CN104197929B - Localization method, device and system based on geomagnetism and WIFI - Google Patents
Localization method, device and system based on geomagnetism and WIFI Download PDFInfo
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- CN104197929B CN104197929B CN201410444166.2A CN201410444166A CN104197929B CN 104197929 B CN104197929 B CN 104197929B CN 201410444166 A CN201410444166 A CN 201410444166A CN 104197929 B CN104197929 B CN 104197929B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a localization method, a device and a system based on geomagnetism and WIFI. The localization method comprises the following steps: acquiring sensor data of a mobile terminal, wherein the sensor data comprises gyroscope data, acceleration data and geomagnetism data; and localizing the mobile terminal according to WIFI data acquired in a set time period exceeding a preset threshold and the geomagnetism data if determining that the mobile terminal moves straightly according to the gyroscope data and determining that the movement distance of the mobile terminal exceeds a preset threshold according to the acceleration data. By virtue of the localization method, the device and the system, the high-accuracy localization of the mobile terminal is achieved by virtue of the geomagnetism and WIFI; as the localization process is free of manual intervention, the labor cost is greatly reduced; in addition, the high-accuracy localization position of the mobile terminal is obtained by the high-accuracy localization and tracking of the mobile terminal, so that the localization position obtained by the localization method, the device and the system is also capable of generating relatively high-accuracy indoor graph information.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a positioning method, device and system based on geomagnetism and WIFI.
Background
In the prior art, specific location points are calibrated indoors for each device based on low-power-consumption Bluetooth technology and the like, and positioning is performed according to the strength of Bluetooth signals. For the mobile user integrating the Bluetooth function, the distance from the Bluetooth device can be judged according to the intensity of the Bluetooth signal when the Bluetooth signal is detected, and then the position of the mobile user is calculated. However, bluetooth devices are expensive and the stability of bluetooth devices in complex space environments is also compromised.
With the popularization of the WIreless FIdelity (WIFI) technology, while providing network services indoors, large-scale positioning can be achieved through an experience model, a signal propagation model and the like, but due to the fact that the coverage radius of WIFI equipment is small, the WIFI equipment cannot be popularized to each indoor and outdoor area; in addition, the WIFI signal is easily interfered by other signals, so the positioning accuracy according to the WIFI device is not high.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a positioning device and a positioning system based on geomagnetism and WIFI, which realize indoor high-precision positioning by combining WIFI data and geomagnetism data.
The embodiment of the invention adopts the following technical scheme:
a positioning method based on geomagnetism and WIFI comprises the following steps:
acquiring sensor data of a mobile terminal, wherein the sensor data comprises gyro data, acceleration data and geomagnetic data;
and if the mobile terminal is determined to be in a straight line through the gyro data, and the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, positioning the mobile terminal according to the WIFI data and the geomagnetic data which are obtained within a set time period after the preset threshold value is exceeded.
A geomagnetic and WIFI-based positioning apparatus, the apparatus comprising:
the mobile terminal comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring sensor data of the mobile terminal, and the sensor data comprises gyro data, acceleration data and geomagnetic data;
and the first positioning module is used for positioning the mobile terminal according to the WIFI data and the geomagnetic data which are obtained within a set time period after the preset threshold value is exceeded if the mobile terminal is determined to be in a straight line through the gyro data and the mobile terminal is determined to have the moving distance exceeding the preset threshold value through the acceleration data.
A geomagnetic and WIFI-based positioning system, the system comprising: a mobile terminal and a server; wherein,
the mobile terminal is used for acquiring WIFI data and sensor data, wherein the sensor data comprises gyro data, acceleration data and geomagnetic data; if the mobile terminal is determined to be in a straight line through the gyro data and the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, the WIFI data and the sensor data are sent to the server;
and the server is used for positioning the mobile terminal according to the WIFI data and the sensor data within the set time period after the preset threshold value is exceeded.
According to the positioning method, the positioning device and the positioning system based on the geomagnetism and the WIFI, provided by the embodiment of the invention, when the mobile terminal is determined to be in a straight line through the gyro data, the moving distance of the mobile terminal is determined to exceed the preset threshold through the acceleration data, and the mobile terminal is positioned according to the geomagnetism data and the WIFI data within the set time period after the moving distance exceeds the preset threshold, so that the high-precision positioning of the mobile terminal through the geomagnetism and the WIFI is realized, and the manual intervention is not needed in the positioning process, so that the labor cost is greatly reduced; in addition, the high-precision positioning position of the mobile terminal is obtained through high-precision positioning and tracking of the mobile terminal, so that indoor map information with higher precision can be generated through the positioning position obtained by the embodiment of the invention.
Drawings
Fig. 1 is a schematic flowchart of a positioning method based on geomagnetism and WIFI according to an embodiment of the present invention.
Fig. 2 is a schematic flowchart of a positioning method based on geomagnetism and WIFI according to another embodiment of the present invention.
Fig. 3 is a schematic flowchart of a positioning method based on geomagnetism and WIFI according to still another embodiment of the present invention.
Fig. 4 is a schematic diagram of partial geomagnetic data acquired by the geomagnetic sensor of the mobile terminal in the embodiment shown in fig. 3.
Fig. 5 is geomagnetic data from a location point a to a location point B located by WIFI positioning information searched from the geomagnetic fingerprint database in the embodiment shown in fig. 3.
Fig. 6 is geomagnetic data of a location point a to a location point C located by WIFI positioning information searched from the geomagnetic fingerprint database in the embodiment shown in fig. 3.
Fig. 7 is a schematic structural diagram of a positioning apparatus based on geomagnetism and WIFI according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a positioning apparatus based on geomagnetism and WIFI according to another embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a positioning system based on geomagnetism and WIFI according to an embodiment of the present invention.
Detailed Description
The positioning method, device and system based on geomagnetism and WIFI provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
The first embodiment is as follows:
fig. 1 is a schematic flowchart of a positioning method based on geomagnetism and WIFI according to an embodiment of the present invention, as shown in fig. 1, the embodiment of the present invention includes the following steps:
step 101, obtaining sensor data of a mobile terminal, wherein the sensor data comprises gyro data, acceleration data and geomagnetic data.
And step 102, if the mobile terminal is determined to be in a straight line through the gyro data and the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, positioning the mobile terminal according to WIFI data and geomagnetic data obtained within a set time period after the moving distance exceeds the preset threshold value.
In step 101, acquiring sensor data through a sensor on the mobile terminal, specifically, acquiring gyroscope data through a gyroscope on the mobile terminal, acquiring acceleration data of the mobile terminal through an acceleration sensor, acquiring geomagnetic data of the mobile terminal through a geomagnetic sensor, and further acquiring WIFI data through a WIFI signal receiver on the mobile terminal in step 102; in one embodiment, the gyro data is an angular acceleration of the mobile terminal, the geomagnetic data is a synthetic value of a space coordinate value corresponding to a magnetic line of force of the position of the mobile terminal in a world coordinate system, which is acquired by a geomagnetic sensor, so as to form original data of the geomagnetic data, and the WIFI data includes WIFI addresses, strengths and the occurrence times of each WIFI.
According to the positioning method based on the geomagnetism and the WIFI, provided by the embodiment of the invention, when the mobile terminal is determined to be in a straight line through the gyro data, the moving distance of the mobile terminal is determined to exceed the preset threshold through the acceleration data, and the mobile terminal is positioned according to the geomagnetism data and the WIFI data within the set time period after the moving distance exceeds the preset threshold, so that the high-precision positioning of the mobile terminal through the geomagnetism and the WIFI is realized, and the manual intervention is not needed in the positioning process, so that the labor cost is greatly reduced; in addition, the high-precision positioning position of the mobile terminal is obtained through high-precision positioning and tracking of the mobile terminal, so that indoor map information with higher precision can be generated through the positioning position obtained by the embodiment of the invention.
Example two:
fig. 2 is a schematic flowchart of a positioning method based on geomagnetism and WIFI according to another embodiment of the present invention, as shown in fig. 2, the embodiment of the present invention includes the following steps:
step 201, obtaining sensor data of the mobile terminal, wherein the sensor data includes gyro data, acceleration data and geomagnetic data, and executing step 202.
In step 201, sensor data is acquired through a sensor on the mobile terminal, in one embodiment, gyroscope data is acquired through a gyroscope on the mobile terminal, acceleration data of the mobile terminal is acquired through an acceleration sensor, geomagnetic data of the mobile terminal is acquired through a geomagnetic sensor, and WIFI data is acquired through a WIFI signal receiver on the mobile terminal; in another embodiment, the gyro data is an angular acceleration of the mobile terminal, the geomagnetic data is a resultant value of spatial coordinate values of magnetic lines of force of the position of the mobile terminal in the world coordinate system, which are acquired by the geomagnetic sensor, so as to form original data of the geomagnetic data, and the WIFI data includes: WIFI address, WIFI signal strength and the number of times each WIFI signal appears.
Step 202, determining whether the mobile terminal is moving straight through the gyro data, if detecting that the first position point is moving straight, executing step 206, and if detecting that the first position point is not moving straight, executing step 203.
In step 202, in an embodiment, when the angular acceleration of the gyro data is greater than a preset threshold, it is determined that the mobile terminal is in a non-straight-going state of turning or turning around, and when the angular acceleration of the gyro data is less than the preset threshold, it is determined that the mobile terminal is in a straight-going state, where the non-straight-going state is adjusted from straight-going to non-straight-going state, for example, due to turning, turning around, or the like of a user carrying the mobile terminal. As will be understood by those skilled in the art, since the user is not in a straight line in an ideal state during carrying, the mobile terminal determines whether the mobile terminal is in a turn or a u-turn by setting a threshold, which may be set empirically.
Step 203, acquiring first positioning data of the mobile terminal at the first position point according to the geomagnetic data and the obtained WIFI data, and executing step 204.
In step 204, if it is determined that the mobile terminal is converted from the non-straight-going state to the straight-going state at the second position point through the gyro data, second positioning data of the mobile terminal at the second position point is obtained from a track between the first position point and the second position point through a dead reckoning method, and step 205 is executed.
Step 205, taking the second position point as a starting point, determining whether the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, and executing step 206.
Step 206, determining whether the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, if so, executing step 207, otherwise, executing step 208.
In step 206, in an embodiment, the mobile terminal moves by a distance of 3 meters from the starting point, and if the preset threshold is 2 meters, that is, the moving distance of the mobile terminal from the starting point is 3 meters and exceeds the preset threshold by 2 meters, in this case, in order to improve the positioning accuracy of the mobile terminal, the mobile terminal is positioned with high accuracy by using WIFI data for coarse positioning and using a geomagnetic sensor to obtain geomagnetic data for fine positioning. Further, the preset threshold may be determined according to the positioning accuracy of the mobile terminal, and if the mobile terminal needs to be positioned with higher accuracy, the preset threshold may be set to be smaller, and if the positioning accuracy of the mobile terminal is lower, the preset threshold may be set to be larger, so that the preset threshold is not specifically limited in the embodiment of the present invention.
And step 207, positioning the mobile terminal according to the WIFI data and the geomagnetic data within the set time period after the preset threshold value is exceeded.
In step 207, when the moving distance of the mobile terminal exceeds the preset threshold, it is determined that the moving distance of the mobile terminal is relatively long, the mobile terminal is located according to the WIFI data and the geomagnetic data within the set time period after the moving distance exceeds the preset threshold, specifically, the mobile terminal is coarsely located according to the WIFI data within the set time period after the moving distance exceeds the preset threshold, so as to obtain WIFI locating information after coarse location, and the mobile terminal is finely located according to the geomagnetic data within the set time period in an area where the WIFI locating information is located, so as to locate the mobile terminal.
And step 208, positioning the mobile terminal by a dead reckoning method.
In step 208, in the case that the moving distance of the mobile terminal does not exceed the preset threshold, it indicates that the moving distance of the mobile terminal is relatively short, and the dead reckoning method can estimate the position of the next time by measuring the moving distance and the moving direction under the condition that the position of the current time is known, so that fast and high-precision positioning can be realized within a short distance by means of dead reckoning.
According to the positioning method based on the geomagnetism and the WIFI, the position of the mobile terminal is roughly positioned by acquiring the WIFI data, and then the mobile terminal is finely positioned by the geomagnetism data, so that the high-precision positioning of the mobile terminal is realized.
Example three:
fig. 3 is a schematic flowchart of the positioning method based on geomagnetism and WIFI in step 207 of the embodiment shown in fig. 2, and fig. 4 is a schematic diagram of geomagnetic data in the embodiment shown in fig. 3, as shown in fig. 3, on the basis of the foregoing embodiment shown in fig. 2, in step 207, the following steps may be implemented:
step 301, counting WIFI data acquired within a predetermined time period.
And step 302, filtering out WIFI data with the occurrence frequency less than the set frequency.
Step 303, averaging the signal intensity of the filtered WIFI data according to the occurrence frequency, and obtaining the WIFI data with the strongest average signal intensity.
And 304, performing coarse positioning on the mobile terminal according to the WIFI data with the strongest average signal intensity obtained in the step 303.
Step 305, searching all geomagnetic fingerprint data in the area located by the WIFI locating information obtained in step 304 in the geomagnetic fingerprint database.
And step 306, performing geomagnetic fingerprint matching on the geomagnetic data and all geomagnetic fingerprint data in the preset time period to obtain an optimal geomagnetic fingerprint, and positioning the mobile terminal through the optimal geomagnetic fingerprint.
In steps 301 to 304, after preprocessing the obtained multiple pieces of WIFI data, obtaining final WIFI coarse positioning information, specifically, obtaining n pieces of WIFI data W1，W2，W3……Wn(WiRepresenting the ith WIFI data), if W2The number of occurrences is 1, the predetermined number is 2, then W is2Filtering, and then filtering the WIFI data W1，W3，W4……WnThe WIFI data W with the strongest average signal intensity is obtained after the occurrence times of the signal intensity are averagediAnd carrying out coarse positioning on the position of the mobile terminal.
In step 305 and step 306, W is searched from the geomagnetic fingerprint databaseiAll geomagnetic fingerprint data in the located area, and geomagnetic data (see fig. 4, which is a schematic diagram of geomagnetic data from a certain starting point a to an end point B) and W acquired by the geomagnetic sensor in a predetermined period of timeiAnd matching all geomagnetic fingerprint data in the positioned area, and acquiring the geomagnetic fingerprint with the highest matching degree to finely position the mobile terminal.
To facilitate understanding of the technical solutions provided by the embodiments of the present invention, reference is made to fig. 4-6 to describe in detail by way of an exemplary example, where fig. 4 is a schematic diagram of part of geomagnetic data acquired by a geomagnetic sensor of a mobile terminal in the embodiment shown in fig. 3, fig. 5 is geomagnetic data from a position a to a position B located by WIFI positioning information searched from a geomagnetic fingerprint database in the embodiment shown in fig. 3, and fig. 6 is geomagnetic data from a position a to a position C located by WIFI positioning information searched from a geomagnetic fingerprint database in the embodiment shown in fig. 3. It can be understood by those skilled in the art that there may be a plurality of geomagnetic segments in the geomagnetic fingerprint database, and the embodiment of the present invention only illustrates shapes of the geomagnetic segments in the geomagnetic fingerprint database by using fig. 5 and 6, which are not intended to limit the embodiment of the present invention, and the geomagnetic segments may be different according to different terrains.
As shown in fig. 4, for the partial geomagnetic data from a certain starting point a to the terminal B acquired by the geomagnetic sensor on the mobile terminal, the horizontal axis represents time (unit: s), and the vertical axis represents a magnetic force composite value, and fig. 5 shows the geomagnetic data from the a position point to the B position point located by the WIFI positioning information acquired by the mobile terminal (the horizontal axis represents time, and the vertical axis represents a magnetic force composite value). The geomagnetic fragment matching method in the embodiment of the present invention may specifically refer to the description of related art, and will not be described in detail herein.
In the foregoing steps 301 to 306, in an embodiment, if the mobile terminal has a larger storage space and a stronger operation capability, the steps 301 to 306 may be executed on the mobile terminal, so as to further reduce the duration of data transmission and data interaction, and improve the positioning efficiency, alternatively, the steps 301 to 306 may also be executed by a server on the network side, so as to reduce the operation burden of the mobile terminal, and because the server has stronger data operation and storage functions, a large amount of data can be processed simultaneously, so as to accelerate the data operation speed, and improve the positioning efficiency.
According to the positioning method based on the geomagnetism and the WIFI, after rough positioning is carried out through the WIFI data, fine positioning is carried out through the geomagnetism data, and therefore a high-precision positioning result is obtained.
Example four:
fig. 7 is a schematic structural diagram of a positioning apparatus based on geomagnetism and WIFI according to an embodiment of the present invention, and as shown in fig. 7, an apparatus for positioning based on geomagnetism and WIFI in an embodiment of the present invention includes:
the obtaining module 51 is configured to obtain sensor data of the mobile terminal, where the sensor data includes gyro data, acceleration data, and geomagnetic data.
The first positioning module 52 is configured to, if it is determined that the mobile terminal is moving straight through the gyro data, and it is determined that the moving distance of the mobile terminal exceeds a preset threshold through the acceleration data, position the mobile terminal according to the WIFI data and the geomagnetic data obtained within a set time period after the moving distance exceeds the preset threshold.
The obtaining module 51 corresponds to a sensor on the mobile terminal, specifically, obtains gyroscope data through a gyroscope on the mobile terminal, obtains acceleration data through an acceleration sensor on the mobile terminal, obtains geomagnetic data through a geomagnetic sensor on the mobile terminal, and obtains WIFI data through a WIFI signal receiver on the mobile terminal; in one embodiment, the gyro data is an angular acceleration of the mobile terminal, the geomagnetic data is a synthetic value of a space coordinate value corresponding to a magnetic line of force of the position of the mobile terminal in a world coordinate system, which is acquired by a geomagnetic sensor, so as to form original data of the geomagnetic data, and the WIFI data includes WIFI addresses, strengths and the occurrence times of each WIFI.
According to the practical situation, if the mobile terminal has a strong data processing capability and a large data storage space, the first positioning module 52 corresponds to a CPU processor of the mobile terminal, and data acquisition and data processing can be completed on the mobile terminal side, so as to realize high-precision positioning of the mobile terminal.
According to the geomagnetic-WIFI-based positioning device provided by the embodiment of the invention, when the mobile terminal is determined to be in a straight line through the gyro data acquired by the acquisition module 51, and the moving distance of the mobile terminal is determined to exceed the preset threshold value through the acceleration data acquired by the acquisition module 51, the mobile terminal is positioned according to the geomagnetic data and the WIFI data within the set time period after the preset threshold value is exceeded, so that the high-precision positioning of the mobile terminal through the geomagnetic data and the WIFI data is realized, and the manual intervention is not needed in the positioning process, so that the labor cost is greatly reduced; in addition, the high-precision positioning position of the mobile terminal is obtained through high-precision positioning and tracking of the mobile terminal, so that indoor map information with higher precision can be generated through the positioning position obtained by the embodiment of the invention.
Example five:
fig. 8 is a schematic structural diagram of a positioning apparatus based on geomagnetism and WIFI according to another embodiment of the present invention, and as shown in fig. 8, the positioning apparatus based on geomagnetism and WIFI according to an embodiment of the present invention includes:
the obtaining module 51 is configured to obtain sensor data of the mobile terminal, where the sensor data includes gyro data, acceleration data, and geomagnetic data.
The obtaining module 51 may be a sensor on the mobile terminal, specifically, obtain gyroscope data through a gyroscope on the mobile terminal, obtain acceleration data through an acceleration sensor on the mobile terminal, obtain geomagnetic data through a geomagnetic sensor on the mobile terminal, and obtain WIFI data through a WIFI signal receiver on the mobile terminal; in one embodiment, the gyro data is an angular acceleration of the mobile terminal, the geomagnetic data is a resultant value of spatial coordinate values of magnetic lines of force of the position of the mobile terminal in a world coordinate system, which are acquired by a geomagnetic sensor, so as to form original data of the geomagnetic data, and the WIFI data includes: WIFI address, intensity and number of times each WIFI appears.
The first positioning module 52 is configured to, if it is determined that the mobile terminal is moving straight through the gyro data, and it is determined that the moving distance of the mobile terminal exceeds a preset threshold through the acceleration data, position the mobile terminal according to the WIFI data and the geomagnetic data obtained within a set time period after the moving distance exceeds the preset threshold.
Specifically, the first determination module 52 includes:
and the WIFI positioning unit 521 is configured to perform coarse positioning on the mobile terminal according to the WIFI data obtained within the set time period after the preset threshold is exceeded, so as to obtain WIFI positioning information after the coarse positioning.
Specifically, the WIFI positioning unit 521 includes:
and a statistics subunit (not shown in the figure) for performing statistics on the obtained WIFI data within a set time period.
And the data cleaning subunit (not shown in the figure) is used for filtering the WIFI data with the occurrence frequency less than the set frequency.
And a data processing subunit (not shown in the figure), configured to average the signal strength of the filtered WIFI data according to the occurrence frequency, and obtain the WIFI data with the strongest average signal strength.
And the WIFI positioning subunit (not shown in the figure) is used for performing coarse positioning on the mobile terminal according to the WIFI data with the strongest average signal intensity.
And a geomagnetic positioning unit 522, configured to perform fine positioning on the mobile terminal through geomagnetic data in a set time period in an area where the WIFI positioning information is located, so as to locate the mobile terminal. Specifically, the geomagnetic positioning unit 522 includes:
and the data searching subunit (not shown in the figure) is used for searching all the geomagnetic fingerprint data in the area located by the WIFI locating information in the geomagnetic fingerprint database.
And a geomagnetic positioning subunit (not shown in the figure) configured to perform geomagnetic fingerprint matching on the geomagnetic data and all geomagnetic fingerprint data in a set time period to obtain an optimal geomagnetic fingerprint, and position the mobile terminal through the optimal geomagnetic fingerprint.
The second positioning module 53 is configured to, if it is determined through the acceleration that the moving distance of the mobile terminal does not exceed the preset threshold, position the mobile terminal through a dead reckoning method.
If the gyro data acquired by the acquisition module 51 determines that the mobile terminal is in a straight-going state and the moving distance of the mobile terminal does not exceed the preset threshold value according to the acceleration data, it indicates that the moving distance of the mobile terminal is relatively short, the second positioning module 53 positions the mobile terminal by using a dead reckoning method, specifically, the dead reckoning method can estimate the position of the next moment by measuring the moving distance and the moving direction under the condition that the current moment position is known, so that the dead reckoning method can realize rapid and high-precision positioning within a short distance range.
And the third positioning module 54 is configured to, when it is determined that the mobile terminal is converted from a straight line to a non-straight line at the first position point through the gyro data, obtain first positioning data of the mobile terminal at the first position point according to the geomagnetic data and the WIFI data.
When the angular acceleration of the gyro data is not zero, determining that the mobile terminal is in a non-straight-going state of turning or turning around, and when the angular acceleration of the gyro data is zero, determining that the mobile terminal is in a straight-going state, wherein the non-straight-going state is adjusted from straight-going to non-straight-going state, for example, due to turning, turning around and the like of a user carrying the mobile terminal. After the walking state of the first location point is determined, the walking state is transmitted to the WIFI locating unit 521 and the geomagnetic locating unit 522, and the first locating data of the mobile terminal at the first location point can be obtained according to the geomagnetic data and the WIFI data.
And the fourth positioning module 55 is configured to, when it is determined that the mobile terminal is converted from non-straight running to straight running at the second position point through the gyro data, acquire second positioning data of the mobile terminal at the second position point through a dead reckoning method from a track between the first position point and the second position point.
And a fifth positioning module 56, configured to perform positioning on the mobile terminal according to the WIFI data and the geomagnetic data within the set time period after the mobile terminal exceeds the preset threshold if it is determined that the moving distance of the mobile terminal exceeds the preset threshold through the acceleration data, with the second location point as a starting point.
The advantageous technical effects of the embodiment of the present invention can refer to the advantageous technical effects described in the second embodiment, and are not described in detail herein.
Example six:
fig. 9 is a schematic structural diagram of a positioning system based on geomagnetism and WIFI according to an embodiment of the present invention, and as shown in fig. 9, a positioning system 60 based on geomagnetism and WIFI provided in an embodiment of the present invention includes a mobile terminal 61 and a server 62.
The mobile terminal 61 acquires WIFI data and sensor data, wherein the sensor data includes gyroscope data, acceleration data and geomagnetic data; if the mobile terminal 61 is determined to be in a straight line through the gyro data, and the moving distance of the mobile terminal 61 is determined to exceed the preset threshold value through the acceleration data, the WIFI data and the sensor data are sent to the server 62.
The server 62 positions the mobile terminal 61 according to the WIFI data and the sensor data within the set time period after the preset threshold is exceeded.
Further, the mobile terminal 61 may perform step 201 to step 206 in the second embodiment, after obtaining the WIFI data and the geomagnetic data of the location point where the mobile terminal 61 is located, send the WIFI data and the geomagnetic data to the server 62, and the server 62 performs step 207, and further, the mobile terminal may be positioned with higher precision through the WIFI data and the geomagnetic data from the mobile terminal in step 301 to step 306 in the third embodiment.
In summary, according to the positioning method, device and system based on geomagnetism and WIFI provided by the embodiments of the present invention, manual intervention is not required in the positioning process, so that the labor cost is greatly reduced, and the positioning data accuracy is greatly improved.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. A positioning method based on geomagnetism and WIFI (wireless fidelity), which is characterized by comprising the following steps:
acquiring sensor data of a mobile terminal, wherein the sensor data comprises gyro data, acceleration data and geomagnetic data;
if the mobile terminal is determined to be in a straight line through the gyro data, and the moving distance of the mobile terminal is determined to exceed a preset threshold through the acceleration data, the mobile terminal is positioned according to WIFI data obtained within a set time period after the WIFI data exceeds the preset threshold and the geomagnetic data, and the positioning method comprises the following steps: carrying out coarse positioning on the mobile terminal according to the obtained WIFI data within the set time period after the preset threshold value is exceeded, so as to obtain WIFI positioning information after the coarse positioning; in an area located by the WIFI positioning information, finely positioning the mobile terminal through the geomagnetic data in the set time period, so as to position the mobile terminal;
when the gyro data determine that the mobile terminal is converted from a straight line to a non-straight line at a first position point, acquiring first positioning data of the mobile terminal at the first position point according to the geomagnetic data and the WIFI data; when the gyro data determine that the mobile terminal is converted from non-straight running to straight running at a second position point, acquiring second positioning data of the mobile terminal at the second position point by a dead reckoning method from a track between the first position point and the second position point; and taking the second position point as a starting point, executing the step of determining that the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, and positioning the mobile terminal according to WIFI data and the geomagnetic data obtained within a set time period after the moving distance of the mobile terminal exceeds the preset threshold value.
2. The method of claim 1, further comprising:
and if the fact that the moving distance of the mobile terminal does not exceed a preset threshold value is determined through the acceleration data, the mobile terminal is positioned through a dead reckoning method.
3. The method according to any one of claims 1-2, wherein the step of coarsely positioning the mobile terminal according to the obtained WIFI data within the set time period after the preset threshold is exceeded comprises:
counting WIFI data acquired within the set time period;
filtering WIFI data with the occurrence frequency smaller than the set frequency;
averaging the signal intensity of the filtered WIFI data according to the occurrence times to obtain WIFI data with the strongest average signal intensity;
and carrying out coarse positioning on the mobile terminal according to the WIFI data with the strongest average signal intensity.
4. The method according to any one of claims 1-2, wherein the step of fine positioning the mobile terminal according to the geomagnetic data in the set time period comprises:
searching all geomagnetic fingerprint data in the area located by the WIFI locating information in a geomagnetic fingerprint database;
and carrying out geomagnetic fingerprint matching on the geomagnetic data and all geomagnetic fingerprint data in the set time period to obtain an optimal geomagnetic fingerprint, and positioning the mobile terminal through the optimal geomagnetic fingerprint.
5. A positioning device based on geomagnetism and WIFI, characterized in that the device comprises:
the mobile terminal comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring sensor data of the mobile terminal, and the sensor data comprises gyro data, acceleration data and geomagnetic data;
the first positioning module is used for positioning the mobile terminal according to the WIFI data and the geomagnetic data which are obtained within a set time period after the gyro data exceed a preset threshold value if the mobile terminal is determined to be in a straight line through the gyro data and the moving distance of the mobile terminal exceeds the preset threshold value through the acceleration data;
the third positioning module is used for acquiring first positioning data of the mobile terminal at a first position point according to the geomagnetic data and the WIFI data when the gyro data determine that the mobile terminal is converted from a straight line to a non-straight line at the first position point;
the fourth positioning module is used for acquiring second positioning data of the mobile terminal at a second position point by a dead reckoning method from a track between the first position point and the second position point when the gyro data determine that the mobile terminal is converted from non-straight running to straight running at the second position point;
a fifth positioning module, configured to determine, from the second location point as a starting point, that a movement distance of the mobile terminal exceeds a preset threshold through the acceleration data, and position the mobile terminal according to the WIFI data and the geomagnetic data obtained within a set time period after the movement distance exceeds the preset threshold;
wherein the first positioning module comprises:
the WIFI positioning unit is used for carrying out coarse positioning on the mobile terminal according to the WIFI data within the set time period after the preset threshold value is exceeded, so as to obtain WIFI positioning information after the coarse positioning;
and the geomagnetic positioning unit is used for finely positioning the mobile terminal in an area where the WIFI positioning information is positioned through the geomagnetic data in the set time period, so that the mobile terminal is positioned.
6. The apparatus of claim 5, further comprising:
and the second positioning module is used for positioning the mobile terminal by a dead reckoning method if the acceleration data determines that the moving distance of the mobile terminal does not exceed a preset threshold.
7. The apparatus of any one of claims 5-6, wherein the WIFI positioning unit comprises:
the statistical subunit is used for counting the WIFI data acquired within the set time period;
the data cleaning subunit is used for filtering the WIFI data with the occurrence frequency smaller than the set frequency;
the data processing subunit is configured to average the signal strength of the filtered WIFI data according to the occurrence frequency, and then obtain WIFI data with the strongest average signal strength;
and the WIFI positioning subunit is used for carrying out coarse positioning on the mobile terminal according to the WIFI data with the strongest average signal intensity.
8. The apparatus according to any one of claims 5 to 6, wherein the geomagnetic positioning unit comprises:
the data searching subunit is used for searching all geomagnetic fingerprint data in the area located by the WIFI locating information in a geomagnetic fingerprint database;
and the geomagnetic positioning subunit is used for performing geomagnetic fingerprint matching on the geomagnetic data and all geomagnetic fingerprint data in the set time period to obtain an optimal geomagnetic fingerprint, and positioning the mobile terminal through the optimal geomagnetic fingerprint.
9. A geomagnetic and WIFI based positioning system, the system comprising: a mobile terminal and a server; wherein,
the mobile terminal is used for acquiring WIFI data and sensor data, wherein the sensor data comprises gyro data, acceleration data and geomagnetic data; if the mobile terminal is determined to be in a straight line through the gyro data and the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data, the WIFI data and the sensor data are sent to the server;
the server is configured to position the mobile terminal according to the WIFI data and the sensor data within a set time period after exceeding the preset threshold, and includes: carrying out coarse positioning on the mobile terminal according to the obtained WIFI data within the set time period after the preset threshold value is exceeded, so as to obtain WIFI positioning information after the coarse positioning; in an area located by the WIFI positioning information, finely positioning the mobile terminal through the geomagnetic data in the set time period, so as to position the mobile terminal; when the gyro data determine that the mobile terminal is converted from a straight line to a non-straight line at a first position point, acquiring first positioning data of the mobile terminal at the first position point according to the geomagnetic data and the WIFI data; when the gyro data determine that the mobile terminal is converted from non-straight running to straight running at a second position point, acquiring second positioning data of the mobile terminal at the second position point by a dead reckoning method from a track between the first position point and the second position point; and determining that the moving distance of the mobile terminal exceeds a preset threshold value through the acceleration data from the second position point as a starting point, and positioning the mobile terminal according to the WIFI data and the geomagnetic data obtained within a set time period after the moving distance of the mobile terminal exceeds the preset threshold value.
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