrophe point, direction of travel and mutant form in the light mutation database;
Described positioning unit comprises:
Second obtains subelement, the WIFI data, direction of travel and the light luminance data that be used to obtaining wireless terminal to be positioned, detect;
The Optical ray analysis subelement, for carrying out WIFI when location treating the positioned radio terminal, if find that the light luminance data that wireless terminal to be positioned detects undergo mutation, utilize the current direction of travel of wireless terminal to be positioned and light mutant form to search positional information corresponding in described light mutation database;
Result is determined subelement, for positional information that described Optical ray analysis subelement the is found current positioning result as wireless terminal to be positioned.
7. device according to claim 6, it is characterized in that, described Database subelement is when definite light catastrophe point, more than if an adjacent n collection point occurs that light intensity changes preset multiple, last sampled point in a described n sampled point is defined as to the light catastrophe point, n is default positive integer;
More than if described Optical ray analysis subelement is determined the light intensity variation preset multiple of the current light luminance data that detect of described wireless terminal to be positioned and the light luminance data of adjacent front n-1 sensing point, find that the light luminance data that wireless terminal to be positioned detects undergo mutation.
8. device according to claim 6, it is characterized in that, if the current light luminance data of not finding that wireless terminal to be positioned detects of described Optical ray analysis subelement are undergone mutation, described result determines that subelement is using the WIFI positioning result as current positioning result; Perhaps,
If described Optical ray analysis subelement does not find correspondence position information in described light mutation database, described result determines that subelement is using the WIFI positioning result as current positioning result.
9. device according to claim 6, it is characterized in that, if described Optical ray analysis subelement is searched the light mutation database and is obtained plural positional information, so described result determines that subelement searches the positional information that obtains and to determine and the immediate positional information of WIFI positioning result from described Optical ray analysis subelement, and will be described and the immediate positional information of WIFI positioning result as the current positioning result of wireless terminal to be positioned.
10. the described device of arbitrary claim of according to claim 6 to 9, it is characterized in that, described excavation unit is respectively in the different time sections executable operations, the data that respectively different time sections collected in described light mutation database identify, described Optical ray analysis subelement, when searching described light mutation database, is searched the data that current slot identifies; Perhaps,
Described excavation unit is respectively in different weather situation executable operations, the data that collect under respectively to the different weather situation in described light mutation database identify, described Optical ray analysis subelement, when searching described light mutation database, is searched the data that current weather condition identifies; Perhaps,
Described excavation unit is respectively in the Various Seasonal executable operations, the data that respectively Various Seasonal collected in described light mutation database identify, described Optical ray analysis subelement, when searching described light mutation database, is searched the data that identify current season.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279351.6A CN103402254B (en) | 2013-07-04 | 2013-07-04 | A kind of method and apparatus of indoor positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279351.6A CN103402254B (en) | 2013-07-04 | 2013-07-04 | A kind of method and apparatus of indoor positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103402254A true CN103402254A (en) | 2013-11-20 |
| CN103402254B CN103402254B (en) | 2016-03-23 |
Family
ID=49565746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310279351.6A Active CN103402254B (en) | 2013-07-04 | 2013-07-04 | A kind of method and apparatus of indoor positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103402254B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104080168A (en) * | 2014-07-07 | 2014-10-01 | 百度在线网络技术（北京）有限公司 | Location method and device |
| CN104198989A (en) * | 2014-09-16 | 2014-12-10 | 北京邮电大学 | Hybrid-mode indoor positioning system based on illumination source and WiFi signals |
| CN105407530A (en) * | 2015-12-08 | 2016-03-16 | 北京百度网讯科技有限公司 | Tunnel positioning method and device |
| CN108834068A (en) * | 2018-07-17 | 2018-11-16 | 广东小天才科技有限公司 | A kind of localization method and wearable device based on wearable device |
| CN113721258A (en) * | 2021-07-15 | 2021-11-30 | 河源市勇艺达科技有限公司 | Indoor robot positioning and navigation system and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836466A (en) * | 2003-06-16 | 2006-09-20 | 皇家飞利浦电子股份有限公司 | Device and method for locating a room area |
| CN102821194A (en) * | 2012-07-17 | 2012-12-12 | 西安电子科技大学 | Cellphone indoor positioning device and cellphone indoor positioning method on basis of various sensors |
| CN103096466A (en) * | 2013-01-17 | 2013-05-08 | 哈尔滨工业大学 | Wireless fidelity (Wi-Fi) indoor positioning method |
-
2013
- 2013-07-04 CN CN201310279351.6A patent/CN103402254B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836466A (en) * | 2003-06-16 | 2006-09-20 | 皇家飞利浦电子股份有限公司 | Device and method for locating a room area |
| CN102821194A (en) * | 2012-07-17 | 2012-12-12 | 西安电子科技大学 | Cellphone indoor positioning device and cellphone indoor positioning method on basis of various sensors |
| CN103096466A (en) * | 2013-01-17 | 2013-05-08 | 哈尔滨工业大学 | Wireless fidelity (Wi-Fi) indoor positioning method |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104080168A (en) * | 2014-07-07 | 2014-10-01 | 百度在线网络技术（北京）有限公司 | Location method and device |
| CN104080168B (en) * | 2014-07-07 | 2018-01-05 | 百度在线网络技术（北京）有限公司 | A kind of localization method and device |
| CN104198989A (en) * | 2014-09-16 | 2014-12-10 | 北京邮电大学 | Hybrid-mode indoor positioning system based on illumination source and WiFi signals |
| CN104198989B (en) * | 2014-09-16 | 2017-10-20 | 北京邮电大学 | A kind of mixed mode indoor locating system based on lighting source and Wi Fi signals |
| CN105407530A (en) * | 2015-12-08 | 2016-03-16 | 北京百度网讯科技有限公司 | Tunnel positioning method and device |
| CN105407530B (en) * | 2015-12-08 | 2019-07-12 | 北京百度网讯科技有限公司 | Tunnel placement method and device |
| CN108834068A (en) * | 2018-07-17 | 2018-11-16 | 广东小天才科技有限公司 | A kind of localization method and wearable device based on wearable device |
| CN113721258A (en) * | 2021-07-15 | 2021-11-30 | 河源市勇艺达科技有限公司 | Indoor robot positioning and navigation system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103402254B (en) | 2016-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103402254B (en) | A kind of method and apparatus of indoor positioning | |
| KR20200121274A (en) | Method, apparatus, and computer readable storage medium for updating electronic map | |
| US9489716B1 (en) | Street-level imagery acquisition and selection | |
| CN104779551B (en) | Portable multi-function Intelligent line patrolling instrument and power-line patrolling system | |
| KR100992619B1 (en) | System and method for providing underground facility information using augmented reality of mobile terminal in cloud-computing environment | |
| CN107087263B (en) | Automatic updating method and device for indoor wireless signal fingerprint data | |
| CN103389488A (en) | Multi-source indoor positioning device and method based on light intensity | |
| CN105159895A (en) | Method and system for storing and inquiring data | |
| CN111858820A (en) | Land property identification method and device, electronic equipment and storage medium | |
| CN105263118A (en) | Positioning method of user terminal and user terminal | |
| CN111288996A (en) | Indoor navigation method and system based on video live-action navigation technology | |
| CN104269072A (en) | Method, device and system for finding vehicles in underground parking lot | |
| CN106887142B (en) | Day and night switching method and device | |
| CN104537098A (en) | CAD blueprint search method based on GIS technology | |
| CN105117853A (en) | Gridding based GIS supervision and law-enforcing method and system | |
| CN103152697A (en) | Method for realizing automatic floor positioning by using intelligent mobile phone Wi-Fi (Wireless Fidelity) function | |
| CN109344214A (en) | Management map method and robot | |
| CN204595924U (en) | City Buried Pipeline visualization of presence electric identification apparatus | |
| CN103546592A (en) | Automatic energy meter address searching method | |
| CN103997711A (en) | Method for realizing positioning server at mobile terminal and software development kit module | |
| CN108872742A (en) | Multi-stage characteristics towards home environment match non-intrusion type electrical equipment detection method | |
| CN111405461A (en) | Wireless indoor positioning method for optimizing equal-interval fingerprint sampling number | |
| CN109522335B (en) | Information acquisition method and device and computer readable storage medium | |
| CN103501359B (en) | Location positioning system | |
| CN107548366B (en) | Automobile lamp control method and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |