CN104427108A - Mobile terminal and indoor and outdoor positioning switching method thereof - Google Patents
Mobile terminal and indoor and outdoor positioning switching method thereof Download PDFInfo
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- CN104427108A CN104427108A CN201310385887.6A CN201310385887A CN104427108A CN 104427108 A CN104427108 A CN 104427108A CN 201310385887 A CN201310385887 A CN 201310385887A CN 104427108 A CN104427108 A CN 104427108A
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Abstract
The invention discloses a mobile terminal and an indoor and outdoor positioning switching method thereof, and relates to the field of positioning. The method comprises the following steps of acquiring the access point information of a WiFi (wireless fidelity) coverage signal in an indoor position area and an outdoor position area in an indoor and outdoor switching area in advance, establishing a WiFi fingerprint database, matching the access point information currently received by the mobile terminal and the pre-established WiFi fingerprint database, and determining a first switching probability according to a matching result; measuring satellite information in the indoor position area and the outdoor position area in the indoor and outdoor switching area in advance, establishing a satellite navigation database, matching the satellite information currently received by the mobile terminal and the pre-established satellite navigation database, and determining a second switching probability according to a matching result; generating a comprehensive switching probability according to the first switching probability and the second switching probability, and automatically implementing an indoor and outdoor positioning switching decision according to the comprehensive switching probability.
Description
Technical field
The present invention relates to positioning field, a kind of method of particularly mobile terminal and the switching of indoor and outdoor location thereof.
Background technology
According to the difference of applied environment, radio-location technology can be divided into indoor positioning and outdoor positioning two kinds of locate modes substantially.Outdoor positioning can utilize GPS(Global PositioningSystem, global positioning system) or the Big Dipper realize, comparative maturity at present.Indoor positioning, through development for many years also comparative maturity, mainly utilizes WiFi(WirelessFidelity, Wireless Fidelity at present) realize.
In actual applications, user must wish that the service of position-based information can not be interrupted along with change in location, and this just requires switching that can be level and smooth under the environment of two kinds, indoor and outdoor to the positioning service of user, to ensure the seamless coverage of positioning service.Along with day by day maturation that is indoor, outdoor positioning technology, indoor and outdoor location switching problem also becomes unavoidable problem in seamless coverage location service procedure.
At present, indoor and outdoor location switches employing manual confirmation mode usually and realizes, namely when user enters into indoor by outdoor, user arranges menu etc. by mobile phone and manually selects WiFi locate mode, to be switched to indoor positioning mode, when user by indoor to time outdoor, family arranges menu etc. by mobile phone and manually selects GPS locate mode, to be switched to indoor positioning mode.
There is following problem in above-mentioned existing indoor and outdoor location switching mode:
1, the switching of indoor and outdoor location adopts manual confirmation mode to realize switching, and be not automatically switch, user uses not convenient.
2, outdoor map and indoor map adopt the coordinated manner of oneself respectively, and outdoor map adopts latitude and longitude coordinates usually, and indoor map adopts the three-dimensional coordinate mode of initial point benchmark usually, therefore, cannot realize seamless switching.
When 3, being switched to outdoor indoor, it is long that satellite searches star process time, and handover delay is larger.
How solving the problem, the automatic seamless realized between GPS outdoor positioning and WIFI indoor positioning switches fast, is the difficult problem realizing the needs solution of high accuracy indoor and outdoor location.
Summary of the invention
An embodiment of the present invention technical problem to be solved is: the automatic switchover problem of indoor and outdoor location.
The embodiment of the present invention another technical problem to be solved is: the seamless switching problem of indoor and outdoor location.
The embodiment of the present invention another technical problem to be solved is: the quick switching problem of indoor and outdoor location.
According to an aspect of the embodiment of the present invention, the method that a kind of indoor and outdoor location switches is proposed, comprise: the indoor location region in advance in indoor and outdoor is Zone switched and outdoor location region gather the access-in point information that WiFi covers signal respectively, WiFi fingerprint base is set up based on the access-in point information collected at each position point, the access-in point information be currently received by mobile terminal mates with the WiFi fingerprint base set up in advance, and determines the first switching probability according to matching result; Indoor location region in advance in indoor and outdoor is Zone switched and outdoor location region instrumented satellite information respectively, based on each position point measurement to satellite information set up satellite navigation data storehouse, the satellite information be currently received by mobile terminal mates with the satellite navigation data storehouse set up in advance, and determines the second switching probability according to matching result; Generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the decision-making of indoor and outdoor location switching according to comprehensive switching probability.
The method that indoor and outdoor location switches also comprises: the information detected according to the transducer on mobile terminal, adopts inertial navigation method to obtain the movement locus of mobile terminal, assists the decision-making carried out indoor and outdoor location and switch according to the movement locus of mobile terminal.
Before setting up WiFi fingerprint base based on the access-in point information collected at each position point, the method also comprises: judge the authenticity of access point signals, screen out false access-point.
Before the described access-in point information based on collecting at each position point sets up WiFi fingerprint base, the method also comprises: according to the validity of the probabilistic determination access point that access point signals occurs, screen out invalid access points.
The method that indoor and outdoor location switches also comprises: by Gauss Kru&4&ger projection's method, the three-dimensional coordinate that indoor location adopts is converted to the latitude and longitude coordinates that outdoor location adopts.
Describedly generate comprehensive switching probability according to the first switching probability and the second switching probability, the decision-making carrying out the switching of indoor and outdoor location according to comprehensive switching probability comprises: in indoor in outdoor handoff procedure, if satellite-signal is lower than preset value, increase the weighing factor of the first switching probability shared by comprehensive switching probability, generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the indoor decision-making switched to outdoor positioning according to comprehensive switching probability.
According to another aspect of the embodiment of the present invention, a kind of mobile terminal is proposed, comprise: WiFi identifying unit, access-in point information for being currently received by mobile terminal mates with the WiFi fingerprint base set up in advance, and determine the first switching probability according to matching result, WiFi fingerprint base be wherein based on indoor and outdoor Zone switched in indoor location region and the WiFi that gathers respectively of outdoor location region cover that the access-in point information of signal sets up; Satellite navigation identifying unit, satellite information for being currently received by mobile terminal mates with the satellite navigation data storehouse set up in advance, and determine the second switching probability according to matching result, satellite navigation data storehouse be wherein based on indoor and outdoor Zone switched in indoor location region and the satellite information measured respectively of outdoor location region to set up; Location handover decisions unit, for generating comprehensive switching probability according to the first switching probability and the second switching probability, carries out the decision-making of indoor and outdoor location switching according to comprehensive switching probability.
Mobile terminal also comprises: auxiliary positioning unit, for the information detected according to the transducer on mobile terminal, adopts inertial navigation method to obtain the movement locus of mobile terminal, assists the decision-making carried out indoor and outdoor location and switch according to the movement locus of mobile terminal.
Before setting up WiFi fingerprint base, the authenticity of access point signals is judged, screens out false access-point.
Before setting up WiFi fingerprint base, according to the validity of the probabilistic determination access point that access point signals occurs, screen out invalid access points.
Mobile terminal also comprises: coordinate transformation unit, for by Gauss Kru&4&ger projection's method, the three-dimensional coordinate that indoor location adopts is converted to the latitude and longitude coordinates that outdoor location adopts.
Described location handover decisions unit in indoor in outdoor handoff procedure, if satellite-signal is lower than preset value, increase the weighing factor of the first switching probability shared by comprehensive switching probability, generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the indoor decision-making switched to outdoor positioning according to comprehensive switching probability.
Indoor and outdoor location provided by the invention handover scheme has following beneficial effect:
First, based on the WiFi fingerprint base built in advance and satellite navigation data storehouse, switching probability can be obtained respectively according to WiFi signal and satellite-signal, both combinations be obtained a comprehensive switching probability, automatically can realize the decision-making of indoor and outdoor location switching according to comprehensive switching probability.Further, this comprehensive switching probability combines the situation of WiFi signal and satellite-signal, can carry out the decision-making that indoor and outdoor location switches more accurately.In addition, when setting up WiFi fingerprint base, access point being carried out to judgement and the examination of authenticity and validity, making the data in WiFi fingerprint base more accurate, being conducive to the accurate decision-making that indoor and outdoor location switches.
Secondly, indoor Coordinate Conversion is become outdoor latitude and longitude coordinates, the coordinate-system of unified indoor and outdoor, can realize the seamless switching of indoor and outdoor location, is convenient to carry out unifying to show on electronic chart.
Again, in indoor in outdoor handoff procedure, if satellite-signal is more weak, by the foundation of WiFi auxiliary satellite navigation locate mode, can accelerate indoor to outdoor handoff procedure.
By referring to the detailed description of accompanying drawing to exemplary embodiment of the present invention, further feature of the present invention and advantage thereof will become clear.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the method embodiment that indoor and outdoor of the present invention location switches.
Fig. 2 is that block schematic illustration is merged in the multimode location under multi-signal of the present invention covers.
Fig. 3 is the multimode location blending algorithm schematic diagram that the present invention is based on dynamic bayesian network.
Fig. 4 is the structural representation of a mobile terminal of the present invention embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Switch to solve indoor and outdoor location the problem such as automatic switchover, seamless switching, fast switching existed, the present invention proposes a kind of indoor and outdoor location handover scheme, the following detailed description of.
By analyze find, outside the main covering chamber of satellite-signal, enter indoor outdoor, the signal strength signal intensity of satellite-signal by dying down by force, the star number received by less changeable until do not have; And WiFi is in main covering chamber, enter indoor outdoor, WiFi signal intensity changes from weak to strong, and access point (the being called for short AP) number received is many by few change.It should be noted that, the satellite positioning tech in the present invention comprises GPS, the Big Dipper, GLONASS(GLOBAL NAVIGATIONSATELLITE SYSTEM, GPS (Global Position System)) etc.
Based on above-mentioned discovery, can build and enter indoor outdoor, the signal strength signal intensity of satellite-signal is by dying down by force, the star number received is by changeable few path loss model, and build and enter indoor outdoor, WiFi signal intensity changes from weak to strong, the AP number received is by the many path loss model of few change.When specific implementation, the WiFi fingerprint base that can reflect WiFi signal loss situation can be built, and build the satellite navigation data storehouse can reflecting satellite-signal loss situation.
Indoor location region in advance in indoor and outdoor is Zone switched and outdoor location region gather the access-in point information that WiFi covers signal respectively, set up WiFi fingerprint base based on the access-in point information collected at each position point.Wherein, indoor and outdoor is Zone switched for there is the band of position that locate mode switches.Such as, it is Zone switched that region within the scope of 5 meters, gateway place, a building can be defined as indoor and outdoor, region within the scope of 5 meters, inside buildings gateway place can be defined as Zone switched indoor location region, and the region within the scope of outside 5 meters, gateway place, building can be defined as Zone switched outdoor location region.Access-in point information comprises the MAC Address and field intensity value etc. of access point.The information such as MAC Address and field intensity value of one or more AP that information in WiFi fingerprint base comprises location point and receives at this location point.
In order to ensure the accuracy of data in WiFi fingerprint base, when setting up WiFi fingerprint base, judgement and the examination of authenticity and validity can be carried out to access point, making the data in WiFi fingerprint base more accurate, being conducive to the accurate decision-making that indoor and outdoor location switches.
Before setting up WiFi fingerprint base, the authenticity of access point signals is judged, screens out false access-point.Wherein a kind of method screening out false access-point is: by pre-determined judgment rule, the such as composition such as signal strength signal intensity (RSSI), signal quality (Quality) signal validity comprehensive descision feature, by Fast Pattern Matching algorithm (being called for short KMP), the access point not meeting signal validity feature can be judged to be flaw indication, then screen out this false AP.
Some access point signals intensity satisfies condition, but whether can measure at every turn, these AP can be called unstable AP, unstable AP is for positioning result, also have a significant impact, therefore, before setting up WiFi fingerprint base, according to the validity of the probabilistic determination access point that access point signals occurs, invalid access points is screened out.Wherein a kind of method screening out invalid access points is: adopt clustering algorithm to judge that whether the AP signal of these instability is effective, the intensity of the number of times occurred by AP signal and AP signal, as the input of clustering algorithm (as K means clustering algorithm), by the computing of clustering algorithm, export several classification, delete the minimum and AP that is that comprise in the cluster result that AP signal is minimum of AP occurrence number.
Indoor location region in advance in indoor and outdoor is Zone switched and outdoor location region be instrumented satellite information respectively, based on each position point measurement to satellite information set up satellite navigation data storehouse.Wherein, satellite information comprises the star number and signal strength signal intensity etc. that measure.The information such as star number and signal strength signal intensity that satellite navigation data storehouse comprises location point and measures at this location point.
It should be noted that, the process of establishing in WiFi fingerprint base and satellite navigation data storehouse in no particular order.Based on the WiFi fingerprint base set up in advance and satellite navigation data storehouse, the decision-making that indoor and outdoor location switches can be carried out, as shown in Figure 1, comprise the following steps:
S101, the access-in point information be currently received by mobile terminal mates with the WiFi fingerprint base set up in advance, and determines the first switching probability according to matching result;
S102, the satellite information be currently received by mobile terminal mates with the satellite navigation data storehouse set up in advance, and determines the second switching probability according to matching result;
S103, generates comprehensive switching probability according to the first switching probability and the second switching probability, carries out the decision-making of indoor and outdoor location switching according to comprehensive switching probability.
Such as, judge that switching probability is 70% by WiFi, judge that switching probability is 80% by satellite, so comprehensive switching probability is 1-(1-70%) × (1-80%)=94%, can set and be greater than 80% and position switching again, now can make and be switched to the decision of outdoor positioning by indoor positioning or be switched to the decision of indoor positioning by outdoor positioning.
Wherein, environmentally or application scenarios, the first switching probability or the weighing factor of the second switching probability shared by comprehensive switching probability can be adjusted.Such as, in the process of indoor to outdoor, under normal circumstances, gps signal can strengthen gradually, thus judge to enter outdoor ranges, but the region of concentrating in some mansion or weather condition bad, even if reached outdoor scope, but gps signal is still more weak, now can by the foundation of WiFi auxiliary satellite navigation locate mode, concrete, in indoor in outdoor handoff procedure, if satellite-signal is lower than preset value, increase the weighing factor of the first switching probability shared by comprehensive switching probability, comprehensive switching probability is generated according to the first switching probability and the second switching probability, the indoor decision-making switched to outdoor positioning is carried out according to comprehensive switching probability, thus accelerate indoor to outdoor handoff procedure.
In the handoff procedure of indoor and outdoor location, by Gauss Kru&4&ger projection's method, the three-dimensional coordinate that indoor location adopts is converted to the latitude and longitude coordinates that outdoor location adopts, thus the coordinate-system of unified indoor and outdoor, be convenient to the seamless switching realizing indoor and outdoor location, be convenient to carry out unifying to show on electronic chart.
Except carrying out the decision-making that indoor and outdoor location switches according to WiFi signal and satellite-signal, the decision-making carried out indoor and outdoor location and switch can also be assisted according to the transducer on mobile terminal.Transducer refers to the transducer that the mobile terminals such as mobile phone carry, as acceleration transducer, direction sensor etc., these sensor signals can supplement the judgement of the course in twice position fixing process, such as twice positioning interval is 3 seconds, and this 3 second, user was also in motion, the user movement track in this 3 second can be described out by these transducers, thus obtain continuous print movement locus, instead of discrete point.According to the information that the transducer on mobile terminal detects, adopt inertial navigation method to obtain the movement locus of mobile terminal, assist the decision-making carried out indoor and outdoor location and switch according to the movement locus of mobile terminal.Such as, mobile phone can receive good gps signal in certain position outdoor, then user's carrying mobile phone setting in motion, judge to have entered indoor scope the time user being greater than about 2 seconds by inertial navigation algorithm, then position switching again without the need to the positioning interval of 3 seconds by the time, just can carry out indoor and outdoor location the times of 2 seconds and switch.Therefore, the decision-making that in transducer ancillary chamber, outside fix switches, can make indoor and outdoor locate handover decisions more accurately on the one hand, can shorten the time interval of location handover decisions on the other hand.
Fig. 2 is that block schematic illustration is merged in the multimode location under multi-signal of the present invention covers.As shown in Figure 2, this framework mainly comprises the application layer on signal sensing layer, Signal Pretreatment layer and fused layer and upper strata.
Signal sensing layer mainly completes the collection of heterogeneous wireless signal message, as WiFi signal, various sensor signal, satellite fix result etc.
Signal Pretreatment layer has been responsible for the preliminary treatment of wireless signal information collected by mobile terminal, and preprocessing process such as can comprise the process such as gaussian filtering, vector quantization.Signal Pretreatment layer can take the following two kinds scheme:
Scheme 1: use various measuring-signal to position calculating respectively, the positioning result based on signal with different type is input to fused layer as measured value.
Scheme 2: preliminary quantitative classification process is carried out to anomeric signals information, then the information of isomery is directly input to fused layer as measured value.Its advantage can be fused layer to provide more primary data information (pdi), reduces the information loss of preprocessing process, improves location robustness and positioning precision.
Fused layer is responsible for carrying out fusion treatment to completing pretreated information, such as position handover decisions based on WiFi signal, satellite-signal, sensor signal etc., it utilizes the historical position information of target, for application layer provides the location estimation of target current time.Fused layer can adopt dynamic bayesian network to position fusion to measured value.From multiple random variable, causal ability between variable is inferred because dynamic bayesian network has, be aided with history and imply state and observed quantity information, the feature of comprehensive prior model knowledge and Current observation data, can obtain the location estimation of target from multimode isomery location navigation signal with higher confidence level.Fig. 3 is the multimode location blending algorithm schematic diagram based on dynamic bayesian network.Wherein L be destination object in position sometime, O is the measured value of inscribing destination object at this time, and corresponding to the scheme that pretreatment layer adopts, measured value both can be the wireless signal information of isomery, also can be calculate obtain target location estimated information.
Application layer position-based information can provide various location-based services etc. for user.
According to another aspect of the embodiment of the present invention, propose a kind of mobile terminal, such as have the equipment such as the mobile phone of positioning function, as shown in Figure 4, mobile terminal comprises:
WiFi identifying unit 401, access-in point information for being currently received by mobile terminal mates with the WiFi fingerprint base set up in advance, and determine the first switching probability according to matching result, WiFi fingerprint base be wherein based on indoor and outdoor Zone switched in indoor location region and the WiFi that gathers respectively of outdoor location region cover that the access-in point information of signal sets up;
Satellite navigation identifying unit 402, satellite information for being currently received by mobile terminal mates with the satellite navigation data storehouse set up in advance, and determine the second switching probability according to matching result, satellite navigation data storehouse be wherein based on indoor and outdoor Zone switched in indoor location region and the satellite information measured respectively of outdoor location region to set up;
Location handover decisions unit 403, for generating comprehensive switching probability according to the first switching probability and the second switching probability, carries out the decision-making of indoor and outdoor location switching according to comprehensive switching probability.
Mobile terminal also comprises: auxiliary positioning unit, for the information detected according to the transducer on mobile terminal, adopts inertial navigation method to obtain the movement locus of mobile terminal, assists the decision-making carried out indoor and outdoor location and switch according to the movement locus of mobile terminal.
In order to ensure the accuracy of data in WiFi fingerprint base, when setting up WiFi fingerprint base, judgement and the examination of authenticity and validity can be carried out to access point, making the data in WiFi fingerprint base more accurate, being conducive to the accurate decision-making that indoor and outdoor location switches.
Before setting up WiFi fingerprint base, the authenticity of access point signals is judged, screens out false access-point.Wherein a kind of method screening out false access-point is: by pre-determined judgment rule, the such as composition such as signal strength signal intensity (RSSI), signal quality (Quality) signal validity comprehensive descision feature, by Fast Pattern Matching algorithm (being called for short KMP), the access point not meeting signal validity feature can be judged to be flaw indication, then screen out this false AP.
Some access point signals intensity satisfies condition, but whether can measure at every turn, these AP can be called unstable AP, unstable AP is for positioning result, also have a significant impact, therefore, before setting up WiFi fingerprint base, according to the validity of the probabilistic determination access point that access point signals occurs, invalid access points is screened out.Wherein a kind of method screening out invalid access points is: adopt clustering algorithm to judge that whether the AP signal of these instability is effective, the intensity of the number of times occurred by AP signal and AP signal, as the input of clustering algorithm (as K means clustering algorithm), by the computing of clustering algorithm, export several classification, delete the minimum and AP that is that comprise in the cluster result that AP signal is minimum of AP occurrence number.
Mobile terminal also comprises: coordinate transformation unit, for by Gauss Kru&4&ger projection's method, the three-dimensional coordinate that indoor location adopts is converted to the latitude and longitude coordinates that outdoor location adopts.
Locate handover decisions unit 403 in indoor in outdoor handoff procedure, if satellite-signal is lower than preset value, increase the weighing factor of the first switching probability shared by comprehensive switching probability, generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the indoor decision-making switched to outdoor positioning according to comprehensive switching probability.
Indoor and outdoor location provided by the invention handover scheme has following beneficial effect:
First, based on the WiFi fingerprint base built in advance and satellite navigation data storehouse, switching probability can be obtained respectively according to WiFi signal and satellite-signal, both combinations be obtained a comprehensive switching probability, automatically can realize the decision-making of indoor and outdoor location switching according to comprehensive switching probability.Further, this comprehensive switching probability combines the situation of WiFi signal and satellite-signal, can carry out the decision-making that indoor and outdoor location switches more accurately.In addition, when setting up WiFi fingerprint base, access point being carried out to judgement and the examination of authenticity and validity, making the data in WiFi fingerprint base more accurate, being conducive to the accurate decision-making that indoor and outdoor location switches.
Secondly, indoor Coordinate Conversion is become outdoor latitude and longitude coordinates, the coordinate-system of unified indoor and outdoor, can realize the seamless switching of indoor and outdoor location, is convenient to carry out unifying to show on electronic chart.
Again, in indoor in outdoor handoff procedure, if satellite-signal is more weak, by the foundation of WiFi auxiliary satellite navigation locate mode, can accelerate indoor to outdoor handoff procedure.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. a method for indoor and outdoor location switching, comprising:
Indoor location region in advance in indoor and outdoor is Zone switched and outdoor location region gather the access-in point information that WiFi covers signal respectively, WiFi fingerprint base is set up based on the access-in point information collected at each position point, the access-in point information be currently received by mobile terminal mates with the WiFi fingerprint base set up in advance, and determines the first switching probability according to matching result;
Indoor location region in advance in indoor and outdoor is Zone switched and outdoor location region instrumented satellite information respectively, based on each position point measurement to satellite information set up satellite navigation data storehouse, the satellite information be currently received by mobile terminal mates with the satellite navigation data storehouse set up in advance, and determines the second switching probability according to matching result;
Generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the decision-making of indoor and outdoor location switching according to comprehensive switching probability.
2. method according to claim 1, is characterized in that, also comprises:
According to the information that the transducer on mobile terminal detects, adopt inertial navigation method to obtain the movement locus of mobile terminal, assist the decision-making carried out indoor and outdoor location and switch according to the movement locus of mobile terminal.
3. method according to claim 1, is characterized in that, before the described access-in point information based on collecting at each position point sets up WiFi fingerprint base, the method also comprises:
The authenticity of access point signals is judged, screens out false access-point.
4. method according to claim 1, is characterized in that, before the described access-in point information based on collecting at each position point sets up WiFi fingerprint base, the method also comprises:
According to the validity of the probabilistic determination access point that access point signals occurs, screen out invalid access points.
5. method according to claim 1, is characterized in that, the method also comprises:
By Gauss Kru&4&ger projection's method, the three-dimensional coordinate that indoor location adopts is converted to the latitude and longitude coordinates that outdoor location adopts.
6. method according to claim 1, is characterized in that, describedly generates comprehensive switching probability according to the first switching probability and the second switching probability, carries out the decision-making that indoor and outdoor location switches comprise according to comprehensive switching probability:
In indoor in outdoor handoff procedure, if satellite-signal is lower than preset value, increase the weighing factor of the first switching probability shared by comprehensive switching probability, generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the indoor decision-making switched to outdoor positioning according to comprehensive switching probability.
7. a mobile terminal, comprising:
WiFi identifying unit, access-in point information for being currently received by mobile terminal mates with the WiFi fingerprint base set up in advance, and determine the first switching probability according to matching result, WiFi fingerprint base be wherein based on indoor and outdoor Zone switched in indoor location region and the WiFi that gathers respectively of outdoor location region cover that the access-in point information of signal sets up;
Satellite navigation identifying unit, satellite information for being currently received by mobile terminal mates with the satellite navigation data storehouse set up in advance, and determine the second switching probability according to matching result, satellite navigation data storehouse be wherein based on indoor and outdoor Zone switched in indoor location region and the satellite information measured respectively of outdoor location region to set up;
Location handover decisions unit, for generating comprehensive switching probability according to the first switching probability and the second switching probability, carries out the decision-making of indoor and outdoor location switching according to comprehensive switching probability.
8. mobile terminal according to claim 7, is characterized in that, also comprises:
Auxiliary positioning unit, for the information detected according to the transducer on mobile terminal, adopts inertial navigation method to obtain the movement locus of mobile terminal, assists the decision-making carried out indoor and outdoor location and switch according to the movement locus of mobile terminal.
9. mobile terminal according to claim 7, is characterized in that, before setting up WiFi fingerprint base, judges, screen out false access-point to the authenticity of access point signals.
10. mobile terminal according to claim 7, is characterized in that, before setting up WiFi fingerprint base, according to the validity of the probabilistic determination access point that access point signals occurs, screens out invalid access points.
11. mobile terminals according to claim 7, is characterized in that, also comprise:
Coordinate transformation unit, for by Gauss Kru&4&ger projection's method, is converted to the latitude and longitude coordinates that outdoor location adopts by the three-dimensional coordinate that indoor location adopts.
12. mobile terminals according to claim 7, it is characterized in that, described location handover decisions unit in indoor in outdoor handoff procedure, if satellite-signal is lower than preset value, increase the weighing factor of the first switching probability shared by comprehensive switching probability, generate comprehensive switching probability according to the first switching probability and the second switching probability, carry out the indoor decision-making switched to outdoor positioning according to comprehensive switching probability.
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| CN105021200A (en) * | 2015-07-27 | 2015-11-04 | 北京博阳世通信息技术有限公司 | Indoor location service information generation system and method |
| CN105445776A (en) * | 2015-12-28 | 2016-03-30 | 天津大学 | Indoor and outdoor seamless positioning system |
| CN105682022A (en) * | 2015-12-30 | 2016-06-15 | 华东师范大学 | Indoor and outdoor seamless positioning system based on Android device and positioning method thereof |
| CN106908821A (en) * | 2017-02-28 | 2017-06-30 | 北京交通大学 | A kind of indoor and outdoor seamless positioning changing method |
| CN106941703A (en) * | 2016-01-04 | 2017-07-11 | 上海交通大学 | Indoor and outdoor seamless positioning apparatus and method based on Situation Awareness |
| CN107094319A (en) * | 2016-02-17 | 2017-08-25 | 王庆文 | A kind of high-precision indoor and outdoor fusion alignment system and method |
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