CN103596263B - Method and device for position acquisition in indoor positioning - Google Patents
Method and device for position acquisition in indoor positioning Download PDFInfo
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Abstract
The invention discloses a method and a device for position acquisition in indoor positioning, and belongs to the technical field of positioning. The method comprises the steps of acquiring first position coordinates obtained by a terminal in positioning of the current positioning cycle, a first direction of motion of the terminal, and second position coordinates obtained by the terminal in positioning of the prior positioning cycle; selecting an indoor map contained within a preset range in a preset indoor map information set by taking the first position coordinates as the center, wherein the indoor map comprises structure information, paths and corresponding position coordinates of areas belonging to the indoor map range; and determining the current position of the terminal according to the first position coordinates, the first direction, the second position coordinates and the indoor map. The method and the device make up a problem of positioning errors caused by positioning precision and the complexity of the indoor map, and improving the positioning accuracy.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a method and a device for acquiring a position in indoor positioning.
Background
With the rapid development of the positioning technology, an indoor positioning mode of inertial navigation appears, and the defect of a positioning blind area caused by the fact that a user cannot receive signals of a positioning satellite indoors is overcome.
The indoor positioning process is that the position coordinate of the terminal at the current position is obtained through inertial navigation positioning, a prestored indoor map is obtained according to the position coordinate, and the position coordinate is projected in the indoor map, so that the indoor positioning process is completed.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
since the indoor environment is relatively complex, including numerous rooms and corridors, and since there is a problem of error in indoor positioning, positioning errors are easily caused. For example: the user walks in the corridor, positioning into the room to the side of the corridor due to the error.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present invention provide a method and an apparatus for obtaining a position in indoor positioning. The technical scheme is as follows:
in one aspect, a method for acquiring a location in indoor positioning is provided, and the method includes:
acquiring a first position coordinate obtained by positioning a terminal in a current positioning period, a first direction of movement of the terminal and a second position coordinate obtained by positioning the terminal in a previous positioning period;
selecting an indoor map contained in a preset range by taking the first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains structure information, routes and corresponding position coordinates of all areas belonging to the indoor map range;
and determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
In another aspect, an apparatus for acquiring a position in indoor positioning is provided, the apparatus including:
the terminal comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of the terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period;
the selecting module is used for selecting an indoor map contained in a preset range by taking the first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains the structure information, the route and the corresponding position coordinate of each area belonging to the indoor map range;
and the position determining module is used for determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the current position of the terminal is determined according to the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected from the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for obtaining a position in indoor positioning according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for obtaining a position in indoor positioning according to a second embodiment of the present invention;
fig. 3 is a flowchart of a method for acquiring a position in indoor positioning according to a third embodiment of the present invention;
fig. 4 is a flowchart of a method for obtaining a position in indoor positioning according to a fourth embodiment of the present invention;
fig. 5 is a flowchart of a method for obtaining a position in indoor positioning according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus for acquiring a position in indoor positioning according to a sixth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example one
The embodiment of the invention provides a method for acquiring a position in indoor positioning, and with reference to fig. 1, the method comprises the following steps:
101: acquiring a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period;
102: selecting an indoor map contained in a preset range by taking a first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains structural information, a route and a corresponding position coordinate of each area belonging to the indoor map range;
103: and determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
According to the embodiment of the invention, the current position of the terminal is determined through the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected in the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
Example two
The embodiment of the invention provides a method for acquiring a position in indoor positioning, and the method is shown in figure 2. When the attribute of the area is the first attribute, the attribute belongs to an attribute corresponding to a corridor in the indoor map.
The method for acquiring the position in the indoor positioning comprises the following steps:
201: the method comprises the steps of obtaining a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period.
Wherein, the first direction of the terminal movement is the direction calculated by the acceleration sensor and/or the electronic compass during the inertial navigation, and the angle of the terminal relative to the geographic coordinate system is determined according to the direction, for example: the east corresponds to an angle of 0 degrees.
202: and selecting an indoor map contained in a preset range by taking the first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains the structural information, the route and the corresponding position coordinate of each area belonging to the indoor map range.
The preset range can be a circle with the first position coordinate as the center and the preset distance as the radius; or a rectangle with a preset length and width corresponding to the first position coordinate is selected as the center. The manner of selecting the preset range is not limited herein.
The indoor map comprises the structural information of the rooms, the corridors and other areas in the current selection range and the corresponding position coordinates in the structural information. For example: each corner in a room holds a specific position coordinate in the indoor map, the four corners make up the room, and by setting the attribute of the area to room, the position and attribute of the room are determined. And further, setting the attribute in each side edge, including setting a door in the side edge, where the attribute of the side edge includes an attribute corresponding to the door. And each side edge stores the corresponding direction of the side edge in advance. The indoor map further includes road network information, which specifically includes a route corresponding to each corridor area and a direction corresponding to the route, and also includes a route corresponding to a door of a room and a direction corresponding to the route.
203: and determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
In the embodiment of the present invention, when the current positioning position coordinate and the position coordinate positioned in the previous positioning period are projected in the indoor map, and when the area attribute of the position coordinate belongs to the corridor, the process of determining the position of the current terminal specifically includes:
2031: and when the attribute of the first area of the first position coordinate projected in the indoor map is the first attribute, and the attribute of the second area of the second position coordinate projected in the indoor map is the first attribute, calculating included angles between the first direction and directions corresponding to all routes contained in the indoor map information.
And taking the absolute value of each included angle after the calculated included angle as the angle calculated in the following step.
2032: and selecting the minimum first included angle obtained after calculation, projecting the first position coordinate on a first route selected when the first included angle is calculated when the first included angle is smaller than a first angle difference threshold value, and calculating a third position coordinate of the first position coordinate projected on the first route.
The process of determining the third position coordinate projected in the first route is as follows: and selecting a straight line to pass through the first position coordinate and the first route, wherein the straight line is vertical to the first route, and therefore the coordinate of the intersection point between the straight line and the first route is the third position coordinate.
2033: a distance between the third position coordinate and the first position coordinate is calculated.
In the indoor map, the road network information is not complete in some places, corridors or halls with different road network layouts are different, and improvement is made on the indoor map, namely, the road networks of halls and corridors are uniformly distributed, so that the map data processing workload is increased by times. Therefore, a distance constraint threshold is set to determine whether the position coordinates acquired during current positioning are projected on a route corresponding to the area.
2034: and when the distance between the third position coordinate and the first position coordinate is less than or equal to the distance constraint threshold, determining the third position coordinate as the current position of the terminal.
At this time, the current position of the terminal is projected in the route corresponding to the first area.
2035: and when the distance between the third position coordinate and the first position coordinate is greater than the distance constraint threshold, determining the first position coordinate as the current position of the terminal.
At this time, the current position of the terminal is projected to the position of the first position coordinate in the first area.
According to the embodiment of the invention, the current position of the terminal is determined through the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected in the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
EXAMPLE III
An embodiment of the present invention provides a method for obtaining a position in indoor positioning, referring to fig. 3,
when the attribute of the area is the first attribute, the attribute belongs to an attribute corresponding to a corridor in the indoor map. And when the attribute of the area is the second attribute, the attribute belongs to the attribute corresponding to the room in the indoor map. And when the attribute of the side edge comprises the third attribute, determining that the door exists on the side edge. Further, part of the description in the embodiment of the present invention is the same as that in the second embodiment, and is not repeated herein.
The method for acquiring the position in the indoor positioning comprises the following steps:
301: acquiring a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period;
302: selecting an indoor map contained in a preset range by taking a first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains structural information, a route and a corresponding position coordinate of each area belonging to the indoor map range;
303: and determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
In the embodiment of the present invention, when the current positioning position coordinate and the previous positioning period positioning position coordinate are projected in the indoor map, the current positioning position coordinate is in the corridor, and when the previous positioning period positioning position coordinate is in the room, the process of determining the current terminal position specifically includes:
3031: when the attribute of the third area of the indoor map where the first position coordinate is projected is the first attribute and the attribute of the fourth area of the indoor map where the second position coordinate is projected is the second attribute, it is queried in the indoor map whether the attribute of the first side edge adjacent to the third area included in the fourth area includes the third attribute.
When the third attribute is included, that is, the first side edge has a door, step 3032 is executed, otherwise step 3035 is executed.
3032: when the attribute of the first side edge contains a third attribute, calculating a third direction perpendicular to the first side edge according to a second direction of the first side edge stored in the indoor map, and calculating a second included angle between the first direction and the third direction;
3033: and when the second included angle is smaller than or equal to a second angle difference threshold value, projecting the first position coordinate on a second route corresponding to the third area, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal.
The process of projection is the same as the process described in step 2032 in embodiment two, and is not described again here.
3034: when the second included angle is larger than a second angle difference threshold value, adding one to the first counting variable, judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold value or not, and when the first counting variable is larger than the space-crossing region frequency constraint threshold value, determining the fourth position coordinate as the current position of the terminal; and when the first counting variable is less than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal.
In the scenes of several cross-space areas, once mismatching occurs, the user is difficult to go out of one space area. Therefore, in order to solve this solution, when the coordinates of the anchor point are continuously N times from one area to another area, the anchor point is allowed to be matched to the other area. Wherein the N times is the set cross-space region time constraint threshold.
3035: when the attribute of the first side edge does not contain the third attribute, adding one to the first counting variable, and judging whether the processed first counting variable is greater than a cross-space region frequency constraint threshold or not;
3036: when the first counting variable is larger than a cross-space region time constraint threshold, projecting the first position coordinate on a second route corresponding to a third region, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal;
and when the first counting variable is less than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal.
According to the embodiment of the invention, the current position of the terminal is determined through the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected in the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
Example four
The embodiment of the invention provides a method for acquiring a position in indoor positioning, and the method is shown in figure 4.
When the attribute of the area is the first attribute, the attribute belongs to an attribute corresponding to a corridor in the indoor map. And when the attribute of the area is the second attribute, the attribute belongs to the attribute corresponding to the room in the indoor map. And when the attribute of the side edge comprises the third attribute, determining that the door exists on the side edge. Further, part of the description in the embodiment of the present invention is the same as that in the second embodiment, and is not repeated herein.
The method for acquiring the position in the indoor positioning comprises the following steps:
401: acquiring a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period;
402: selecting an indoor map contained in a preset range by taking a first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains structural information, a route and a corresponding position coordinate of each area belonging to the indoor map range;
403: and determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
In the embodiment of the present invention, when the current positioning position coordinate and the previous positioning period positioning position coordinate are projected in the indoor map, the current positioning position coordinate is in a room, and when the previous positioning period positioning position coordinate is in a corridor, the process of determining the current terminal position specifically includes:
4031: when the attribute of the fifth area of the indoor map where the first position coordinate is projected is the second attribute and the attribute of the sixth area of the indoor map where the second position coordinate is projected is the first attribute, it is queried in the indoor map whether the attribute of the second side adjacent to the sixth area included in the fifth area includes the third attribute.
When the second side includes the third attribute, that is, the second side has a gate, step 4032 is performed, otherwise step 4037 is performed.
4032: when the attribute of the second side edge comprises a third attribute, calculating a fifth direction perpendicular to the second side edge according to a fourth direction of the second side edge stored in the indoor map, and calculating a third included angle between the first direction and the fifth direction;
4033: when the third included angle is smaller than or equal to the second angle difference threshold value, determining the first position coordinate as the current position of the terminal;
4034: when the third included angle is larger than the second angle difference threshold value, adding one to the first counting variable, and judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold value or not;
4035: when the first counting variable is larger than a cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal;
4036: and when the first counting variable is smaller than or equal to the cross-space region frequency constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal.
4037: and when the attribute of the second side does not contain the third attribute, adding one to the first counting variable, and judging whether the processed first counting variable is greater than a cross-space region time constraint threshold value or not.
In the scenes of several cross-space areas, once mismatching occurs, the user is difficult to go out of one space area. Therefore, in order to solve this solution, when the coordinates of the anchor point are continuously N times from one area to another area, the anchor point is allowed to be matched to the other area. Wherein the N times is the set cross-space region time constraint threshold.
4038: and when the first counting variable is larger than the time restriction threshold value of crossing the space region, determining the first position coordinate as the current position of the terminal.
4039: and when the first counting variable is smaller than or equal to the cross-space region frequency constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal.
According to the embodiment of the invention, the current position of the terminal is determined through the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected in the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
EXAMPLE five
The embodiment of the invention provides a method for acquiring a position in indoor positioning, and the method is shown in figure 5. When the attribute of the area is the first attribute, the attribute belongs to an attribute corresponding to a corridor in the indoor map. And when the attribute of the area is the second attribute, the attribute belongs to the attribute corresponding to the room in the indoor map. And when the attribute of the side edge comprises the third attribute, determining that the door exists on the side edge. Further, part of the description in the embodiment of the present invention is the same as that in the second embodiment, and is not repeated herein.
The method for acquiring the position in the indoor positioning comprises the following steps:
501: acquiring a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period;
502: selecting an indoor map contained in a preset range by taking a first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains structural information, a route and a corresponding position coordinate of each area belonging to the indoor map range;
503: and determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map.
In the embodiment of the present invention, when the current positioning position coordinate and the previous positioning period positioning position coordinate are projected in the indoor map, the current positioning position coordinate is in the room, and when the previous positioning period positioning position coordinate is in the room, the process of determining the current terminal position specifically includes:
5031: and when the attribute of the seventh area of the indoor map projected by the first position coordinate is the second attribute and the attribute of the eighth area of the indoor map projected by the second position coordinate is the second attribute, judging whether the seventh area and the eighth area are the same area.
If not, it indicates that the user moves out of the original room, and enters another room, then step 5032 is executed; if the user belongs to the same area, it indicates that the user has not moved out of the original room, step 50311 is executed.
5032: when the seventh area and the eighth area are not the same area, acquiring a ninth area with the attribute being the first attribute and adjacent to both the seventh area and the eighth area in the indoor map, acquiring a sixth direction corresponding to a fourth route corresponding to the ninth area, and calculating a fourth included angle between the first direction and the sixth direction. If greater than, step 5033 is executed, and if less than or equal to, step 5038 is executed.
5033: and when the fourth included angle is smaller than or equal to the third angle difference threshold value, adding one to the first counting variable, and judging whether the processed first counting variable is larger than a preset counting threshold value or not.
5034: and when the first counting variable is larger than the preset counting threshold, projecting the first position coordinate on a fourth route corresponding to the ninth area, calculating a sixth position coordinate of the first position coordinate projected on the fourth route, and determining the sixth position coordinate as the current position of the terminal.
5035: and when the first counting variable is smaller than or equal to the preset counting threshold, adding one to the second counting variable, and judging whether the processed second counting variable is larger than the cross-space region time constraint threshold or not.
5036: when the second counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal;
5037: and when the second counting variable is less than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal.
5038: and when the fourth included angle is larger than the third angle difference threshold value, adding one to the second counting variable, and judging whether the processed second counting variable is larger than the cross-space region frequency constraint threshold value or not.
5039: and when the second counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal.
50310: and when the second counting variable is less than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal.
50311: and when the seventh area and the eighth area are the same area, determining the first position coordinate as the current position of the terminal.
According to the embodiment of the invention, the current position of the terminal is determined through the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected in the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
EXAMPLE six
An embodiment of the present invention provides a device for acquiring a position in indoor positioning, and referring to fig. 6, the device includes:
an obtaining module 601, configured to obtain a first position coordinate obtained by a terminal in a current positioning period, a first direction in which the terminal moves, and a second position coordinate obtained by the terminal in a previous positioning period;
a selecting module 602, configured to select an indoor map included in a preset range with the first position coordinate as a center from a preset indoor map information set, where the indoor map includes structure information, a route, and a corresponding position coordinate of each area within the indoor map range;
a position determining module 603, configured to determine a current position of the terminal according to the first position coordinate, the first direction, the second position coordinate, and the indoor map.
In one embodiment, the module 603 for determining a position includes:
a first calculating unit, configured to calculate an included angle between the first direction and directions corresponding to all routes included in the indoor map information when an attribute of a first area where the first position coordinate is projected in the indoor map is a first attribute and an attribute of a second area where the second position coordinate is projected in the indoor map is a first attribute;
the first processing unit is used for selecting the minimum first included angle obtained after calculation, projecting the first position coordinate on a first route selected when the first included angle is calculated when the first included angle is smaller than a first angle difference threshold value, and calculating a third position coordinate of the first position coordinate projected on the first route;
a second calculation unit configured to calculate a distance between the third position coordinate and the first position coordinate;
a first position determining unit, configured to determine the third position coordinate as a current position of the terminal when a distance between the third position coordinate and the first position coordinate is less than or equal to a distance constraint threshold;
and the second position determining unit is used for determining the first position coordinate as the current position of the terminal when the distance between the third position coordinate and the first position coordinate is greater than a distance constraint threshold.
In another embodiment, the module for determining a position 603 includes:
a first query unit, configured to query, when an attribute of a third area where the first position coordinate is projected in the indoor map is a first attribute, and an attribute of a fourth area where the second position coordinate is projected in the indoor map is a second attribute, whether an attribute of a first side edge, which is included in the fourth area and is adjacent to the third area, includes the third attribute in the indoor map;
a third position determining unit, configured to calculate, when the attribute of the first side includes a third attribute, a third direction perpendicular to the first side according to a second direction of the first side stored in the indoor map, and calculate a second included angle between the first direction and the third direction; when the second included angle is smaller than or equal to a second angle difference threshold value, projecting the first position coordinate on a second route corresponding to the third area, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal; when the second included angle is larger than the second angle difference threshold, adding one to a first counting variable, judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold, and when the first counting variable is larger than the space-crossing region frequency constraint threshold, determining the fourth position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
a fourth position determining unit, configured to add one to the first counting variable when the attribute of the first side does not include the third attribute, and determine whether the processed first counting variable is greater than a cross-space region number-of-times constraint threshold; when the first counting variable is larger than the cross-space region times constraint threshold, projecting the first position coordinate on a second route corresponding to the third region, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal; and when the first counting variable is less than or equal to the cross-space region number of times constraint threshold, determining the second position coordinate as the current position of the terminal.
In another embodiment, the module for determining a position 603 includes:
a second query unit, configured to query, when an attribute of a fifth area, where the first position coordinate is projected in the indoor map, is a second attribute, and an attribute of a sixth area, where the second position coordinate is projected in the indoor map, is a first attribute, whether an attribute of a second side, which is included in the fifth area and is adjacent to the sixth area, includes a third attribute in the indoor map;
a fifth position determining unit, configured to calculate a fifth direction perpendicular to the second side according to a fourth direction of the second side stored in the indoor map and calculate a third included angle between the first direction and the fifth direction when the attribute of the second side includes a third attribute; when the third included angle is smaller than or equal to a second angle difference threshold value, determining the first position coordinate as the current position of the terminal; when the third included angle is larger than the second angle difference threshold value, adding one to a first counting variable, and judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold value or not; when the first counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; and when the first counting variable is smaller than or equal to the cross-space region number of times constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal.
A sixth position determining unit, configured to add a first counting variable for processing when the attribute of the second side does not include the third attribute, and determine whether the processed first counting variable is greater than a cross-space region number-of-times constraint threshold; when the first counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; and when the first counting variable is smaller than or equal to the cross-space region number of times constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal.
In another embodiment, the module for determining a position 603 includes:
a determining unit, configured to determine whether a seventh area projected in the indoor map by the first position coordinate is a second attribute, and determine whether an eighth area projected in the indoor map by the second position coordinate is the same as the seventh area when the attribute of the seventh area is the second attribute;
a seventh position determining unit, configured to, when the seventh area and the eighth area are not the same area, obtain a ninth area, which is adjacent to both the seventh area and the eighth area and has an attribute of a first attribute, in the indoor map, obtain a sixth direction corresponding to a fourth route corresponding to the ninth area, and calculate a fourth included angle between the first direction and the sixth direction; when the fourth included angle is smaller than or equal to the third angle difference threshold value, adding one to the first counting variable, and judging whether the processed first counting variable is greater than a preset counting threshold value, when the first counting variable is greater than the preset counting threshold value, projecting the first position coordinate on a fourth route corresponding to the ninth area, calculating a sixth position coordinate of the first position coordinate projected on the fourth route, determining the sixth position coordinate as the current position of the terminal, and when the first counting variable is less than or equal to the preset counting threshold, adding one to the second counting variable, and judging whether the processed second counting variable is larger than the cross-space region times constraint threshold value, when the second counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the second counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal; when the fourth included angle is larger than the third angle difference threshold, adding a second counting variable for processing, and judging whether the processed second counting variable is larger than a space-crossing region frequency constraint threshold, and when the second counting variable is larger than the space-crossing region frequency constraint threshold, determining the first position coordinate as the current position of the terminal; when the second counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
an eighth location determining unit, configured to determine the first location coordinate as a current location of the terminal when the seventh area and the eighth area are the same area.
According to the embodiment of the invention, the current position of the terminal is determined through the first position coordinate obtained by current positioning, the first direction of the terminal movement, the second position coordinate of the previous positioning period and the indoor map selected in the indoor map information set according to the first position coordinate, so that the problem of positioning errors caused by positioning accuracy and complexity of the indoor map is solved, and the positioning accuracy is improved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (2)
1. A method for obtaining a location in indoor positioning, the method comprising:
acquiring a first position coordinate obtained by positioning a terminal in a current positioning period, a first direction of movement of the terminal and a second position coordinate obtained by positioning the terminal in a previous positioning period;
selecting an indoor map contained in a preset range by taking the first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains structure information, routes and corresponding position coordinates of all areas belonging to the indoor map range;
determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map;
wherein:
determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map includes:
when the attribute of the first area of the indoor map projected by the first position coordinate is a first attribute and the attribute of the second area of the indoor map projected by the second position coordinate is a first attribute, calculating included angles between the first direction and directions corresponding to all routes contained in the indoor map information;
selecting the minimum first included angle obtained after calculation, projecting the first position coordinate on a first route selected when the first included angle is calculated when the first included angle is smaller than a first angle difference threshold value, and calculating a third position coordinate of the first position coordinate projected on the first route;
calculating a distance between the third position coordinate and the first position coordinate;
when the distance between the third position coordinate and the first position coordinate is smaller than or equal to a distance constraint threshold, determining the third position coordinate as the current position of the terminal;
when the distance between the third position coordinate and the first position coordinate is larger than a distance constraint threshold, determining the first position coordinate as the current position of the terminal;
or,
determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map includes:
when the attribute of a third area projected in the indoor map by the first position coordinate is a first attribute, and the attribute of a fourth area projected in the indoor map by the second position coordinate is a second attribute, inquiring whether the attribute of a first side edge adjacent to the third area contained in the fourth area contains the third attribute in the indoor map;
when the attribute of the first side edge contains a third attribute, calculating a third direction perpendicular to the first side edge according to a second direction of the first side edge stored in the indoor map, and calculating a second included angle between the first direction and the third direction; when the second included angle is smaller than or equal to a second angle difference threshold value, projecting the first position coordinate on a second route corresponding to the third area, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal; when the second included angle is larger than the second angle difference threshold, adding one to a first counting variable, judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold, and when the first counting variable is larger than the space-crossing region frequency constraint threshold, determining the fourth position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
when the attribute of the first side edge does not contain a third attribute, adding one to a first counting variable, and judging whether the processed first counting variable is greater than a cross-space region frequency constraint threshold value or not; when the first counting variable is larger than the cross-space region times constraint threshold, projecting the first position coordinate on a second route corresponding to the third region, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
or,
determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map includes:
when the attribute of a fifth area projected in the indoor map by the first position coordinate is a second attribute and the attribute of a sixth area projected in the indoor map by the second position coordinate is a first attribute, inquiring whether the attribute of a second side edge adjacent to the sixth area contained in the fifth area contains a third attribute in the indoor map;
when the attribute of the second side edge comprises a third attribute, calculating a fifth direction perpendicular to the second side edge according to a fourth direction of the second side edge stored in the indoor map, and calculating a third included angle between the first direction and the fifth direction; when the third included angle is smaller than or equal to a second angle difference threshold value, determining the first position coordinate as the current position of the terminal; when the third included angle is larger than the second angle difference threshold value, adding one to a first counting variable, and judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold value or not; when the first counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region number of times constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal;
when the attribute of the second side does not contain a third attribute, adding one to a first counting variable, and judging whether the processed first counting variable is greater than a cross-space region time constraint threshold value or not; when the first counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region number of times constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal;
or,
determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map includes:
when the attribute of a seventh area projected in the indoor map by the first position coordinate is a second attribute, and the attribute of an eighth area projected in the indoor map by the second position coordinate is a second attribute, judging whether the seventh area and the eighth area are the same area;
when the seventh area and the eighth area are not the same area, acquiring a ninth area with an attribute being a first attribute and adjacent to both the seventh area and the eighth area in the indoor map, acquiring a sixth direction corresponding to a fourth route corresponding to the ninth area, and calculating a fourth included angle between the first direction and the sixth direction; when the fourth included angle is smaller than or equal to the third angle difference threshold value, adding one to the first counting variable, and judging whether the processed first counting variable is greater than a preset counting threshold value, when the first counting variable is greater than the preset counting threshold value, projecting the first position coordinate on a fourth route corresponding to the ninth area, calculating a sixth position coordinate of the first position coordinate projected on the fourth route, determining the sixth position coordinate as the current position of the terminal, and when the first counting variable is less than or equal to the preset counting threshold, adding one to the second counting variable, and judging whether the processed second counting variable is larger than the cross-space region times constraint threshold value, when the second counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the second counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal; when the fourth included angle is larger than the third angle difference threshold, adding a second counting variable for processing, and judging whether the processed second counting variable is larger than a space-crossing region frequency constraint threshold, and when the second counting variable is larger than the space-crossing region frequency constraint threshold, determining the first position coordinate as the current position of the terminal; when the second counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
and when the seventh area and the eighth area are the same area, determining the first position coordinate as the current position of the terminal.
2. An apparatus for obtaining a position in indoor positioning, the apparatus comprising:
the terminal comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a first position coordinate obtained by positioning the terminal in a current positioning period, a first direction of the terminal movement and a second position coordinate obtained by positioning the terminal in a previous positioning period;
the selecting module is used for selecting an indoor map contained in a preset range by taking the first position coordinate as a center from a preset indoor map information set, wherein the indoor map contains the structure information, the route and the corresponding position coordinate of each area belonging to the indoor map range;
the position determining module is used for determining the current position of the terminal according to the first position coordinate, the first direction, the second position coordinate and the indoor map;
wherein the determine location module comprises:
a first calculating unit, configured to calculate an included angle between the first direction and directions corresponding to all routes included in the indoor map information when an attribute of a first area where the first position coordinate is projected in the indoor map is a first attribute and an attribute of a second area where the second position coordinate is projected in the indoor map is a first attribute;
the first processing unit is used for selecting the minimum first included angle obtained after calculation, projecting the first position coordinate on a first route selected when the first included angle is calculated when the first included angle is smaller than a first angle difference threshold value, and calculating a third position coordinate of the first position coordinate projected on the first route;
a second calculation unit configured to calculate a distance between the third position coordinate and the first position coordinate;
a first position determining unit, configured to determine the third position coordinate as a current position of the terminal when a distance between the third position coordinate and the first position coordinate is less than or equal to a distance constraint threshold;
a second position determining unit, configured to determine the first position coordinate as a current position of the terminal when a distance between the third position coordinate and the first position coordinate is greater than a distance constraint threshold;
or,
the determine location module includes:
a first query unit, configured to query, when an attribute of a third area where the first position coordinate is projected in the indoor map is a first attribute, and an attribute of a fourth area where the second position coordinate is projected in the indoor map is a second attribute, whether an attribute of a first side edge, which is included in the fourth area and is adjacent to the third area, includes the third attribute in the indoor map;
a third position determining unit, configured to calculate, when the attribute of the first side includes a third attribute, a third direction perpendicular to the first side according to a second direction of the first side stored in the indoor map, and calculate a second included angle between the first direction and the third direction; when the second included angle is smaller than or equal to a second angle difference threshold value, projecting the first position coordinate on a second route corresponding to the third area, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal; when the second included angle is larger than the second angle difference threshold, adding one to a first counting variable, judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold, and when the first counting variable is larger than the space-crossing region frequency constraint threshold, determining the fourth position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
a fourth position determining unit, configured to add one to the first counting variable when the attribute of the first side does not include the third attribute, and determine whether the processed first counting variable is greater than a cross-space region number-of-times constraint threshold; when the first counting variable is larger than the cross-space region times constraint threshold, projecting the first position coordinate on a second route corresponding to the third region, calculating a fourth position coordinate of the first position coordinate projected on the second route, and determining the fourth position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
alternatively, the determine location module includes:
a second query unit, configured to query, when an attribute of a fifth area, where the first position coordinate is projected in the indoor map, is a second attribute, and an attribute of a sixth area, where the second position coordinate is projected in the indoor map, is a first attribute, whether an attribute of a second side, which is included in the fifth area and is adjacent to the sixth area, includes a third attribute in the indoor map;
a fifth position determining unit, configured to calculate a fifth direction perpendicular to the second side according to a fourth direction of the second side stored in the indoor map and calculate a third included angle between the first direction and the fifth direction when the attribute of the second side includes a third attribute; when the third included angle is smaller than or equal to a second angle difference threshold value, determining the first position coordinate as the current position of the terminal; when the third included angle is larger than the second angle difference threshold value, adding one to a first counting variable, and judging whether the processed first counting variable is larger than a space-crossing region frequency constraint threshold value or not; when the first counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region number of times constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal;
a sixth position determining unit, configured to add a first counting variable for processing when the attribute of the second side does not include the third attribute, and determine whether the processed first counting variable is greater than a cross-space region number-of-times constraint threshold; when the first counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the first counting variable is smaller than or equal to the cross-space region number of times constraint threshold, projecting the first position coordinate on a third route corresponding to the sixth region, calculating a fifth position coordinate of the first position coordinate projected on the third route, and determining the fifth position coordinate as the current position of the terminal;
or,
the determine location module includes:
a determining unit, configured to determine whether a seventh area projected in the indoor map by the first position coordinate is a second attribute, and determine whether an eighth area projected in the indoor map by the second position coordinate is the same as the seventh area when the attribute of the seventh area is the second attribute;
a seventh position determining unit, configured to, when the seventh area and the eighth area are not the same area, obtain a ninth area, which is adjacent to both the seventh area and the eighth area and has an attribute of a first attribute, in the indoor map, obtain a sixth direction corresponding to a fourth route corresponding to the ninth area, and calculate a fourth included angle between the first direction and the sixth direction; when the fourth included angle is smaller than or equal to the third angle difference threshold value, adding one to the first counting variable, and judging whether the processed first counting variable is greater than a preset counting threshold value, when the first counting variable is greater than the preset counting threshold value, projecting the first position coordinate on a fourth route corresponding to the ninth area, calculating a sixth position coordinate of the first position coordinate projected on the fourth route, determining the sixth position coordinate as the current position of the terminal, and when the first counting variable is less than or equal to the preset counting threshold, adding one to the second counting variable, and judging whether the processed second counting variable is larger than the cross-space region times constraint threshold value, when the second counting variable is larger than the cross-space region time constraint threshold, determining the first position coordinate as the current position of the terminal; when the second counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal; when the fourth included angle is larger than the third angle difference threshold, adding a second counting variable for processing, and judging whether the processed second counting variable is larger than a space-crossing region frequency constraint threshold, and when the second counting variable is larger than the space-crossing region frequency constraint threshold, determining the first position coordinate as the current position of the terminal; when the second counting variable is smaller than or equal to the cross-space region time constraint threshold, determining the second position coordinate as the current position of the terminal;
an eighth location determining unit, configured to determine the first location coordinate as a current location of the terminal when the seventh area and the eighth area are the same area.
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| CN106662630B (en) * | 2014-09-02 | 2020-12-08 | 苹果公司 | Position determination using communicatively coupled electronic devices |
| CN104869538B (en) * | 2015-05-18 | 2018-09-18 | 小米科技有限责任公司 | Localization method and device |
| CN104994472A (en) * | 2015-07-02 | 2015-10-21 | 苏州汉明科技有限公司 | Anti-through wall system moved in indoor position area and method thereof |
| CN107037806B (en) * | 2016-02-04 | 2020-11-27 | 科沃斯机器人股份有限公司 | Self-moving robot repositioning method and self-moving robot adopting same |
| CN108074009B (en) * | 2016-11-11 | 2022-03-22 | 菜鸟智能物流控股有限公司 | Motion route generation method and device, mobile terminal and server |
| CN107707979B (en) * | 2017-10-19 | 2020-11-27 | 广州华多网络科技有限公司 | Method, device and system for AR positioning of live broadcast room and readable storage medium |
| CN108692720B (en) | 2018-04-09 | 2021-01-22 | 京东方科技集团股份有限公司 | Positioning method, positioning server and positioning system |
| CN108536037B (en) * | 2018-07-12 | 2023-08-11 | 四川虹美智能科技有限公司 | Control equipment and method of intelligent household appliance and intelligent household appliance |
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