CN104142507B - GpsOne indoor positioning circular error probable obtaining method and device - Google Patents
GpsOne indoor positioning circular error probable obtaining method and device Download PDFInfo
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- CN104142507B CN104142507B CN201310170722.7A CN201310170722A CN104142507B CN 104142507 B CN104142507 B CN 104142507B CN 201310170722 A CN201310170722 A CN 201310170722A CN 104142507 B CN104142507 B CN 104142507B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The invention discloses a gpsOne indoor positioning circular error probable obtaining method and device, and relates to the technical field of mobile internet application. According to the method, an indoor positioning process and a positioning process of an impendent GPS receiver are simulated by means of two stages which are an initial positioning process and a final positioning process in a gpsOne outdoor positioning process, and a truth value error of an indoor positioning test is simulated by means of the horizontal distance between an initial positioning result point and a final positioning result point. Indoor positioning circular error probable of an object region is obtained by processing and counting positioning log files generated by a positioning platform, and a great deal of test cost can be saved.
Description
Technical field
The present invention relates to mobile Internet applied technical field, particularly to a kind of gpsOne indoor positioning circular proable error
Acquisition methods and device.
Background technology
With mobile Internet and the development of smart mobile phone technology and application, location service is considered the coming years will
The explosive value-added service increasing.Various location technologies occur in a large number, and wherein gpsOne technology is high, fixed with its positioning precision
The high advantage of position success rate, has obtained large-scale application in running fix field.
For lifting location quality of service, operator needs often to measure the positioning service horizontal error under various environment.
In gpsOne positioning service quality test, typically benchmark can be provided using a high-precision GPS
Coordinate（True value point coordinates）.Position the coordinate of returning result by benchmark coordinate and mobile phone, to calculate this assignment test
True value error.By substantial amounts of test case, the running fix circular proable error of this area can be counted（Circular
Error Probable,CEP）.Said method is applied to the error statistics under outdoor free environments.
But, under environment, generally do not receive GPS indoors（Global Positioning System, global positioning system
System）Signal, GPS cannot provide reference coordinate, therefore cannot calculate the horizontal error of assignment test.
For measurement and positioning error under environment indoors, need to obtain the true longitude and latitude of measured point in advance.Common do
Method is the electronic chart using pinpoint accuracy, obtains the coordinate of certain test point by way of mouse point takes.For not high-precision
The area of degree electronic chart, artificial on the roof of building can gather gps coordinate, or sit in the outside collection GPS of building
The coordinate of indoor test point after mark, is calculated by coordinate modification algorithm.But this mode inefficiency, needs to put into substantial amounts of
Human resourcess；Regardless of whether being electronic chart method, or GPS revised law, all can introduce extra true value point tolerance, lead to statistics knot
The credibility of fruit declines.
Content of the invention
The inventors found that existing problems in above-mentioned prior art, and be therefore directed in described problem at least one
Individual problem proposes a kind of new technical scheme.
It is an object of the present invention to provide a kind of technical scheme obtaining for gpsOne indoor positioning circular proable error.
According to the first aspect of the invention, there is provided a kind of gpsOne indoor positioning circular proable error acquisition methods, including：
Selecting whole align_type in target area according to the daily record of gpsOne locating platform is AGPS（Assisted
Global Positioning System, auxiliary global satellite positioning system）Locating events；
Obtain the horizontal range between whole anchor point and first anchor point in each AGPS locating events, as in target area
First-whole position error of AGPS locating events, referred to as PF error；
According to the distribution situation of each AGPS locating events PF error in target area, obtain the gpsOne in target area
The circular proable error of indoor positioning.
Alternatively, the distribution situation according to the PF error of each AGPS locating events in target area obtains in target area
The circular proable error of gpsOne indoor positioning include：
Distribution according to PF error obtains the gpsOne indoor positioning circular proable error under the conditions of CEP68 in target area.
Alternatively, the gpsOne indoor positioning circle under the conditions of the distribution according to range error obtains CEP68 in target area
Probable error includes：
It is ranked up ascending for the numerical value of the PF error of AGPS locating events all in target area, obtain one and determine
Position sequence of events；
The record number of locating events sequence is multiplied by 0.68 and rounds up, obtains sequence number N；
Choosing recording mechanism in described locating events sequence is the record of N, and this records corresponding PF error value and is CEP68
Under the conditions of in described target area gpsOne indoor positioning circular proable error.
Alternatively, obtain the horizontal range between whole anchor point and first anchor point in each AGPS locating events to include：
Obtain the daily record of all locating events that whole align_type in gpsOne locating platform target area is AGPS；
Daily record to locating events parses, and obtains the longitude and latitude of whole anchor point and first anchor point；
Calculate the earth spherical distance between described whole anchor point and described just anchor point, that is, the PF of this locating events misses
Difference.
Alternatively, cdma wireless network parameter Filtration Goal region in the daily record according to gpsOne locating platform.
According to a further aspect in the invention, a kind of gpsOne indoor positioning circular proable error acquisition device is provided, including：
Locating events screening unit, for selecting whole align_type in target area from the daily record of gpsOne locating platform
Locating events for AGPS；
Range error acquiring unit, for obtaining the water between whole anchor point and first anchor point in each AGPS locating events
Flat distance, as first-whole position error of AGPS locating events in target area, referred to as PF error；
Position error determining unit, for the distribution situation according to the PF error of each AGPS locating events in target area
Obtain the circular proable error of the gpsOne indoor positioning in target area.
Alternatively, under the conditions of position error determining unit obtains CEP68 in target area according to the distribution of PF error
GpsOne indoor positioning circular proable error.
Alternatively, position error determining unit includes：
PF error order module, for being ranked up ascending for the PF error of each AGPS locating events, obtains one
Individual locating events sequence；
Sequence number acquisition module, for being multiplied by 0.68 and rounding up the record number of locating events sequence, obtains sequence number N；
Error location module, for using in locating events sequence serial number N positioning record corresponding PF error as
The circular proable error of gpsOne indoor positioning in target area under the conditions of CEP68.
Alternatively, range error acquiring unit includes：
Just anchor point determining module, is based on for obtaining in the AGPS locating events of gpsOne locating platform just position fixing process
The first anchor point that architecture algorithm obtains；
Whole anchor point determining module, is based on for obtaining whole position fixing process in the AGPS locating events of gpsOne locating platform
AGPS location algorithm calculates the whole anchor point obtaining；
Error distance determining module, for calculating the earth spherical distance between whole anchor point and first anchor point.
Alternatively, locating events screening unit filters in the daily record of gpsOne locating platform according to cdma wireless network parameter
Target area.
An advantage of the invention that, by the process and the statistics that position journal file that locating platform is generated, imitate
Really go out the indoor positioning circular proable error of target area, substituted with a kind of simple data statistical approach heavy substantial amounts of existing
Field indoor test work, saves substantial amounts of testing cost.
By the detailed description to the exemplary embodiment of the present invention referring to the drawings, the further feature of the present invention and its
Advantage will be made apparent from.
Brief description
Constitute the Description of Drawings of a part the embodiments of the invention of description, and be used for together with the description solving
Release the principle of the present invention.
Referring to the drawings, according to detailed description below, the present invention can be more clearly understood from, wherein：
Fig. 1 illustrates the flow process of an embodiment of the gpsOne indoor positioning circular proable error acquisition methods according to the present invention
Figure.
Fig. 2 illustrates the stream of another embodiment of the gpsOne indoor positioning circular proable error acquisition methods according to the present invention
Cheng Tu.
Fig. 3 illustrates the structure of an embodiment of the gpsOne indoor positioning circular proable error acquisition device according to the present invention
Figure.
Fig. 4 illustrates the knot of another embodiment of the gpsOne indoor positioning circular proable error acquisition device according to the present invention
Composition.
Specific embodiment
To describe the various exemplary embodiments of the present invention now with reference to accompanying drawing in detail.It should be noted that：Unless other have
Body illustrates, the positioned opposite, numerical expression of the part otherwise illustrating in these embodiments and step and numerical value do not limit this
The scope of invention.
Simultaneously it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
Description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its application or any restriction using.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
When in the case of, technology, method and apparatus should be considered authorize description a part.
In all examples with discussion shown here, any occurrence should be construed as merely exemplary, and not
It is as restriction.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then do not need it is further discussed in subsequent accompanying drawing.
The basic thought of this patent is：Using two stages -- the just position fixing process during gpsOne outdoor positioning
（pre-fix）With whole position fixing process（final-fix）To simulate the position fixing process of indoor positioning process and standalone GPS receiver,
Emulate the true value error of indoor positioning test with the horizontal range of first-whole positioning result point.So, by positioning to gpsOne
The screening of positioning daily record and process that platform generates, obtain rapidly indoor positioning circular proable error CEP of target area.
In gpsOne outdoor positioning flow process, the position calculation of terminal is in two stages：Just position fixing process positioned with whole
Journey.In first position fixing process, the base station ranging information of locating platform foundation terminal to report, using architecture algorithm computing terminal
Initial position；In whole positioning stage, the satellite pseudo-range information of locating platform foundation terminal to report, using AGPS location algorithm meter
Calculate the final position of terminal.It can be seen that：GpsOne outdoor positioning process contains an indoor positioning process and once
AGPS position fixing process.Location algorithm due to adopting in AGPS event just position fixing process is calculated with the gpsOne positioning under indoor situations
Method is identical, and the positioning precision of AGPS algorithm is consistent with the precision of standalone GPS receiver, therefore, first under this scene-eventually
Positioning result deviation is equivalent to the result error of indoor positioning and standalone GPS receiver positioning, when that is, indoor positioning is tested
True value error.
Fig. 1 illustrates the flow process of an embodiment of the gpsOne indoor positioning circular proable error acquisition methods according to the present invention
Figure.
As shown in figure 1, step 102, selecting whole align_type in target area according to the daily record of gpsOne locating platform is
The locating events of AGPS.Journal file can be filtered out according to cdma wireless network parameter with the daily record of particular locality, for example,
Shanghai-Pudong-HUAMU area, and ignore other regional daily records.
Step 104, obtains the horizontal range between whole anchor point and first anchor point in each AGPS locating events, as mesh
First-whole position error of AGPS locating events, referred to as PF error in mark region.For example, obtain gpsOne locating platform target area
In domain, whole align_type is the daily record of all locating events of AGPS；Daily record to locating events parses, and obtains and positions eventually
Point and the longitude and latitude of first anchor point；Calculate the earth spherical distance between whole anchor point and described just anchor point, i.e. this positioning
The PF error of event.
Step 106, the distribution situation according to the PF error of each AGPS locating events in target area obtains target area
The circular proable error of interior gpsOne indoor positioning.For example, under the conditions of the distribution according to PF error obtains CEP68 in target area
GpsOne indoor positioning circular proable error.
In above-described embodiment, for running fix under indoor environment（Positioning based on base station）The statistical problem of error, carries
Go out a kind of error analysis method that can substitute indoor positioning on-the-spot test work, by the positioning day that locating platform is generated
The process of will file and statistics, you can draw the indoor positioning circular proable error of target area, with a kind of simple data statisticss
Method, to substitute heavy substantial amounts of scene indoor test work, can save substantial amounts of testing cost.
Fig. 2 illustrates the stream of another embodiment of the gpsOne indoor positioning circular proable error acquisition methods according to the present invention
Cheng Tu.
As shown in Fig. 2 step 202, the journal file that gpsOne locating platform generates（As Fix file）Read in.
Step 204, filters out the positioning record that whole align_type is AGPS.The daily record literary composition that gpsOne locating platform is generated
Part is screened, and only selects the correlation log of the locating events that whole align_type is AGPS, generates middle journal file.
Step 206, calculates end-first positioning result deviation in each positioning record（PF error）.Interim date will file is entered
Row is processed, and calculates the earth spherical distance between the whole anchor point of each locating events and first anchor point.
Step 208, PF error is write tables of data.In the middle of the record of PF error write error statistical table, field name
Referred to as " indoor error ".
Step 210, counts circular proable error according to tables of data.Specifically include：
After middle daily record file process finishes, according to " indoor error " field, ascending row is carried out to error statistics form
Sequence；By AGPS locating events all in target area according to described PF error numerical value ascending be ranked up, obtain one
Locating events sequence；
It is multiplied by 0.68 with the record number of locating events sequence in error statistics form, and rounds up, obtain Integer N；
The N article record of inquiry error statistics table, the value of " indoor error " field in this record is this area interior
The circular proable error of positioning（Under the conditions of CEP68）.
In above-described embodiment, corresponding circular proable error is obtained by PF error statistics method, in the prior art still
Such processing scheme does not occur, embodies the newly invasive of the program.
Fig. 3 illustrates the structure of an embodiment of the gpsOne indoor positioning circular proable error acquisition device according to the present invention
Figure.
As shown in Figure 3, this device includes:Locating events screening unit 31, for from the daily record of gpsOne locating platform
Selecting whole align_type in target area is the locating events of AGPS；Range error acquiring unit 32, for obtaining each AGPS
Horizontal range between whole anchor point and first anchor point in locating events, as the first-end of AGPS locating events in target area
Position error, referred to as PF error；Position error determining unit 33, for the PF according to each AGPS locating events in target area
The distribution situation of error obtains the circular proable error of the gpsOne indoor positioning in target area.For example, locating events screening is single
Target area in the daily record of gpsOne locating platform is filtered according to cdma wireless network parameter by unit.
In one embodiment, position error determining unit obtains CEP68 bar in target area according to the distribution of PF error
GpsOne indoor positioning circular proable error under part.
In above-described embodiment, selected by the process that locating events screen the positioning journal file that single pair of locating platform generates
Go out AGPS locating events, calculate the range error of gpsOne indoor positioning by range error acquiring unit, position error determines
Unit can draw the indoor positioning circular proable error of target area based on statistics, is substituted by a kind of simple data statistical approach
Heavy substantial amounts of scene indoor test work, can save substantial amounts of testing cost.
Fig. 4 illustrates the knot of another embodiment of the gpsOne indoor positioning circular proable error acquisition device according to the present invention
Composition.
As shown in figure 4, this embodiment includes：Locating events screening unit 31, range error acquiring unit 42 and positioning
Error determining unit 43.Wherein range error acquiring unit 42 includes：Just anchor point determining module 421, for obtaining gpsOne
The first anchor point of the terminal that first position fixing process is obtained based on architecture algorithm in the AGPS locating events of locating platform；Position eventually
Point determining module 422, calculates for obtaining whole position fixing process in the AGPS locating events of gpsOne locating platform and being based on AGPS positioning
Method calculates the whole anchor point of the terminal obtaining；Error distance determining module 423, for calculating between whole anchor point and first anchor point
Earth spherical distance.
In one embodiment, position error determining unit 43 includes：PF error order module 431, for by each
Being ranked up apart from PF error is ascending of AGPS locating events, obtains a locating events sequence；Sequence number acquisition module
432, for being multiplied by 0.68 and rounding up the record number range error number of locating events sequence, obtain sequence number N；Error location
Module 433, the positioning for sequence number in locating events sequence is ordered as N records corresponding PF range error as target area
The circular proable error of interior gpsOne indoor positioning.
The present invention, for existing indoor positioning error testing method, has following advantage：
1st, the present invention is by the process of journal file generated to locating platform, you can the interior evaluating target area is fixed
Circle of position probable error, it is to avoid live heavy test job data analysis work, drastically increases work efficiency.
2nd, this method, by the use of AGPS positioning result as true value point longitude and latitude, has been evaded and cannot have been obtained true value under indoor environment
A difficult problem for coordinate, improves the credibility of error statistics；
3rd, this method can be to region on a large scale（Such as provincial region）Indoor positioning error carry out macroscopic analyses, and pass
System method cannot accomplish macroscopic analyses.
So far, processed gpsOne indoor positioning circular proable error acquisition methods and dress according to the present invention is described in detail
Put.In order to avoid covering the design of the present invention, some details known in the field are not described.Those skilled in the art according to
Above description, completely it can be appreciated how implementing technical scheme disclosed herein.
The method of the present invention and system may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, any combinations of firmware are realizing the method for the present invention and system.Said sequence for the step of methods described
Merely to illustrating, the step of the method for the present invention is not limited to order described in detail above, special unless otherwise
Do not mentionlet alone bright.Additionally, in certain embodiments, also the present invention can be embodied as recording program in the recording medium, these programs
Including the machine readable instructions for realizing the method according to the invention.Thus, the present invention also covers storage and is used for executing basis
The recording medium of the program of the method for the present invention.
Although being described in detail to some specific embodiments of the present invention by example, the skill of this area
Art personnel it should be understood that above example is merely to illustrate, rather than in order to limit the scope of the present invention.The skill of this area
Art personnel are it should be understood that can modify to above example without departing from the scope and spirit of the present invention.This
Bright scope is defined by the following claims.
Claims (10)
1. a kind of gpsOne indoor positioning circular proable error acquisition methods are it is characterised in that include：
Selecting whole align_type in target area according to the daily record of gpsOne locating platform is auxiliary global satellite positioning system
The locating events of AGPS；
Obtain the horizontal range between whole anchor point and first anchor point in each AGPS locating events, as in described target area
First-whole position error of AGPS locating events, referred to as PF error；
According to the distribution situation of the PF error of each AGPS locating events in described target area, obtain in described target area
The circular proable error of gpsOne indoor positioning.
2. method according to claim 1 is it is characterised in that according to each AGPS locating events in described target area
The distribution situation of PF error, the circular proable error obtaining the gpsOne indoor positioning in described target area includes：
Circular probability according to the gpsOne indoor positioning under the conditions of CEP68 in the described target area of distribution acquisition of described PF error
Error.
3. method according to claim 2 is it is characterised in that obtain described target area according to the distribution of described PF error
The circular proable error of the gpsOne indoor positioning under the conditions of interior CEP68 includes：
By AGPS locating events all in target area according to described PF error numerical value ascending be ranked up, obtain one
Locating events sequence；
The record number of described locating events sequence is multiplied by 0.68 and rounds up, obtains sequence number N；
Choosing recording mechanism in described locating events sequence is the record of N, and this records corresponding PF error value and is CEP68 condition
Under in described target area gpsOne indoor positioning circular proable error.
4. method according to claim 1 it is characterised in that in each AGPS locating events of described acquisition whole anchor point with
Just the horizontal range between anchor point includes：
Obtain the daily record of all locating events that whole align_type in gpsOne locating platform target area is AGPS；
Daily record to locating events parses, and obtains the longitude and latitude of whole anchor point and first anchor point；
Calculate the earth spherical distance between described whole anchor point and described just anchor point, i.e. the PF error of this locating events.
5. method according to claim 1 is it is characterised in that according to CDMA in the daily record of gpsOne locating platform
Cdma wireless network parameter filters described target area.
6. a kind of gpsOne indoor positioning circular proable error acquisition device is it is characterised in that include：
Locating events screening unit, for selecting in target area supplemented by whole align_type from the daily record of gpsOne locating platform
Help the locating events of GPS AGPS；
Range error acquiring unit, for obtain in each AGPS locating events the level between whole anchor point and first anchor point away from
From as first-whole position error of AGPS locating events in described target area, referred to as PF error；
Position error determining unit, for the distribution situation according to the PF error of each AGPS locating events in described target area
Obtain the circular proable error of the gpsOne indoor positioning in described target area.
7. device according to claim 6 is it is characterised in that described position error determining unit is according to described PF error
The circular proable error of the gpsOne indoor positioning under the conditions of CEP68 in the described target area of distribution acquisition.
8. device according to claim 7 is it is characterised in that described position error determining unit includes：
PF error order module, for being ranked up ascending for the described PF error of each AGPS locating events, obtains one
Individual locating events sequence；
Sequence number acquisition module, for being multiplied by 0.68 and rounding up the record number of described locating events sequence, obtains sequence number N；
Error location module, for the positioning of serial number N in described locating events sequence is recorded corresponding PF error as
The circular proable error of gpsOne indoor positioning in described target area under the conditions of CEP68.
9. device according to claim 7 is it is characterised in that described range error acquiring unit includes：
Just anchor point determining module, is based on base station for obtaining in the AGPS locating events of gpsOne locating platform just position fixing process
The described just anchor point that location algorithm obtains；
Whole anchor point determining module, is based on AGPS for obtaining whole position fixing process in the AGPS locating events of gpsOne locating platform
Location algorithm calculates the described whole anchor point obtaining；
Error distance determining module, for calculating the earth spherical distance between described whole anchor point and described just anchor point.
10. device according to claim 6 is it is characterised in that described locating events screening unit is according to CDMA
Target area in the daily record of the cdma wireless network parameter described gpsOne locating platform of filtration.
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| CN107148033A (en) * | 2017-05-02 | 2017-09-08 | 惠州Tcl移动通信有限公司 | A kind of position fixing process analysis method, storage device and mobile terminal |
| CN111650621B (en) * | 2019-12-31 | 2023-07-14 | 重庆芯讯通无线科技有限公司 | Method and device for calculating and detecting static drift precision, equipment and storage medium |
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| US7565155B2 (en) * | 2002-04-10 | 2009-07-21 | Networks In Motion | Method and system for dynamic estimation and predictive route generation |
| KR100674213B1 (en) * | 2003-05-26 | 2007-01-25 | 주식회사 이노와이어리스 | Apparatus and method for providing location information |
| US20060030332A1 (en) * | 2004-08-05 | 2006-02-09 | Carrott David T | Method and system for geolocation of wireless transmissions using distributed processors in wireless receiver towers and a method for collecting a fee for processing geolocation requests |
| CN2795874Y (en) * | 2004-12-28 | 2006-07-12 | 武汉中国光谷信息产业股份有限公司 | Vehicle carried GPS+CDMA composite positioning terminal |
| KR100753367B1 (en) * | 2006-05-10 | 2007-08-30 | 주식회사 팬택 | Internal antenna with built-in function of autonomous global positioning system and method for emboding the antenna |
| CN2927070Y (en) * | 2006-07-17 | 2007-07-25 | 上海伽利略导航有限公司 | Self-adaptive and autonomous monitor based out indoor position |
| US7940210B2 (en) * | 2008-06-26 | 2011-05-10 | Honeywell International Inc. | Integrity of differential GPS corrections in navigation devices using military type GPS receivers |
| CN101640837B (en) * | 2009-09-09 | 2012-02-15 | 中国电信股份有限公司 | Method for increasing position success ratio and mobile position center (MPC) equipment |
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