CN104880693B

CN104880693B - Indoor orientation method and device

Info

Publication number: CN104880693B
Application number: CN201410070178.3A
Authority: CN
Inventors: 李莉; 丁强; 石洪禹
Original assignee: Huawei Technologies Co Ltd
Current assignee: Guangdong Gaohang Intellectual Property Operation Co ltd; Nanjing jinshuiniu Data Technology Co.,Ltd.
Priority date: 2014-02-27
Filing date: 2014-02-27
Publication date: 2018-07-20
Anticipated expiration: 2034-02-27
Also published as: CN104880693A; WO2015127858A1

Abstract

A kind of indoor orientation method of offer of the embodiment of the present invention and device.Indoor orientation method of the present invention, including：In indoor device plays space exploration voice signal to be positioned, and it is carried out at the same time recording and obtains echo signal, equipment to be positioned obtains corresponding echo characteristics vector to be matched according to space exploration voice signal and echo signal, and the echo characteristics vector to match with echo characteristics vector to be matched is determined in target echo fingerprint base, and using the indoor reference point corresponding to echo characteristics vector as the current location of equipment to be positioned, wherein, multiple echo fingerprint bases are stored in equipment to be positioned, each echo fingerprint base and the posture mark of equipment to be positioned correspond；Multiple echo characteristics vectors in each echo fingerprint base are corresponded with indoor multiple reference points；Each echo characteristics vector be equipment to be positioned in corresponding reference point when obtained according to echo signal.

Description

Indoor orientation method and device

Technical field

The present embodiments relate to equipment location technology more particularly to a kind of indoor orientation methods and device.

Background technology

With the development of intelligent terminal (including smart mobile phone, tablet computer (tablet PC) etc.) in recent years and universal, base It will be with boundless application prospect in the indoor positioning of mobile terminal.Indoor positioning using mobile terminal can be people Life provide indoor navigation service be for example quickly found out out by indoor navigation inside megastore and office building Mouth and elevator, the position that parent tracks child by using indoor navigation avoid child from going astray from the group in supermarket, use indoor navigation It may also help in shopper and quickly find required article etc.；It can also be carried for people using the indoor positioning of mobile terminal For mobile terminal location based service (Location Based Service, LBS) recommend business, such as at the mall in According to user present position automatic push businessman discounting and action message；It is also applied to other using the indoor positioning of mobile terminal In field, such as the critically ill patient tracking monitoring in medical industry, delivery room baby antitheft, valuable Medical Devices monitor, towards big Type building emergency evacuation, public safety and Post disaster relief etc..

Existing major part indoor positioning technologies need to arrange hardware assist device indoors, and improvement cost is high, unfavorable Indoor positioning technologies in large-scale promotion, such as based on bluetooth, WIFI need to arrange that multiple signal emitting-sources are made in the room For positioning node, and the indoor positioning technologies based on infrared, ultrasonic wave, UWB are dedicated fixed in addition to needing to increase newly in building Outside the node of position, while also needing to special terminal device and being used cooperatively.

Invention content

A kind of indoor orientation method of offer of the embodiment of the present invention and device, to overcome existing indoor positioning technologies to need to exist Indoor arrangement hardware assist device, improvement cost is high, is unfavorable for the defect of large-scale promotion.

In a first aspect, the embodiment of the present invention provides a kind of indoor orientation method, including：

In indoor device plays space exploration voice signal to be positioned, and it is carried out at the same time recording and obtains the space spy Survey the echo signal of voice signal；

The equipment to be positioned obtains corresponding to be matched according to the space exploration voice signal and the echo signal Echo characteristics vector, according to for indicating that the posture of the current equipment posture of the equipment to be positioned is identified in multiple echo fingerprints Target echo fingerprint base is determined in library, and is determined and the echo characteristics vector phase to be matched in the target echo fingerprint base Matched echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as described to be positioned The current location of equipment；

Wherein, be stored with multiple echo fingerprint bases in the equipment to be positioned, each echo fingerprint base with for indicating described The equipment posture of equipment to be positioned posture mark correspond, the equipment posture by the equipment to be positioned azimuth, Three dimension joints of pitch angle and roll angle indicate；Include multiple echo characteristics vector, each echo in each echo fingerprint base Each echo characteristics vector in fingerprint base is corresponded with indoor multiple reference points；The reference point is in advance described The reference position of indoor setting, each echo characteristics vector in each echo fingerprint base are that the equipment to be positioned is in corresponding The echo of the space exploration voice signal obtained according to the space exploration voice signal of broadcasting and recording when in reference point is believed Number and get.

With reference to first aspect, in the first mode in the cards of first aspect, the equipment to be positioned is according to institute It states space exploration voice signal and the corresponding echo characteristics vector to be matched of echo signal acquisition includes：

The equipment to be positioned is by the echo sequences Seq in the echo signal_rxWith in the space exploration voice signal Transmission sequence Seq_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceIt is therein every The absolute value of one sum being multiplied for the displacement of two sequences, specific formula areLen= Len_rx+Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength；

It is intercepted out from I in the cross-correlation sequence R_startThe cross-correlation sequence R' of the effective echo segment started, whereinI_startThe index being maximized for R；

According to the cross-correlation sequence R', calculate separately the M echo average energies apart from section, obtain echo characteristics to Measure EV=(echoE₁,echoE₂,...,echoE_M), wherein echoE_iFor i-th of echo average energy apart from section, i=1, 2,...,M。

The first mode in the cards with reference to first aspect, in second of mode in the cards of first aspect, It is described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', obtain echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M), including：

For apart from section D_i=(d_i,d_i+1), according to formulaObtain d_iLocation index, according to formulaObtain d_i+1Location index；Wherein, f_sFor sample frequency, f_soundFor the aerial spread speed of sound； Apart from section D_i=(d_i,d_i+1) echo average energy be

Calculate separately i=1, the corresponding echo average energy apart from section when 2 ..., M obtains echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M)。

With reference to first aspect, any mode in the cards of first aspect the first to the second, first aspect the third In mode in the cards, the echo signal for carrying out the recording acquisition space exploration voice signal includes：

It records, at least postpones the time of Δ t after broadcasting；Wherein, Δ t ＞ t_A, t_A=d_max·2/ f_sound, d_maxThe propagation maximum distance of echo signal, f can be returned for the space exploration voice signal_soundIt is sound in sky Spread speed in gas.

With reference to first aspect, any mode in the cards of first aspect the first to the second, the 4th of first aspect the In kind mode in the cards, what the determining and echo characteristics vector to be matched in target echo fingerprint base matched Echo characteristics vector, including：

The echo characteristics vector to be matched is similar to each echo characteristics vector progress in the target echo fingerprint base Property calculate, and it is special using the most similar echo characteristics vector of result as the echo that matches with the echo characteristics vector to be matched Sign vector.

Second aspect, the embodiment of the present invention provide a kind of indoor orientation method, including：

In indoor device plays space exploration voice signal to be positioned, and it is carried out at the same time recording and obtains the space spy Survey the echo signal of voice signal；It is obtained corresponding to be matched time according to the space exploration voice signal and the echo signal Acoustic signature vector, and determine the posture mark of the equipment to be positioned, the posture mark is for indicating the equipment to be positioned Current equipment posture, wherein the equipment posture is by three azimuth of the equipment to be positioned, pitch angle and roll angle dimensions Degree joint indicates；

The equipment to be positioned sends Location Request to location-server, and the Location Request includes described to be matched time Posture described in acoustic signature vector sum identifies, so that the location-server is identified according to the posture in multiple echo fingerprint bases Determine target echo fingerprint base, the determining and echo characteristics vector to be matched matches in the target echo fingerprint base Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location；

Receive the positioning result for including the current location that the location-server returns；

Wherein, the reference point is in advance in the reference position of the indoor setting.

It is described according to the space exploration in the first mode in the cards of second aspect in conjunction with second aspect Voice signal and the echo signal obtain corresponding echo characteristics vector to be matched：

The first mode in the cards in conjunction with second aspect, in second of mode in the cards of second aspect, It is described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', obtain echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M), including：

In conjunction with second aspect, any mode in the cards of second aspect the first to the second, in the third of second aspect In kind mode in the cards, the echo signal for carrying out the recording acquisition space exploration voice signal includes：

The third aspect, the embodiment of the present invention provide a kind of indoor orientation method, including：

Location-server receives the Location Request sent in indoor equipment to be positioned, and the Location Request includes waiting for Match echo characteristics vector sum posture mark；Wherein, the echo characteristics vector to be matched is by the device plays to be positioned Space exploration voice signal, and after being carried out at the same time the echo signal that recording obtains the space exploration voice signal, according to described What space exploration voice signal and the echo signal obtained；The posture mark is determined by the equipment to be positioned, institute It states posture and identifies the equipment posture current for indicating the equipment to be positioned；The equipment posture is by the equipment to be positioned Three azimuth, pitch angle and roll angle dimension joints indicate；

The location-server identifies according to the posture and determines target echo fingerprint base in multiple echo fingerprint bases, The echo characteristics vector to match with the echo characteristics vector to be matched is determined in the target echo fingerprint base, and will be described Current location of the indoor reference point as the equipment to be positioned corresponding to echo characteristics vector；Wherein, described fixed Multiple echo fingerprint bases are stored in the server of position, each echo fingerprint base is corresponded with posture mark, each echo fingerprint Library includes multiple echo characteristics vectors, each echo characteristics vector in each echo fingerprint base and indoor multiple references Point corresponds, and the reference point is each echo in advance in the reference position of the indoor setting, each echo fingerprint base Feature vector is when the equipment to be positioned is in corresponding reference point according to the space exploration voice signal of broadcasting and recording Obtain the space exploration voice signal echo signal and obtain and be sent to location-server；

The location-server sent to the equipment to be positioned include the current location positioning result.

It is described to refer in the target echo in the first mode in the cards of the third aspect in conjunction with the third aspect The echo characteristics vector to match with the echo characteristics vector to be matched is determined in line library, including：

Fourth aspect, the embodiment of the present invention provide a kind of indoor orientation method, including：

In indoor device plays space exploration voice signal to be positioned, it is carried out at the same time recording and obtains the space exploration The echo signal of voice signal；And determining the posture mark of the equipment to be positioned, the posture mark is waited for for indicating described The current equipment posture of positioning device；The equipment posture is by the azimuth of the equipment to be positioned, pitch angle and roll angle three A dimension joint indicates；

The equipment to be positioned sends Location Request to location-server, and the Location Request includes the space exploration Voice signal, the echo signal and posture mark, so that the location-server is believed according to the space exploration sound Number and after the echo signal obtains corresponding echo characteristics vector to be matched, identified in multiple echo fingerprints according to the posture Target echo fingerprint base is determined in library, is determined and the echo characteristics vector phase to be matched in the target echo fingerprint base The echo characteristics vector matched, and to be positioned set using the indoor reference point corresponding to the echo characteristics vector as described Standby current location；Wherein, the reference point is in advance in the reference position of the indoor setting；

Receive the positioning result for including the current location that the location-server returns.

5th aspect, the embodiment of the present invention provide a kind of indoor orientation method, including：

Location-server receives the Location Request sent in indoor equipment to be positioned, and the Location Request includes empty Between sound detecting signal, echo signal and posture mark；Wherein, the echo signal is described in the device plays to be positioned The echo signal of the space exploration voice signal recorded and obtained while space exploration voice signal, the posture Mark is determined by the equipment to be positioned, and the posture identifies the equipment appearance current for indicating the equipment to be positioned State, the equipment posture are indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；

The location-server obtains corresponding to be matched according to the space exploration voice signal and the echo signal Echo characteristics vector, and target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, and described Determine the echo characteristics vector to match with the echo characteristics vector to be matched in target echo fingerprint base, and by the echo Current location of the indoor reference point as the equipment to be positioned corresponding to feature vector；Wherein, the positioning clothes Multiple echo fingerprint bases are stored in business device, each echo fingerprint base is corresponded with posture mark；In each echo fingerprint base Include multiple echo characteristics vector, each echo characteristics vector in each echo fingerprint base and indoor multiple reference points It corresponds；The reference point is that each echo in advance in the reference position of the indoor setting, each echo fingerprint base is special Sign vector is when the equipment to be positioned is in corresponding reference point by the space exploration voice signal played here and record The echo signal for the space exploration voice signal that sound obtains is sent to the location-server, is obtained by the location-server It gets；

In conjunction with the 5th aspect, the 5th aspect the first mode in the cards in, it is described according to the space exploration sound Sound signal and the echo signal obtain corresponding echo characteristics vector to be matched：

The location-server is by the echo sequences Seq in the echo signal_rxWith in the space exploration voice signal Transmission sequence Seq_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceIt is therein every The absolute value of one sum being multiplied for the displacement of two sequences, specific formula areLen= Len_rx+Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength；

In conjunction with the 5th aspect the first mode in the cards, the 5th aspect second of mode in the cards in, institute It states and calculates separately the M echo average energies apart from section according to the cross-correlation sequence R', obtain echo characteristics vector EV= (echoE₁,echoE₂,...,echoE_M), including：

In conjunction with the 5th aspect, the 5th aspect the first to the second any mode in the cards, the 5th aspect the third In mode in the cards, the determination in the target echo fingerprint base matches with the echo characteristics vector to be matched Echo characteristics vector, including：

6th aspect, the embodiment of the present invention provide a kind of equipment to be positioned, including：

Echo acquisition module for being in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time Recording obtains the echo signal of the space exploration voice signal；

Locating module, for being obtained corresponding to be matched time according to the space exploration voice signal and the echo signal Acoustic signature vector, according to for indicating that the posture of the current equipment posture of the equipment to be positioned is identified in multiple echo fingerprint bases Middle determining target echo fingerprint base, and determined and the echo characteristics vector phase to be matched in the target echo fingerprint base The echo characteristics vector matched, and to be positioned set using the indoor reference point corresponding to the echo characteristics vector as described Standby current location；

In conjunction with the 6th aspect, in the first mode in the cards of the 6th aspect, the equipment to be positioned is according to institute It states space exploration voice signal and the corresponding echo characteristics vector to be matched of echo signal acquisition includes：

In conjunction with the 6th aspect the first mode in the cards, the 6th aspect second of mode in the cards in, It is described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', obtain echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M), including：

In conjunction with the 6th aspect, the 6th the first to the second any mode in the cards of aspect, in the third of the 6th aspect In kind mode in the cards, the echo signal for carrying out the recording acquisition space exploration voice signal includes：

In conjunction with the 6th aspect, the 6th the first to the second any mode in the cards of aspect, the 4th of the 6th aspect the In kind mode in the cards, the determining and echo characteristics vector phase to be matched in the target echo fingerprint base The echo characteristics vector matched, including：

7th aspect, the embodiment of the present invention provide a kind of equipment to be positioned, including：

Acquisition module for being in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording Obtain the echo signal of the space exploration voice signal；It is obtained according to the space exploration voice signal and the echo signal Corresponding echo characteristics vector to be matched, and determine the posture mark of the equipment to be positioned, the posture mark is for indicating The current equipment posture of the equipment to be positioned；Wherein, azimuth of the equipment posture by the equipment to be positioned, pitch angle It is indicated with three dimension joints of roll angle；

Sending module, for sending Location Request to location-server, the Location Request includes described to be matched time Posture described in acoustic signature vector sum identifies, so that the location-server is identified according to the posture in multiple echo fingerprint bases Determine target echo fingerprint base, the determining and echo characteristics vector to be matched matches in the target echo fingerprint base Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location；

Receiving module, the positioning result for including the current location returned for receiving the location-server；

It is described according to the space exploration in the first mode in the cards of the 7th aspect in conjunction with the 7th aspect Voice signal and the echo signal obtain corresponding echo characteristics vector to be matched：

In conjunction with the 7th aspect the first mode in the cards, the 7th aspect second of mode in the cards in, It is described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', obtain echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M), including：

In conjunction with the 7th aspect, the 7th the first to the second any mode in the cards of aspect, in the third of the 7th aspect In kind mode in the cards, the recording acquisition echo signal that carries out includes：

Eighth aspect, the embodiment of the present invention provide a kind of location-server, including：

Receiving module is wrapped for receiving the Location Request sent in indoor equipment to be positioned in the Location Request Include echo characteristics vector sum posture mark to be matched；Wherein, the echo characteristics vector to be matched is by the equipment to be positioned Space exploration voice signal is played, and after being carried out at the same time the echo signal that recording obtains the space exploration voice signal, according to What the space exploration voice signal and the echo signal obtained；The posture mark is determined by the equipment to be positioned , the posture identifies the equipment posture current for indicating the equipment to be positioned；The equipment posture is by described to be positioned Three azimuth of equipment, pitch angle and roll angle dimension joints indicate；

Locating module, for determining target echo fingerprint base in multiple echo fingerprint bases according to posture mark, The echo characteristics vector to match with the echo characteristics vector to be matched is determined in the target echo fingerprint base, and will be described Current location of the indoor reference point as the equipment to be positioned corresponding to echo characteristics vector；Wherein, described fixed Multiple echo fingerprint bases are stored in the server of position, each echo fingerprint base is corresponded with posture mark, each echo fingerprint Library includes multiple echo characteristics vectors, each echo characteristics vector in each echo fingerprint base and indoor multiple references Point corresponds, and the reference point is each echo in advance in the reference position of the indoor setting, each echo fingerprint base Feature vector is when the equipment to be positioned is in corresponding reference point according to the space exploration voice signal of broadcasting and recording Obtain the space exploration voice signal echo signal and obtain and be sent to location-server；

Sending module, for including the positioning result of the current location to the equipment transmission to be positioned.

It is described to refer in the target echo in the first mode in the cards of eighth aspect in conjunction with eighth aspect The echo characteristics vector to match with the echo characteristics vector to be matched is determined in line library, including：

9th aspect, the embodiment of the present invention provide a kind of equipment to be positioned, including：

Determining module is carried out at the same time recording and obtains for being in indoor device plays space exploration voice signal to be positioned Obtain the echo signal of the space exploration voice signal；And determine the posture mark of the equipment to be positioned, the posture mark The equipment posture current for indicating the equipment to be positioned；The equipment posture by the equipment to be positioned azimuth, bow The three dimension joints in the elevation angle and roll angle indicate；

Sending module, for sending Location Request to location-server, the Location Request includes the space exploration Voice signal, the echo signal and posture mark, so that the location-server is believed according to the space exploration sound Number and after the echo signal obtains corresponding echo characteristics vector to be matched, identified in multiple echo fingerprints according to the posture Target echo fingerprint base is determined in library, is determined and the echo characteristics vector phase to be matched in the target echo fingerprint base The echo characteristics vector matched, and to be positioned set using the indoor reference point corresponding to the echo characteristics vector as described Standby current location；Wherein, the reference point is in advance in the reference position of the indoor setting；

Receiving module, the positioning result for including the current location returned for receiving the location-server.

Tenth aspect, the embodiment of the present invention provide a kind of location-server, including：

Receiving module is wrapped for receiving the Location Request sent in indoor equipment to be positioned in the Location Request Include space exploration voice signal, echo signal and posture mark；Wherein, the echo signal is by the device plays to be positioned The echo signal of the space exploration voice signal recorded and obtained while the space exploration voice signal, it is described Posture mark is determined by the equipment to be positioned, and the posture identifies the equipment current for indicating the equipment to be positioned Posture；The equipment posture is indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；

Locating module, for being obtained corresponding to be matched time according to the space exploration voice signal and the echo signal Acoustic signature vector, and target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, and in the mesh The echo characteristics vector to match with the echo characteristics vector to be matched is determined in mark echo fingerprint base, and the echo is special Current location of the indoor reference point as the equipment to be positioned corresponding to sign vector；Wherein, the positioning service Multiple echo fingerprint bases are stored in device, each echo fingerprint base is corresponded with posture mark；In each echo fingerprint base It is vectorial including multiple echo characteristics, each echo characteristics vector in each echo fingerprint base and indoor multiple reference points one One corresponds to；The reference point is each echo characteristics in advance in the reference position of the indoor setting, each echo fingerprint base Vector is when the equipment to be positioned is in corresponding reference point by the space exploration voice signal played here and recording The echo signal of the space exploration voice signal obtained is sent to the location-server, is obtained by the location-server It arrives.

In conjunction with the tenth aspect, the tenth aspect the first mode in the cards in, it is described according to the space exploration sound Sound signal and the echo signal obtain corresponding echo characteristics vector to be matched：

In conjunction with the tenth aspect the first mode in the cards, the tenth aspect second of mode in the cards in, It is described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', obtain echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M), including：

In conjunction with the tenth aspect, the tenth the first to the second any mode in the cards of aspect, in the third of the tenth aspect In kind mode in the cards, the determining and echo characteristics vector phase to be matched in the target echo fingerprint base The echo characteristics vector matched, including：

The echo characteristics vector to be matched is similar to each echo characteristics vector progress in the target echo fingerprint base Property calculate, and using to the most similar echo characteristics vector of result as the echo to match with the echo characteristics vector to be matched Feature vector.

Tenth on the one hand, and the embodiment of the present invention provides a kind of indoor locating system, including：

7th aspect, the 7th aspect the first to the third any mode in the cards equipment to be positioned, the 8th The location-server of the first mode in the cards of aspect or eighth aspect.

12nd aspect, the embodiment of the present invention provide a kind of indoor locating system, including：

The equipment to be positioned of 9th aspect, the tenth aspect, the first is any in the cards to the third for the tenth aspect The location-server of mode.

Indoor orientation method of the embodiment of the present invention is believed by being in indoor device plays space exploration sound to be positioned Number, and it is carried out at the same time the echo signal that recording obtains the space exploration voice signal, the equipment to be positioned is according to the sky Between sound detecting signal and the echo signal obtain corresponding echo characteristics vector to be matched, according to for indicating described undetermined The posture of the position current equipment posture of equipment is identified determines target echo fingerprint base in multiple echo fingerprint bases, and in the mesh The echo characteristics vector to match with the echo characteristics vector to be matched is determined in mark echo fingerprint base, and the echo is special Current location of the indoor reference point as the equipment to be positioned corresponding to sign vector, wherein described to be positioned to set Multiple echo fingerprint bases, the posture of each echo fingerprint base and the equipment posture for indicating the equipment to be positioned are stored in standby Mark corresponds, and the equipment posture is combined by three azimuth of the equipment to be positioned, pitch angle and roll angle dimensions It indicates；Include multiple echo characteristics vector in each echo fingerprint base, each echo characteristics vector in each echo fingerprint base with Indoor multiple reference points correspond；The reference point is each to be returned in the reference position of the indoor setting in advance Each echo characteristics vector in sound fingerprint base is the space according to broadcasting when the equipment to be positioned is in corresponding reference point Sound detecting signal and recording obtain the space exploration voice signal echo signal and get.Using of the invention real Applying the indoor orientation method of example realizes when carrying out equipment indoor positioning, need not arrange additional aids indoors, make With the method for the present embodiment is at low cost, practicability is good, easy to spread.

Description of the drawings

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Some bright embodiments for those of ordinary skill in the art without having to pay creative labor, can be with Obtain other attached drawings according to these attached drawings.

Fig. 1 is the flow chart of indoor orientation method embodiment one of the present invention；

Fig. 2 is the flow chart of indoor orientation method embodiment two of the present invention；

Fig. 3 is the flow chart of indoor orientation method embodiment three of the present invention；

Fig. 4 is the flow chart of indoor orientation method example IV of the present invention；

Fig. 5 is the flow chart of indoor orientation method embodiment five of the present invention；

Fig. 6 is the flow chart of indoor orientation method embodiment six of the present invention；

Fig. 7 is the flow chart of indoor orientation method embodiment seven of the present invention；

Fig. 8 is the flow chart of indoor orientation method embodiment eight of the present invention；

Fig. 9 is the structural schematic diagram of equipment to be positioned provided by the invention；

Figure 10 is the structural schematic diagram of another equipment to be positioned of the present invention；

Figure 11 is the structural schematic diagram of location-server of the present invention；

Figure 12 is the structural schematic diagram of another equipment to be positioned of the invention；

Figure 13 is the structural schematic diagram of another location-server of the present invention；

Figure 14 is the device structure schematic diagram of present invention equipment to be positioned；

Figure 15 is the device structure schematic diagram of another equipment to be positioned of the present invention；

Figure 16 is the device structure schematic diagram of location-server of the present invention；

Figure 17 is the device structure schematic diagram of another equipment to be positioned of the present invention

Figure 18 is the device structure schematic diagram of another location-server of the present invention；

Figure 19 is the structural schematic diagram of indoor locating system embodiment one of the present invention；

Figure 20 is the structural schematic diagram of indoor locating system embodiment two of the present invention.

Specific implementation mode

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.

Involved equipment to be positioned is setting equipped with loud speaker, microphone and direction sensor in the embodiment of the present invention Standby, which can be the mobile terminals such as smart mobile phone, tablet computer, or glasses, wrist-watch, wrist strap, necklace, ring etc. The wearable computing device of form.

The space exploration voice signal being related to described in the embodiment of the present invention is all made of the specific generation method in step 101 Obtained from.

Fig. 1 is the flow chart of indoor orientation method embodiment one of the present invention, as shown in Figure 1, the method for the present embodiment can be with Including：

Step 101 is in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording and obtains institute State the echo signal of space exploration voice signal.

Wherein, the space exploration voice signal disposably generates, and is stored in advance in equipment to be positioned.Exist It after equipment to be positioned generates space exploration voice signal, stores it in equipment to be positioned, subsequently to refer to establishing echo Identical space exploration voice signal can be used when the echo characteristics vector to be matched of line library and calculating difference.Specifically Generation method can be：First, it is Len to choose length_tx(such as Len_tx=1000) random sequence Ran_tx, random sequence can Selecting the sequence with preferable autocorrelation performance such as M sequence, Gold sequence, (when two sequences are just aligned, auto-correlation function goes out Existing peak-peak, when offset, correlation function curve declines and obtains the smaller value close to 0 quickly)；Utilize random sequence Ran_tx To fundamental frequency f_cIt obtains sending sequence Sep into line frequency or phase-modulation_tx, to obtain space exploration voice signal, (about 0.5s is left It is right).

Wherein, the echo signal space exploration voice signal is obtained by reflection indoors.

Step 102, the equipment to be positioned are obtained according to the space exploration voice signal and the echo signal and are corresponded to Echo characteristics to be matched vector, according to for indicate the current equipment posture of the equipment to be positioned posture identify multiple Target echo fingerprint base is determined in echo fingerprint base, and is determined and the echo spy to be matched in the target echo fingerprint base The echo characteristics vector that sign vector matches, and using the indoor reference point corresponding to the echo characteristics vector as institute State the current location of equipment to be positioned.

Specifically, azimuthal value range is [0,360], and the value range of pitch angle is [- 180,180], roll angle Value range be [- 90,90], equipment posture by these three dimensions combine indicate, according to equipment posture determine posture identify, can By choose it is following two in a manner of in any mode：

Mode one identifies the corresponding specific angle value of three dimensions of equipment posture as its corresponding posture, example Such as, equipment posture is that (30, -60,45) correspondingly its corresponding posture is identified as (30, -60,45).

Mode two, by azimuth, each value range of pitch angle and roll angle these three dimensions, be divided into different areas Between, each section corresponds to a number, and it is right that the corresponding section number combination of the angles of three dimensions of equipment posture constitutes its The posture mark answered, for example, azimuth (0~360) can be divided into A section, (1~A) is numbered in each section, pitch angle (- 180~180) are divided into B section, and (1~B) is numbered in each section, and roll angle (- 90~90) is divided into C section, each section It numbers (1~C), i.e., equipment posture has A × B × C kinds combination, can use a kind of equipment posture of Ori (a, b, c) unique mark, Wherein a ∈ [1, A], b ∈ [1, B], c ∈ [1, C].

Wherein, the equipment to be positioned obtains corresponding wait for according to the space exploration voice signal and the echo signal Echo characteristics vector is matched, is specifically as follows, the equipment to be positioned is by the echo sequences Seq in the echo signal_rxWith institute State the transmission sequence Seq in space exploration voice signal_txProgress related operation, which takes absolute value, obtains cross-correlation sequence R, specific R For：

Wherein, each single item of R is the absolute value of the sum of the displacement multiplication of two sequences, is specifically as follows：

Wherein, len=Len_rx+Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength；

It is intercepted out from I in the cross-correlation sequence R_startThe cross-correlation sequence R' of the effective echo segment started, wherein R' is specially：

Wherein, I_startFor the index that R is maximized, due to I_startThe corresponding time domain moment is possible to visit to play space Survey voice signal terminate at the time of initially receiving echo signal and overlap, so choosing I here_startR afterwards is returned as effective The cross-correlation sequence R' of part point calculates separately the M echo average energies apart from section according to the cross-correlation sequence R', Echo characteristics vector EV is obtained, specially：

EV=(echoE₁,echoE₂,...,echoE_M) (4)

Wherein, described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', it obtains Echo characteristics vector EV, is specifically as follows, and selectes echo characteristics vector measurement range (d_min,d_max1) and resolution ax d, due toM can then be obtained apart from section.

Wherein, for apart from section D_i=(d_i,d_i+1), d is obtained according to formula (5)_iLocation index.

D is obtained according to formula (6)_i+1Location index.

Wherein, f_sFor sample frequency, f_soundFor the aerial spread speed of sound.

Apart from section D_i=(d_i,d_i+1) echo average energy be echoE_i, can be calculated according to formula (7).

I=1 is calculated separately according to formula (7), and the corresponding echo average energy apart from section when 2 ..., M is returned Acoustic signature vector EV.

Wherein, the recording acquisition echo signal that carries out at least postpones specifically, recording after broadcasting The time of Δ t；Wherein, Δ t needs to meet following condition：

Δ t ＞ t_A t_A=d_max·2/f_sound (8)

Wherein, d_maxThe propagation maximum distance of echo signal, f can be returned for space exploration voice signal_soundExist for sound Spread speed in air.

Further, described determined in target echo fingerprint base is returned with what the echo characteristics vector to be matched matched Acoustic signature vector, is specifically as follows, and each echo in the echo characteristics vector to be matched and the target echo fingerprint base is special Sign vector carries out Similarity measures, and using the most similar echo characteristics vector of result as vectorial with the echo characteristics to be matched The echo characteristics vector to match.

The present embodiment by being in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording The echo signal of the space exploration voice signal is obtained, the equipment to be positioned is according to the space exploration voice signal and institute It states echo signal and obtains corresponding echo characteristics vector to be matched, according to the equipment appearance current for indicating the equipment to be positioned The posture of state identifies and determines target echo fingerprint base in multiple echo fingerprint bases, and the determining and institute in target echo fingerprint base State the echo characteristics vector that echo characteristics vector to be matched matches, and by the interior corresponding to the echo characteristics vector Current location of the reference point as the equipment to be positioned need not be in room to realize when carrying out equipment indoor positioning Interior arrangement additional aids, it is at low cost using the indoor orientation method of the present embodiment, practicability is good, easy to spread.

A specific embodiment is used below, and the technical solution of embodiment of the method shown in Fig. 1 is described in detail.Figure 2 be the flow chart of indoor orientation method embodiment two of the present invention, as shown in Fig. 2, the method for the present embodiment may include：

S201：The off-line measurement stage establishes the multiple echo fingerprint bases stored in equipment to be positioned.

Indoors in each reference point, by repeatedly measuring a kind of equipment to be positioned some reference point under equipment posture Echo characteristics vector, take its average value as the reference point under the equipment posture echo characteristics vector, will be in the equipment The echo characteristics vector of each reference point constitutes set as the echo fingerprint base under the equipment posture, by distinct device under posture Echo fingerprint base under posture is stored in advance in equipment to be positioned, and specific steps may include：

A, interior is divided into N number of band of position, the central point of the band of position is defined as reference point；

I.e. there is N number of reference point in the interior.

B, in each reference point, for certain specific equipment posture, multi collect space exploration voice signal returns Acoustical signal；

The equipment posture of equipment to be positioned can be indicated by three azimuth, pitch angle and roll angle dimension joints.In order to Echo fingerprint base collecting work amount is reduced, azimuth (0~360) can be divided into A section, pitch angle (- 180 by the present embodiment ~180) be divided into B section, roll angle (- 90~90) is divided into C section, i.e., equipment posture has A × B × C kinds combination, can To use a kind of equipment posture of Ori (a, b, c) unique mark, wherein a ∈ [1, A], b ∈ [1, B], c ∈ [1, C].

C, echo characteristics vector is calculated according to space exploration voice signal and echo signal, the average value repeatedly measured is taken to make For the echo characteristics vector of reference point, wherein step a~step f in S202 may be used in the computational methods of echo characteristics vector Specific steps；

D, under a kind of equipment posture, the echo characteristics vector set of different reference points is defined as under the equipment posture Echo fingerprint base；For example, the echo fingerprint base that posture is identified as Ori (a, b, c) is expressed as FB_Ori(a,b,c), the echo fingerprint base Specially：

Wherein, L₁For the mark of reference point 1, similarly L₂…L_NPoint identification is referred to be different, M ties up for echo characteristics vector Number,For reference point L₁Feature vector, echo fingerprint base FB_Ori(a,b,c)It contains in equipment Posture identifies the echo characteristics vector of all reference points under Ori (a, b, c).

Calculate the corresponding echo fingerprint base of distinct device posture according to step a in S201~step d, each echo fingerprint base with The equipment posture of equipment to be positioned corresponds, and includes multiple echo characteristics vector, each echo characteristics in each echo fingerprint base It is vectorial to be corresponded with indoor multiple reference points, and obtained multiple echo fingerprint bases will be calculated and be stored in equipment to be positioned In.

S202：Online decision stage obtains the echo characteristics to be matched vector of equipment to be positioned, specifically obtains to be matched The following step for calculating echo characteristics vector may be used in echo characteristics vector.

A, the echo signal of space exploration voice signal is acquired：Sky is played by loud speaker in indoor equipment to be positioned Between sound detecting signal, play while proceed by recording, at least postpone the time of Δ t after broadcasting, end Recording is to get echo signal, wherein Δ t ＞ t_A, t_A=d_max·2/f_sound, d_maxIt can be with for space exploration voice signal Return to the propagation maximum distance of echo signal, f_soundFor the aerial spread speed of sound, and device plays to be positioned are empty Between sound detecting signal volume in S201 the off-line measurement stage play when volume it is identical, carry out recording obtain echo signal It is used uniformly sample frequency f with space exploration voice signal audio file_s。

Wherein, space exploration voice signal is disposably to generate, and is stored in advance in equipment to be positioned.It is specific to generate Method is identical as the method used in step 101, and details are not described herein again.

B, extraction echo characteristics vector：

Equipment to be positioned is by the echo sequences Seq in echo signal_rxWith the transmission sequence in the space exploration voice signal Arrange Seq_txIt carries out related operation to take absolute value shown in acquisition cross-correlation sequence R, R concrete form such as formula (1), each single item in R As shown in formula (2).

C, echo starting point index I is found from cross-correlation sequence R_start, wherein I_startFor the index that R is maximized, i.e., As shown in formula (10).

D, it is intercepted out from I in cross-correlation sequence R_startCross-correlation the sequence R', wherein R' of the effective echo segment started Specially formula (11).

Specifically, due to I_startFor the index that R is maximized, I_startThe corresponding time domain moment is possible to play space Sound detecting signal terminate at the time of initially receiving echo signal and overlap, so choosing I here_startR afterwards is as effective The cross-correlation sequence R' of echo segment.

E, echo characteristics vector measurement range (d is selected_min,d_max1) and resolution ax d, then it can be obtained according to formula (12) To M apart from section.

F, the echo average energy in different distance section is calculated, echo characteristics vector is obtained, specifically, for distance regions Between D_i=(d_i,d_i+1), wherein d_i+1=d_i+ Δ d obtains d according to formula (5)_iLocation index obtains d according to formula (6)_i+1Position Set index；It is calculated apart from section D according to formula (7)_i=(d_i,d_i+1) echo average energy be echoE_i；

Measurement range (d is calculated according to the above method_min,d_max1) in all echo average energies apart from section, that is, distinguish The M echo average energies apart from section are calculated, echo characteristics vector EV=(echoE are obtained₁,echoE₂,...,echoE_M)。

S203, echo fingerprint base similitude match, i.e., determine and wait in the echo fingerprint base stored in equipment to be positioned Matching echo characteristics vector match echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as Following steps acquisition may be used in the current location of the equipment to be positioned, detailed process：

A, the equipment posture of current equipment to be positioned is obtained by direction sensor, such as current device posture is identified as Ori (a, b, c), so that it is determined that using the echo fingerprint base FB stored in equipment to be positioned_Ori(a,b,c), by target echo fingerprint base It is set as FB_Ori(a,b,c)。

B, echo characteristics the vector EV and FB to be matched that will be obtained in S202_Ori(a,b,c)In each reference point echo characteristics Vector carry out Similarity measures (Euclidean distance, cosine angle etc.), and using the most similar echo characteristics vector of result as with wait for The echo characteristics vector that matching echo characteristics vector matches, the knot that the corresponding reference point of this feature vector is positioned as this Fruit.

For example, Similarity measures such as formula (13) is carried out using Euclidean distance, positioning knot is obtained according to formula (14) Fruit L.

The present embodiment, by the off-line measurement stage, foundation is stored in the multiple echo fingerprint bases stored in equipment to be positioned, In turn, when needing positioning in indoor equipment to be positioned, by online decision stage, according to space exploration voice signal and The echo signal of space exploration voice signal obtains echo characteristics vector to be matched, and echo characteristics vector to be matched and target are returned Feature vector in sound fingerprint base carries out similitude matching, to obtain this positioning as a result, wherein target echo fingerprint base Be it is determining according to the posture of equipment to be positioned mark, and the feature in the echo fingerprint base being stored in equipment to be positioned to The echo characteristics vector to be matched of amount and online decision stage is all in accordance with by space exploration voice signal and space exploration sound The echo signal of signal carries out related operation, takes the cross-correlation sequence of its effective echo segment, is calculated according to the cross-correlation sequence Echo average energy and then acquisition echo characteristics vector.The indoor orientation method of the present embodiment need not be arranged additional auxiliary indoors Equipment is helped, it is easy to spread, it is low for equipment requirements, and since space exploration voice signal is used with stronger autocorrelation performance Sequence so that the indoor orientation method of the present embodiment has stronger noise resistance interference performance, can effectively distinguish echo and daily Ambient noise in life is positioned so as to realize using sound wave reflection active probe space environment feature.

Fig. 3 is the flow chart of indoor orientation method embodiment three of the present invention, as shown in figure 3, real shown in the present embodiment and Fig. 1 Example is applied difference lies in location-server is arranged in position fixing process, multiple echo fingerprint bases are stored in location-server, by undetermined Position equipment obtains echo characteristics vector to be matched and is sent to location-server, treats positioning device by location-server and is determined The executive agent of position, the present embodiment is equipment to be positioned, and the method for the present embodiment may include：

Step 301 is in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording and obtains institute State the echo signal of space exploration voice signal；It is obtained according to the space exploration voice signal and the echo signal corresponding Echo characteristics vector to be matched, and determine the posture mark of the equipment to be positioned, the posture mark is waited for for indicating described The current equipment posture of positioning device.

The wherein described equipment posture is by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension association lists Show.

Wherein, the space exploration voice signal may be used the generation method in step 101 and generate and be stored in undetermined In the equipment of position, the space exploration voice signal has stronger autocorrelation performance.The echo signal is the space exploration sound Sound signal passes through what reflection obtained indoors.

Step 302, the equipment to be positioned send Location Request to location-server, and the Location Request includes described Posture described in echo characteristics vector sum to be matched identifies, so that the location-server is identified according to the posture in multiple echoes Target echo fingerprint base is determined in fingerprint base, is determined in the target echo fingerprint base and the echo characteristics vector to be matched The echo characteristics vector to match, and using the indoor reference point corresponding to the echo characteristics vector as described undetermined The current location of position equipment.

Step 303 receives the positioning result for including the current location that the location-server returns.

Wherein, multiple echo fingerprint bases are stored in the location-server, and each echo fingerprint base to be positioned is set with described Standby posture mark corresponds, and the target echo fingerprint base is sent out according to the equipment to be positioned by the location-server The posture mark determination sent；In each echo fingerprint base include multiple echo characteristics vector, each echo characteristics vector with Indoor multiple reference points correspond；Each echo characteristics vector is to be in corresponding reference point by the equipment to be positioned It was got according to space exploration voice signal and echo signal herein when upper, equipment to be positioned gets a kind of posture mark The posture is identified and the posture identifies returning for corresponding each reference point by the echo characteristics vector for knowing each corresponding reference point Acoustic signature vector is sent to location-server, and echo fingerprint base is established by location-server.

Wherein, described that corresponding echo spy to be matched is obtained according to the space exploration voice signal and the echo signal Sign vector, Ke Yiwei, the equipment to be positioned is by the echo sequences Seq in the echo signal_rxWith the space exploration sound Transmission sequence Seq in signal_txIt is specially formula (1), wherein R that progress related operation, which takes absolute value and obtains cross-correlation sequence R, R, Each single item be two sequences the absolute value of sum that is multiplied of displacement, specific formula is formula (2)；In the cross-correlation sequence R In intercept out from I_startThe cross-correlation sequence R' of the effective echo segment started, wherein R' is specially formula (3), I_startFor R The index being maximized；According to the cross-correlation sequence R', the M echo average energies apart from section are calculated separately, are returned Acoustic signature vector EV, EV specifically can refer to formula (4).

It is further, described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', Echo characteristics vector EV is obtained, is specifically as follows, for apart from section D_i=(d_i,d_i+1), d is obtained according to formula (5)_iPosition rope Draw, d is obtained according to formula (6)_i+1Location index；Wherein, f_sFor sample frequency, f_soundFor the aerial spread speed of sound； It is calculated apart from section D according to formula (7)_i=(d_i,d_i+1) echo average energy echoE_i；I=1,2 ..., M calculates separately M A echo average energy apart from section obtains echo characteristics vector EV.

Further, the recording acquisition echo signal that carries out is specifically as follows, and records, after broadcasting extremely The time of delay Δ t less；Wherein, Δ t needs to meet condition shown in formula (8).

The present embodiment is in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording and obtains The echo signal of the space exploration voice signal；It is obtained and is corresponded to according to the space exploration voice signal and the echo signal Echo characteristics to be matched vector, and determine that corresponding posture identifies according to the current equipment posture of the equipment to be positioned；Institute It states equipment to be positioned and sends Location Request to location-server, the Location Request includes the echo characteristics vector to be matched It is identified with the posture, determines that target is returned in multiple echo fingerprint bases so that the location-server is identified according to the posture Sound fingerprint base, determined in the target echo fingerprint base echo characteristics that matches with the echo characteristics vector to be matched to Amount, and using the indoor reference point corresponding to the echo characteristics vector as the current location of the equipment to be positioned； Receive the positioning result for including the current location that the location-server returns.Equipment indoor positioning is being carried out to realize When, echo signal is obtained by playing space exploration voice signal, is carried out using sound wave reflection active probe space environment feature Positioning, it is at low cost using the indoor orientation method of the present embodiment, practicability is good, easy to spread.

Fig. 4 is the flow chart of indoor orientation method example IV of the present invention, as shown in figure 4, real shown in the present embodiment and Fig. 1 Example is applied difference lies in location-server is arranged in position fixing process, multiple echo fingerprint bases are stored in location-server, by undetermined Position equipment obtains echo characteristics vector to be matched and is sent to location-server, treats positioning device by location-server and is determined Position, the present embodiment executive agent are location-server, and the method for the present embodiment may include：

Step 401, location-server receive the Location Request sent in indoor equipment to be positioned, the Location Request It include echo characteristics vector sum posture mark to be matched；Wherein, the echo characteristics vector to be matched is by described to be positioned Device plays space exploration voice signal, and after being carried out at the same time the echo signal that recording obtains the space exploration voice signal, It is obtained according to the space exploration voice signal and the echo signal；The posture mark is true by the equipment to be positioned Fixed, the posture identifies the equipment posture current for indicating the equipment to be positioned.

Wherein, the equipment posture is by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints It indicates, determines that the concrete mode of the posture mark may refer to the basis in step 101 and set with specific reference to the equipment posture Standby posture determines posture identification means one and mode two.It completes to determine posture mark according to equipment posture by the equipment to be positioned Know.

The location-server can be cloud server, have storage, calculation processing and wireless communication function.

Step 402, the location-server are identified according to the posture determines target echo in multiple echo fingerprint bases Fingerprint base, determined in the target echo fingerprint base echo characteristics that matches with the echo characteristics vector to be matched to Amount, and using the indoor reference point corresponding to the echo characteristics vector as the current location of the equipment to be positioned.

Step 403, the location-server sent to the equipment to be positioned include the current location positioning result.

Wherein, multiple echo fingerprint bases are stored in the location-server, each echo fingerprint base to be positioned is set with described Standby posture mark corresponds, and the target echo fingerprint base is to identify determination according to the posture；Each echo fingerprint base In include multiple echo characteristics vector, each echo characteristics vector in each echo fingerprint base and indoor multiple references Point corresponds；The reference point is each echo in advance in the reference position of the indoor setting, each echo fingerprint base Feature vector is when the equipment to be positioned is in corresponding reference point according to the space exploration voice signal of broadcasting and recording Obtain the space exploration voice signal echo signal and obtain and be sent to location-server.

Further, the echo characteristics vector to be matched is believed by the device plays space exploration sound to be positioned Number, and be carried out at the same time after recording obtains echo signal, it is obtained according to the space exploration voice signal and the echo signal, It is specifically as follows, by the echo sequences Seq in the echo signal_rxWith the transmission sequence in the space exploration voice signal Seq_txIt is that two shifting for sequences are multiplied that progress related operation, which takes absolute value and obtains each single item in cross-correlation sequence R, wherein R, The absolute value of sum, for details, reference can be made to formula (2)；It is intercepted out from I in the cross-correlation sequence R_startThe effective echo portion started The cross-correlation sequence R' divided, wherein R' is referring specifically to formula (3), I_startThe index being maximized for R；According to the cross-correlation Sequence R' calculates separately the M echo average energies apart from section, and obtaining echo characteristics vector EV, EV, for details, reference can be made to formula (4)。

Wherein, described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', it obtains Echo characteristics vector EV, is specifically as follows, for apart from section D_i=(d_i,d_i+1), d is obtained according to formula (5)_iLocation index, D is obtained according to formula (6)_i+1Location index；Apart from section D_i=(d_i,d_i+1) be calculated according to formula (7) it is described apart from section Echo average energy echoE_i；The M echo average energies apart from section are calculated separately, echo characteristics vector EV is obtained.

Further, the recording acquisition echo signal that carries out is specifically as follows, and records, after broadcasting extremely The time of delay Δ t less；Wherein, Δ t needs the condition for meeting formula (8).

The present embodiment receives the Location Request sent in indoor equipment to be positioned by location-server, described fixed Position request includes echo characteristics vector sum posture mark to be matched；Wherein, the echo characteristics vector to be matched is by described Device plays space exploration voice signal to be positioned, and it is carried out at the same time the echo letter that recording obtains the space exploration voice signal After number, obtained according to the echo signal；The posture mark is by the equipment to be positioned according to current equipment posture And determining.Location-server determination in target echo fingerprint base matches with the echo characteristics vector to be matched Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location.The location-server sent to the equipment to be positioned include the current location positioning result.To It realizes when equipment to be positioned sends Location Request, treating positioning device according to the echo characteristics vector in the Location Request carries out Positioning, it is at low cost using the indoor orientation method of the present embodiment, practicability is good, easy to spread.

Fig. 5 is the flow chart of indoor orientation method embodiment five of the present invention, as shown in figure 5, the present embodiment includes to be positioned The method of equipment and location-server, the present embodiment may include：

S501：Equipment to be positioned calculates echo characteristics vector, by distinct device posture in the corresponding echo of different reference points Feature vector is sent to location-server.

Specifically, indoors in each reference point, equipment to be positioned is by the multiple survey calculation equipment to be positioned one The echo characteristics vector of some reference point, takes its average value as the reference point under the equipment posture under kind equipment posture Echo characteristics vector, location-server is sent to by the echo characteristics vector.

Specific steps may include：

I.e. there is N number of reference point in the interior.

B, equipment to be positioned is in each reference point, for certain specific equipment posture, multi collect space exploration sound The echo signal of sound signal；

C, equipment to be positioned calculates echo characteristics vector according to space exploration voice signal and echo signal, takes multiple measurement Average value echo characteristics vector as a reference point, and be sent to location-server, wherein the calculating side of echo characteristics vector The specific steps of step a~step f in S202 may be used in method.

Equipment to be positioned calculates distinct device posture in corresponding time of different reference points according to step a in S501~step c Acoustic signature vector, and it is sent to location-server.

S502：A kind of echo characteristics vector of each reference point under equipment posture is constituted set conduct by location-server A kind of echo fingerprint base under equipment posture, location-server is stored in advance in by the echo fingerprint base under distinct device posture In.

Specifically, location-server will be under a kind of equipment posture, and the echo characteristics vector set of different reference points defines For the echo fingerprint base under the equipment posture；For example, the echo fingerprint base that posture is identified as Ori (a, b, c) is expressed as FB_Ori(a,b,c), which is specially：

Wherein, L₁For the mark of reference point 1, similarly L₂…L_NPoint identification is referred to be different, M ties up for echo characteristics vector Number,For reference point L₁Feature vector, echo fingerprint base FB_Ori(a,b,c)It contains in equipment The echo characteristics vector of all reference points under posture Ori (a, b, c).

Location-server establishes the corresponding echo fingerprint base of distinct device posture, each echo fingerprint base and equipment to be positioned Equipment posture corresponds, and includes multiple echo characteristics vector in each echo fingerprint base, each echo characteristics vector with it is indoor Multiple reference points correspond.

S503:Location Request is sent to location-server in indoor equipment to be positioned, the Location Request includes Posture described in the echo characteristics vector sum to be matched identifies.

Specifically, equipment to be positioned obtains the calculating time that step a~step f in S202 may be used in feature vector to be matched The step of acoustic signature vector.Meanwhile equipment to be positioned obtains the equipment posture of equipment to be positioned by direction sensor.And it will wait for Matching echo characteristics vector EV and posture mark Ori (a, b, c) are sent to location-server.

S504:Location-server determining and echo characteristics vector to be matched in target echo fingerprint base matches Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location.

Location-server identifies Ori (a, b, c) according to posture and obtains echo fingerprint base corresponding with posture mark FB_Ori(a,b,c), by FB_Ori(a,b,c)As target echo fingerprint base, location-server is vectorial by the echo characteristics to be matched received EV and FB_Ori(a,b,c)In each reference point echo characteristics vector carry out Similarity measures (Euclidean distance, cosine angle etc.), and Using the most similar echo characteristics vector of result as the echo characteristics vector to match with echo characteristics vector to be matched, by the spy The result that the corresponding reference point of sign vector is positioned as this.

S505：Location-server to equipment to be positioned return include current location positioning result L.

The present embodiment, by storing multiple echo fingerprint bases in location-server, when in indoor equipment to be positioned When needing positioning, equipment to be positioned sends Location Request to location-server, includes echo characteristics to be matched in the Location Request Vector and the posture mark determined according to equipment posture, location-server obtain corresponding target according to posture mark Feature vector in feature vector to be matched and target echo fingerprint base is carried out similitude matching by echo fingerprint base, determine with Echo characteristics that the echo characteristics vector to be matched matches vector, and by the indoor reference corresponding to the echo characteristics vector Current location of the point as the equipment to be positioned, and to equipment to be positioned return include the positioning result of the current location.This reality The indoor orientation method for applying example does not need additional aids, easy to spread, low for equipment requirements, and due to space exploration sound Sound signal uses the sequence with stronger autocorrelation performance so that the indoor orientation method of the present embodiment has stronger noise resistance Interference performance can effectively distinguish the ambient noise in echo and daily life, utilize sound wave reflection actively to visit so as to realize Space environment feature is surveyed to be positioned.

Fig. 6 is the flow chart of indoor orientation method embodiment six of the present invention, as shown in fig. 6, real shown in the present embodiment and Fig. 1 Example is applied difference lies in location-server is arranged in position fixing process, by equipment to be positioned will include space exploration voice signal, return The Location Request of acoustical signal and equipment posture mark, is sent to location-server, echo to be matched is obtained by location-server Feature vector is treated positioning device and is positioned, and the present embodiment executive agent is equipment to be positioned, and the method for the present embodiment can be with Including：

Step 601 is in indoor device plays space exploration voice signal to be positioned, is carried out at the same time described in recording acquisition The echo signal of space exploration voice signal；And determining the posture mark of the equipment to be positioned, the posture mark is used for table Show the current equipment posture of the equipment to be positioned.

Wherein, the equipment posture is by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints It indicates；

Step 602, the equipment to be positioned send Location Request to location-server, and the Location Request includes described Space exploration voice signal, the echo signal and posture mark, so that the location-server is visited according to the space After surveying voice signal and the corresponding echo characteristics vector to be matched of echo signal acquisition, identified multiple according to the posture Target echo fingerprint base is determined in echo fingerprint base, is determined and the echo characteristics to be matched in the target echo fingerprint base The echo characteristics vector that vector matches, and using the indoor reference point corresponding to the echo characteristics vector as described in The current location of equipment to be positioned.

Step 603 receives the positioning result for including the current location that the location-server returns.

Wherein, multiple echo fingerprint bases are stored in the location-server, each echo fingerprint base to be positioned is set with described Standby posture mark corresponds, and the target echo fingerprint base is to identify determination according to the posture；Each echo fingerprint base In include multiple echo characteristics vector, each echo characteristics vector is corresponded with the indoor multiple reference points；Each echo Feature vector be when the equipment to be positioned is in corresponding reference point according to herein space exploration voice signal and echo Signal and get.

Wherein, obtaining corresponding echo characteristics vector to be matched according to the echo signal by location-server specifically can be with For by the echo sequences Seq in the echo signal_rxWith the transmission sequence Seq in the space exploration voice signal_txIt carries out It is specially formula (1) that related operation, which takes absolute value and obtains cross-correlation sequence R, R, and wherein each single item of R is the displacement of two sequences The absolute value for the sum being multiplied, specific formula are formula (2)；It is intercepted out from I in the cross-correlation sequence R_startWhat is started is effective The cross-correlation sequence R' of echo segment, wherein R' is specially formula (3), I_startThe index being maximized for R；According to described mutual Correlated series R' calculates separately echo average energies of the M apart from section, obtains echo characteristics vector EV, and EV specifically can refer to Formula (4).

It is further, described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', Echo characteristics vector EV is obtained, is specifically as follows, for apart from section D_i=(d_i,d_i+1), d is obtained according to formula (5)_iPosition rope Draw, d is obtained according to formula (6)_i+1Location index；Wherein, f_sFor sample frequency, f_soundFor the aerial spread speed of sound； It is calculated apart from section D according to formula (7)_i=(d_i,d_i+1) echo average energy echoE_i；M are calculated separately apart from section Echo average energy obtains echo characteristics vector EV.

Further, it carries out recording acquisition echo signal by the equipment to be positioned to be specifically as follows, record, until At least postpone the time of Δ t after broadcasting；Wherein, Δ t needs to meet condition shown in formula (8).

Further, it is determined and the echo characteristics vector phase to be matched in target echo fingerprint base by location-server Matched echo characteristics vector, is specifically as follows, will be in the echo characteristics vector to be matched and the target echo fingerprint base Each echo characteristics vector carries out Similarity measures, and using the most similar echo characteristics vector of result as with the echo to be matched The echo characteristics vector that feature vector matches.

The methods of euclidean distance method, Cosin method may be used in the wherein described Similarity measures.

The present embodiment is in indoor device plays space exploration voice signal to be positioned, is carried out at the same time recording and obtains institute The echo signal of space exploration voice signal is stated, and corresponding posture is determined according to the current equipment posture of the equipment to be positioned Mark, and then Location Request is sent to location-server, the Location Request includes the space exploration voice signal, described Echo signal and equipment posture mark, so that location-server obtains corresponding echo to be matched according to the echo signal After feature vector, target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, is returned in the target Determine the echo characteristics vector to match with the echo characteristics vector to be matched in sound fingerprint base, and by the echo characteristics to Current location of the corresponding indoor reference point of amount as the equipment to be positioned, and then receive the location-server The positioning result for including the current location returned.To realize when carrying out equipment indoor positioning, visited by playing space It surveys voice signal and obtains echo signal, positioned using sound wave reflection active probe space environment feature, use the present embodiment Indoor orientation method it is at low cost, practicability is good, easy to spread.

Fig. 7 is the flow chart of indoor orientation method embodiment seven of the present invention, as shown in fig. 7, real shown in the present embodiment and Fig. 1 Example is applied difference lies in location-server is arranged in position fixing process, by equipment to be positioned will include space exploration voice signal, return The Location Request of the posture of acoustical signal and equipment mark, is sent to location-server, is obtained to be matched time by location-server Acoustic signature vector, treats positioning device and is positioned, and the present embodiment executive agent is location-server, and the method for the present embodiment can To include：

Step 701, location-server receive the Location Request sent in indoor equipment to be positioned, the Location Request Include space exploration voice signal, echo signal and posture mark；Wherein, the echo signal is by the equipment to be positioned The echo signal of the space exploration voice signal recorded and obtained while playing the space exploration voice signal, Posture mark is determined by the equipment to be positioned, and the posture mark is for indicating the equipment to be positioned currently Equipment posture.

Step 702, the location-server are obtained according to the space exploration voice signal and the echo signal and are corresponded to Echo characteristics to be matched vector, and target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, And the echo characteristics vector to match with the echo characteristics vector to be matched is determined in the target echo fingerprint base, and will Current location of the indoor reference point as the equipment to be positioned corresponding to the echo characteristics vector.

Step 703, the location-server sent to the equipment to be positioned include the current location positioning result.

Wherein, multiple echo fingerprint bases are stored in the location-server, each echo fingerprint base is identified with the posture It corresponds；Include multiple echo characteristics vector in each echo fingerprint base, each echo characteristics in each echo fingerprint base to Amount is corresponded with indoor multiple reference points；The reference point is in advance in the reference position of the indoor setting, often Each echo characteristics vector in a echo fingerprint base is the equipment to be positioned will broadcast here when being in corresponding reference point The echo signal for the space exploration voice signal that the space exploration voice signal and recording put obtain is sent to the positioning Server is got by the location-server.

Space exploration sound letter when wherein location-server is according to equipment to be positioned in corresponding reference point herein Method used in number obtaining the corresponding echo characteristics vector of the reference point with the echo signal of the space exploration voice signal, It is referred to obtain the step of corresponding echo characteristics vector to be matched below according to space exploration voice signal and echo signal.

Further, described to be obtained corresponding to be matched time according to the space exploration voice signal and the echo signal Acoustic signature vector is specifically as follows, by the echo sequences Seq in the echo signal_rxWith in the space exploration voice signal Send sequence Seq_txIt is specially formula (1), the wherein each single item of R that progress related operation, which takes absolute value and obtains cross-correlation sequence R, R, For the absolute value for the sum that the displacement of two sequences is multiplied, specific formula is formula (2)；It is intercepted out in the cross-correlation sequence R From I_startThe cross-correlation sequence R' of the effective echo segment started, wherein R' is specially formula (3), I_startIt is maximized for R Index；According to the cross-correlation sequence R', calculate separately the M echo average energies apart from section, obtain echo characteristics to EV is measured, EV specifically can refer to formula (4).

The present embodiment receives the Location Request sent in indoor equipment to be positioned by location-server, described fixed Position request includes space exploration voice signal, echo signal and posture mark；Wherein, the echo signal is waited for according to Positioning device is recorded while playing the space exploration voice signal and the space exploration voice signal that obtains Echo signal, posture mark are determining according to the current equipment posture of the equipment to be positioned.The positioning clothes Device be engaged according to the corresponding echo characteristics vector to be matched of the space exploration voice signal and echo signal acquisition, and in mesh The echo characteristics vector to match with the echo characteristics vector to be matched is determined in mark echo fingerprint base, and the echo is special Current location of the indoor reference point as the equipment to be positioned corresponding to sign vector, the location-server is to institute State the positioning result that equipment transmission to be positioned includes the current location.To realize when carrying out equipment indoor positioning, pass through It plays space exploration voice signal and obtains echo signal, reflect active probe space environment using sound wave by the location-server Feature is positioned, at low cost using the indoor orientation method of the present embodiment, practicability is good, easy to spread.

Fig. 8 is the flow chart of indoor orientation method embodiment eight of the present invention, as shown in figure 8, the present embodiment includes to be positioned Equipment and location-server, difference lies in equipment to be positioned only plays space exploration sound letter to the present embodiment with embodiment five Number, it obtains echo signal and determines that posture identifies according to the equipment posture of the equipment to be positioned, equipment to be positioned takes to positioning Business device sends Location Request, which includes above- mentioned information, and location-server is according to space entrained in Location Request Sound detecting signal and echo signal calculate and obtain echo characteristics vector to be matched, and then complete positioning.The method of the present embodiment May include：

S801：A kind of equipment to be positioned some reference point under equipment posture plays space exploration voice signal, simultaneously The echo signal that recording obtains the space exploration voice signal is carried out, and determines that corresponding posture identifies according to equipment posture, And the space exploration voice signal, echo signal and posture mark are sent to location-server, location-server is according to upper It states information and calculates echo characteristics vector using the specific steps of step a~step f in S202, equipment to be positioned is in the equipment posture The lower reference point carries out multiple information collection and is sent to location-server, and location-server takes its average value by repeatedly calculating As echo characteristics vector of the reference point under the equipment posture.

Specific steps may include：

I.e. there is N number of reference point in the interior.

C, space exploration voice signal, echo signal and posture mark are sent to location-server by equipment to be positioned, Location-server calculates echo characteristics vector, takes the echo characteristics vector that the average value repeatedly measured is as a reference point, wherein return The specific steps of step a~step f in S202 may be used in the computational methods of acoustic signature vector.

S802：A kind of echo characteristics vector of each reference point under equipment posture is constituted set conduct by location-server A kind of echo fingerprint base under equipment posture, location-server is stored in advance in by the echo fingerprint base under distinct device posture In.

Specifically, location-server will be determined the echo characteristics vector set of different reference points under a kind of equipment posture Justice is the echo fingerprint base under the equipment posture, a kind of equipment posture correspondence one posture mark, therefore, echo fingerprint base and posture Mark corresponds；For example, the echo fingerprint base that posture is identified as Ori (a, b, c) is expressed as FB_{Ori (a, b, c)}, the echo fingerprint Library is specially：

Wherein, L₁For the mark of reference point 1, similarly L₂…L_NPoint identification is referred to be different, M ties up for echo characteristics vector Number,For reference point L₁Feature vector, echo fingerprint base FB_Ori(a,b,c)It contains in posture Identify the echo characteristics vector of all reference points under Ori (a, b, c).

S803:Location Request is sent to location-server in indoor equipment to be positioned, the Location Request includes Space exploration voice signal, echo signal and posture mark.

In indoor device plays space exploration voice signal to be positioned, it is carried out at the same time recording and obtains echo signal；And The equipment posture that equipment to be positioned is obtained by direction sensor determines appearance according to the equipment posture of the equipment to be positioned got State identifies Ori (a, b, c).

S804：Location-server obtains echo characteristics vector EV to be matched according to the Location Request.

Specifically, location-server obtains the side that step a~step f in S202 may be used in echo characteristics vector to be matched Method calculates echo characteristics vector to be matched.

S805:Location-server determining and echo characteristics vector to be matched in target echo fingerprint base matches Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location.

Location-server identifies Ori (a, b, c) according to posture and obtains echo fingerprint base corresponding with posture mark FB_Ori(a,b,c), by FB_Ori(a,b,c)As target echo fingerprint base, location-server by echo characteristics vector EV to be matched with FB_Ori(a,b,c)In each reference point echo characteristics vector carry out Similarity measures (Euclidean distance, cosine angle etc.), and will knot The most similar echo characteristics vector of fruit as match with echo characteristics vector to be matched echo characteristics vector, by this feature to Measure the result that corresponding reference point is positioned as this.

S806：Location-server to equipment to be positioned return include current location positioning result L.

The present embodiment, by storing multiple echo fingerprint bases in location-server, when in indoor equipment to be positioned When needing positioning, equipment to be positioned sends Location Request to location-server, believes comprising space exploration sound in the Location Request Number, echo signal and posture mark, location-server wait for according to the space exploration voice signal and echo signal acquisition With feature vector, while location-server obtains corresponding target echo fingerprint base according to posture mark, will be to be matched Feature vector carries out similitude matching with the feature vector in target echo fingerprint base, determines and the echo characteristics vector to be matched The echo characteristics vector to match, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location, and to equipment to be positioned return include the current location positioning result.The indoor orientation method of the present embodiment is not It needs to arrange additional aids indoors, it is easy to spread, it is low for equipment requirements, and since space exploration voice signal uses Sequence with stronger autocorrelation performance so that the indoor orientation method of the present embodiment has stronger noise resistance interference performance, The ambient noise in echo and daily life can be effectively distinguished, utilizes sound wave to reflect active probe space environment so as to realize Feature is positioned.

Fig. 9 is the structural schematic diagram of equipment to be positioned provided by the invention, as shown in figure 9, the to be positioned of the present embodiment is set It is standby to may include：Echo acquisition module 901 and locating module 902.Wherein, echo acquisition module 901 is waited for for being in indoor Positioning device plays space exploration voice signal, and is carried out at the same time the echo letter that recording obtains the space exploration voice signal Number；Locating module 902, for the equipment to be positioned according to the space exploration voice signal and echo signal acquisition pair The echo characteristics to be matched vector answered, according to for indicating that the posture of the current equipment posture of the equipment to be positioned is identified more Target echo fingerprint base is determined in a echo fingerprint base, and is determined and the echo to be matched in the target echo fingerprint base Echo characteristics that feature vector matches vector, and using the indoor reference point corresponding to the echo characteristics vector as The current location of the equipment to be positioned；Wherein, multiple echo fingerprint bases, each echo fingerprint are stored in the equipment to be positioned Library and the posture mark of the equipment posture for indicating the equipment to be positioned correspond, and the equipment posture is by described undetermined Three azimuth of position equipment, pitch angle and roll angle dimension joints indicate；Include that multiple echoes are special in each echo fingerprint base Sign is vectorial, and each echo characteristics vector in each echo fingerprint base is corresponded with indoor multiple reference points；The ginseng Examination point is that each echo characteristics vector in advance in the reference position of the indoor setting, each echo fingerprint base is described undetermined The space exploration obtained according to the space exploration voice signal of broadcasting and recording when position equipment is in corresponding reference point The echo signal of voice signal and get.

Further, the echo characteristics vector to be matched is the device plays space exploration voice signal to be positioned, And after being carried out at the same time the echo signal that recording obtains the space exploration voice signal, according to the space exploration voice signal and What the echo signal obtained, it is specifically as follows, by the echo sequences Seq in the echo signal_rxWith the space exploration sound Transmission sequence Seq in sound signal_txIt is two that progress related operation, which takes absolute value and obtains each single item in cross-correlation sequence R, wherein R, The absolute value for the sum that the displacement of a sequence is multiplied, for details, reference can be made to formula (2)；Intercepted out in the cross-correlation sequence R from I_startThe cross-correlation sequence R' of the effective echo segment started, wherein R' is referring specifically to formula (3), I_startIt is maximized for R Index；According to the cross-correlation sequence R', calculate separately the M echo average energies apart from section, obtain echo characteristics to EV is measured, for details, reference can be made to formula (4) by EV.

The equipment to be positioned of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 1, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 10 is the structural schematic diagram of another equipment to be positioned of the present invention, as shown in Figure 10, the present embodiment it is to be positioned Equipment may include：Acquisition module 101, sending module 102 and receiving module 103, wherein acquisition module 101, for being in Indoor device plays space exploration voice signal to be positioned, and be carried out at the same time recording and obtain the space exploration voice signal Echo signal；Corresponding echo characteristics vector to be matched is obtained according to the space exploration voice signal and the echo signal, And determining the posture mark of the equipment to be positioned, the posture identifies the equipment appearance current for indicating the equipment to be positioned State；Wherein, the equipment posture is indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints； Sending module 102, for sending Location Request to location-server, the Location Request includes the echo characteristics to be matched Posture described in vector sum identifies, and mesh is determined in multiple echo fingerprint bases so that the location-server is identified according to the posture Echo fingerprint base is marked, determines that the echo to match with the echo characteristics vector to be matched is special in the target echo fingerprint base Sign vector, and using the indoor reference point corresponding to the echo characteristics vector as the present bit of the equipment to be positioned It sets；Receiving module 103, the positioning result for including the current location returned for receiving the location-server.Wherein, institute It is in advance in the reference position of the indoor setting to state reference point.

Further, the acquisition module 101 is specifically used for, and the equipment to be positioned is by the echo in the echo signal Sequence Seq_rxWith the transmission sequence Seq in the space exploration voice signal_txProgress related operation, which takes absolute value, obtains cross-correlation Each single item in sequence R, wherein R is the absolute value for the sum that the displacement of two sequences is multiplied, and for details, reference can be made to formula (2)；Institute It states and is intercepted out from I in cross-correlation sequence R_startThe cross-correlation sequence R' of the effective echo segment started, wherein R' is referring specifically to public affairs Formula (3), I_startThe index being maximized for R；According to the cross-correlation sequence R', it is flat to calculate separately the M echoes apart from section Equal energy, obtaining echo characteristics vector EV, EV, for details, reference can be made to formula (4).

The equipment to be positioned of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 3, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 11 is the structural schematic diagram of location-server of the present invention, and as shown in figure 11, the location-server of the present embodiment can To include：Receiving module 111, locating module 112 and sending module 113, wherein receiving module 111 are in room for receiving The Location Request that interior equipment to be positioned is sent, the Location Request include echo characteristics vector sum posture mark to be matched； Wherein, the echo characteristics vector to be matched and is carried out at the same time by the device plays space exploration voice signal to be positioned After recording obtains the echo signal of the space exploration voice signal, believed according to the space exploration voice signal and the echo Number obtain；Posture mark be by the equipment to be positioned it is determining according to current equipment posture；The equipment Posture is indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；Locating module 112, is used for Target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, in the target echo fingerprint base really The fixed echo characteristics vector to match with the echo characteristics vector to be matched, and by the institute corresponding to the echo characteristics vector State current location of the indoor reference point as the equipment to be positioned；Wherein, it is stored in the location-server multiple times Sound fingerprint base, each echo fingerprint base and the posture mark correspond, each echo fingerprint base include multiple echo characteristics to It measures, each echo characteristics vector in each echo fingerprint base is corresponded with indoor multiple reference points, the reference point It is described to be positioned set for each echo characteristics vector in advance in the reference position of the indoor setting, each echo fingerprint base It is obtained simultaneously according to the echo signal that the space exploration voice signal of broadcasting and recording obtain when in corresponding reference point It is sent to the location-server；Sending module 113, for including the current location to the equipment transmission to be positioned Positioning result；

Wherein, the locating module 112 is specifically used for referring to the echo characteristics vector to be matched with the target echo Each echo characteristics vector carries out Similarity measures in line library, and is waited for using the most similar echo characteristics vector of result as with described The echo characteristics vector to match with echo characteristics vector.

The location-server of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 4, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 12 is the structural schematic diagram of another of the invention equipment to be positioned, as shown in figure 12, the present embodiment it is to be positioned Equipment includes：Determining module 121, sending module 122 and receiving module 123, wherein determining module 121, in interior Device plays space exploration voice signal to be positioned, be carried out at the same time the echo letter that recording obtains the space exploration voice signal Number；And determining the posture mark of the equipment to be positioned, the posture mark is set for indicating that the equipment to be positioned is current Standby posture；The equipment posture is indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；Hair Module 122 is sent, for sending Location Request to location-server, the Location Request includes the space exploration sound letter Number, the echo signal and the posture mark, so that the location-server is according to the space exploration voice signal and institute It is true in multiple echo fingerprint bases according to posture mark after stating the corresponding echo characteristics vector to be matched of echo signal acquisition Set the goal echo fingerprint base, determines in the target echo fingerprint base and is returned with what the echo characteristics vector to be matched matched Acoustic signature vector, and using indoor reference point the working as the equipment to be positioned corresponding to the echo characteristics vector Front position；Wherein, the reference point is in advance in the reference position of the indoor setting；Receiving module 123, it is described for receiving The positioning result for including the current location that location-server returns.

The equipment to be positioned of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 6, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 13 is the structural schematic diagram of another location-server of the present invention, and as shown in figure 13, the positioning of the present embodiment takes Business device include：Receiving module 131, locating module 132 and sending module 133, wherein receiving module 131 is in for receiving The Location Request that indoor equipment to be positioned is sent, the Location Request include space exploration voice signal, echo signal and Posture identifies；Wherein, the echo signal is by according to the same of space exploration voice signal described in the device plays to be positioned Shi Jinhang records and the echo signal of the space exploration voice signal that obtains, and posture mark to be positioned is set by described For what is determined, the posture identifies the equipment posture current for indicating the equipment to be positioned；The equipment posture is by described Three azimuth of equipment to be positioned, pitch angle and roll angle dimension joints indicate；Locating module 132, for according to the sky Between sound detecting signal and the echo signal obtain corresponding echo characteristics vector to be matched, and existed according to posture mark Target echo fingerprint base is determined in multiple echo fingerprint bases, and is determined and described to be matched time in the target echo fingerprint base The echo characteristics vector that acoustic signature vector matches, and the indoor anchor node corresponding to the echo characteristics vector is made For the current location of the equipment to be positioned；Sending module 133, for including the present bit to the equipment transmission to be positioned The positioning result set；Wherein, multiple echo fingerprint bases, each echo fingerprint base and the posture are stored in the location-server Mark corresponds；Include multiple echo characteristics vector in each echo fingerprint base, each echo in each echo fingerprint base is special Sign vector is corresponded with indoor multiple reference points；The reference point is in advance in the reference bit of the indoor setting It sets, each echo characteristics vector in each echo fingerprint base is that the equipment to be positioned will herein when being in corresponding reference point The space exploration voice signal and echo signal of broadcasting are sent to the location-server, are got by the location-server 's.

The location-server of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 8, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 14 is the device structure schematic diagram of present invention equipment to be positioned, and as shown in figure 14, the to be positioned of the present embodiment is set It is standby to include：Transmitter 141, receiver 142, processor 143 and memory 144.Wherein transmitter 141, for playing space Sound detecting signal；Receiver 142, for while the transmitter 141 plays space exploration voice signal, recording Obtain the echo signal of the space exploration voice signal；Processor 143, for according to the space exploration voice signal and institute It states echo signal and obtains corresponding echo characteristics vector to be matched, according to the equipment appearance current for indicating the equipment to be positioned The posture of state identifies and determines target echo fingerprint base in multiple echo fingerprint bases, and is determined in the target echo fingerprint base The echo characteristics vector to match with the echo characteristics vector to be matched, and will be described in corresponding to the echo characteristics vector Current location of the indoor reference point as the equipment to be positioned；Memory 144, for storing multiple echo fingerprint bases, respectively Echo fingerprint base with for indicate the equipment to be positioned equipment posture posture mark correspond, the equipment posture by Three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints indicate；Include more in each echo fingerprint base A echo characteristics is vectorial, and each echo characteristics vector in each echo fingerprint base is a pair of with indoor multiple reference points one It answers；Each echo characteristics vector in each echo fingerprint base is when the equipment to be positioned is in corresponding reference point according to broadcasting The echo signal for the space exploration voice signal that the space exploration voice signal put and recording obtain and get.

Wherein, the processor 143 is specifically used for the echo sequences Seq in the echo signal_rxIt is visited with the space Survey the transmission sequence Seq in voice signal_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceEach of which item is the absolute value for the sum that the displacement of two sequences is multiplied, and specific formula isLen=Len_rx+Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength； It is intercepted out from I in the cross-correlation sequence R_startThe cross-correlation sequence R' of the effective echo segment started, whereinI_startThe index being maximized for R；According to the cross-correlation Sequence R' calculates separately the M echo average energies apart from section, obtains echo characteristics vector EV=(echoE₁, echoE₂,...,echoE_M), wherein echoE_iFor i-th of echo average energy apart from section, i=1,2 ..., M.

Wherein, described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', it obtains Echo characteristics vector EV=(echoE₁,echoE₂,...,echoE_M), specially：For apart from section D_i=(d_i,d_i+1), according to FormulaObtain d_iLocation index, according to formulaObtain d_i+1Location index；Wherein, f_sFor Sample frequency, f_soundFor the aerial spread speed of sound；Apart from section D_i=(d_i,d_i+1) echo average energy beCalculate separately i=1, the corresponding echo average energy apart from section when 2 ..., M, Obtain echo characteristics vector EV=(echoE₁,echoE₂,...,echoE_M)。

Further, the receiver 142 is specifically used for, and records, at least postpone after broadcasting Δ t when Between；Wherein, Δ t ＞ t_A, t_A=d_max·2/f_sound, d_maxThe biography of echo signal can be returned for the space exploration voice signal Broadcast maximum distance, f_soundFor the aerial spread speed of sound.

The processor 143 is specifically additionally operable to, by the echo characteristics vector to be matched and the target echo fingerprint base In each echo characteristics vector carry out Similarity measures, and using the most similar echo characteristics vector of result as with described to be matched time The echo characteristics vector that acoustic signature vector matches.

Equipment to be positioned provided in this embodiment can be used for executing the technical solution of above method embodiment, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 15 is the device structure schematic diagram of another equipment to be positioned of the present invention, and as shown in figure 15, the present embodiment waits for Positioning device includes：Transmitter 151, receiver 152 and processor 153.Wherein, transmitter 151, for playing space exploration Voice signal；Receiver 152, for being carried out described in recording acquisition while transmitter 151 plays space exploration voice signal The echo signal of space exploration voice signal；Processor 153, for being believed according to the space exploration voice signal and the echo Number corresponding echo characteristics to be matched vector is obtained, and determine the posture mark of the equipment to be positioned, the posture mark is used In the current equipment posture of the expression equipment to be positioned；The wherein described equipment posture by the equipment to be positioned azimuth, Three dimension joints of pitch angle and roll angle indicate；Wherein, the transmitter 151 is additionally operable to send positioning to location-server Request, the Location Request includes that posture described in the echo characteristics vector sum to be matched identifies, for the positioning service Device identifies according to the posture and determines target echo fingerprint base in multiple echo fingerprint bases, in the target echo fingerprint base Determine the echo characteristics vector to match with the echo characteristics vector to be matched, and will be corresponding to the echo characteristics vector Current location of the indoor anchor node as the equipment to be positioned；The receiver 152 is additionally operable to receive the positioning The positioning result for including the current location that server returns.

Further, the processor 153 is specifically used for the echo sequences Seq in the echo signal_rxWith the sky Between transmission sequence Seq in sound detecting signal_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceEach of which item is the absolute value for the sum that the displacement of two sequences is multiplied, and specific formula isLen=Len_rx+Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength； It is intercepted out from I in the cross-correlation sequence R_startThe cross-correlation sequence R' of the effective echo segment started, whereinI_startThe index being maximized for R；According to the cross-correlation Sequence R' calculates separately the M echo average energies apart from section, obtains echo characteristics vector EV=(echoE₁, echoE₂,...,echoE_M), wherein echoE_iFor i-th of echo average energy apart from section, i=1,2 ..., M.

It is described carry out recording and obtain the echo signal of the space exploration voice signal be specially：It records, Zhi Daobo At least postpone the time of Δ t after putting；Wherein, Δ t ＞ t_A, t_A=d_max·2/f_sound, d_maxFor the space exploration sound Signal can return to the propagation maximum distance of echo signal, f_soundFor the aerial spread speed of sound.

Figure 16 is the device structure schematic diagram of location-server of the present invention, as shown in figure 16, the location-server of this implementation Including：Receiver 161, processor 162 and transmitter 163.Wherein, receiver 161 to be positioned are set for receiving in indoor The Location Request that preparation is sent, the Location Request include echo characteristics vector sum posture mark to be matched；Wherein, described to wait for It is and to be carried out at the same time recording by the device plays space exploration voice signal to be positioned and obtain the sky with echo characteristics vector Between sound detecting signal echo signal after, obtained according to the space exploration voice signal and the echo signal；It is described Posture mark is determined by the equipment to be positioned, and the posture identifies the equipment current for indicating the equipment to be positioned Posture；The equipment posture is indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；Processing Device 162, for determining target echo fingerprint base in multiple echo fingerprint bases according to posture mark, in the target echo The echo characteristics vector to match with the echo characteristics vector to be matched is determined in fingerprint base, and the echo characteristics is vectorial Current location of the corresponding indoor anchor node as the equipment to be positioned；Wherein, it is deposited in the location-server Multiple echo fingerprint bases are contained, each echo fingerprint base is corresponded with posture mark, and each echo fingerprint base includes multiple Echo characteristics is vectorial, and each echo characteristics vector in each echo fingerprint base is corresponded with indoor multiple reference points, The reference point is that each echo characteristics vector in advance in the reference position of the indoor setting, each echo fingerprint base is institute State the sky that space exploration voice signal and recording when equipment to be positioned is in corresponding reference point according to broadcasting obtain Between sound detecting signal echo signal and obtain and be sent to location-server；Transmitter 163 is used for described to be positioned Equipment transmission includes the positioning result of the current location.

Wherein, be specifically used for will be in the echo characteristics vector to be matched and the target echo fingerprint base for processor 162 Each echo characteristics vector carries out Similarity measures, and using the most similar echo characteristics vector of result as with the echo to be matched The echo characteristics vector that feature vector matches.

Location-server provided in this embodiment can be used for executing the technical solution of above method embodiment, realize former Reason is similar with technique effect, and details are not described herein again.

Figure 17 is the device structure schematic diagram of another equipment to be positioned of the present invention, as shown in figure 17, the present embodiment Equipment to be positioned includes：Transmitter 171, receiver 172 and processor 173.Wherein, transmitter 171, for playing space exploration Voice signal；Receiver 172, for being carried out described in recording acquisition while transmitter 171 plays space exploration voice signal The echo signal of space exploration voice signal；Processor 173 determines the posture mark of the equipment to be positioned, the posture mark Know the equipment posture current for identifying the equipment to be positioned；The equipment posture by the equipment to be positioned azimuth, Three dimension joints of pitch angle and roll angle indicate；The transmitter 171 is additionally operable to send Location Request to location-server, The Location Request includes the space exploration voice signal, the echo signal and posture mark, for described fixed After position server obtains corresponding echo characteristics vector to be matched according to the space exploration voice signal and the echo signal, Target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, in the target echo fingerprint base really The fixed echo characteristics vector to match with the echo characteristics vector to be matched, and by the institute corresponding to the echo characteristics vector State current location of the indoor reference point as the equipment to be positioned；The receiver 172 is additionally operable to receive the positioning clothes The positioning result for including the current location that business device returns.Wherein, the reference point is in advance in the ginseng of the indoor setting Examine position.

Figure 18 is the device structure schematic diagram of another location-server of the present invention, as shown in figure 18, the present embodiment Location-server includes：Receiver 181, processor 182 and transmitter 183.Wherein, receiver 181, for receiving in interior Equipment to be positioned send Location Request, the Location Request includes space exploration voice signal, echo signal and posture Mark；Wherein, it is recorded while the echo signal is the space exploration voice signal described in the device plays to be positioned Sound and the echo signal of the space exploration voice signal obtained, the posture mark is determined by the equipment to be positioned , the posture identifies the equipment posture current for indicating the equipment to be positioned；The equipment posture is by described to be positioned Three azimuth of equipment, pitch angle and roll angle dimension joints indicate；Processor 182, for according to the space exploration sound Sound signal and the echo signal obtain corresponding echo characteristics vector to be matched, and are identified in multiple echoes according to the posture Target echo fingerprint base is determined in fingerprint base, and determine in the target echo fingerprint base with the echo characteristics to be matched to The echo characteristics vector to match is measured, and the indoor anchor node corresponding to the echo characteristics vector is waited for as described in The current location of positioning device；Wherein, multiple echo fingerprint bases, each echo fingerprint base and institute are stored in the location-server Posture mark is stated to correspond；Include multiple echo characteristics vector in each echo fingerprint base, it is each in each echo fingerprint base Echo characteristics vector is corresponded with indoor multiple reference points；The reference point is in advance in the ginseng of the indoor setting Position is examined, each echo characteristics vector in each echo fingerprint base is will when the equipment to be positioned is in corresponding reference point The echo signal for the space exploration voice signal that the space exploration voice signal and recording played herein obtains is sent to institute Location-server is stated, is got by the location-server；Transmitter includes described for being sent to the equipment to be positioned The positioning result of current location.

Wherein, the processor 182 is specifically used for the echo sequences Seq in the echo signal_rxIt is visited with the space Survey the transmission sequence Seq in voice signal_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceEach of which item is the absolute value for the sum that the displacement of two sequences is multiplied, and specific formula isLen=Len_rx+Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength； It is intercepted out from I in the cross-correlation sequence R_startThe cross-correlation sequence R' of the effective echo segment started, whereinI_startThe index being maximized for R；According to the cross-correlation Sequence R' calculates separately the M echo average energies apart from section, obtains echo characteristics vector EV=(echoE₁, echoE₂,...,echoE_M), wherein echoE_iFor i-th of echo average energy apart from section, i=1,2 ..., M.

It is described that the M echo average energies apart from section are calculated separately according to the cross-correlation sequence R', it is special to obtain echo Levy vector EV=(echoE₁,echoE₂,...,echoE_M), specially：For apart from section D_i=(d_i,d_i+1), according to formulaObtain d_iLocation index, according to formulaObtain d_i+1Location index；Wherein, f_sFor sampling Frequency, f_soundFor the aerial spread speed of sound；Apart from section D_i=(d_i,d_i+1) echo average energy beCalculate separately i=1, the corresponding echo average energy apart from section when 2 ..., M, Obtain echo characteristics vector EV=(echoE₁,echoE₂,...,echoE_M)。

Wherein, described to determine that the echo to match with the echo characteristics vector to be matched is special in target echo fingerprint base Sign vector, specially：By each echo characteristics vector in the echo characteristics vector to be matched and the target echo fingerprint base into Row Similarity measures, and using the most similar echo characteristics vector of result as matching with the echo characteristics vector to be matched Echo characteristics vector.

Figure 19 is the structural schematic diagram of indoor locating system embodiment one of the present invention, as shown in figure 19, the indoor positioning System includes equipment 191 to be positioned and location-server 192.

Wherein, the structure of the device embodiment of Figure 10 may be used in equipment 191 to be positioned, accordingly, can execute it The technical solution of embodiment of the method, implementing principle and technical effect are similar, and details are not described herein again.

The structure of the device embodiment of Figure 11 may be used in location-server 192, accordingly, can execute its method reality The technical solution of example is applied, implementing principle and technical effect are similar, and details are not described herein again.

Figure 20 is the structural schematic diagram of indoor locating system embodiment two of the present invention, as shown in figure 20, the indoor positioning System includes equipment 201 to be positioned and location-server 202.

Wherein, the structure of the device embodiment of Figure 12 may be used in equipment 201 to be positioned, accordingly, can execute it The technical solution of embodiment of the method, implementing principle and technical effect are similar, and details are not described herein again.

The structure of the device embodiment of Figure 13 may be used in location-server 202, accordingly, can execute its method reality The technical solution of example is applied, implementing principle and technical effect are similar, and details are not described herein again.

One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or The various media that can store program code such as person's CD.

Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims

1. a kind of indoor orientation method, which is characterized in that including：

In indoor device plays space exploration voice signal to be positioned, and it is carried out at the same time recording and obtains the space exploration sound The echo signal of sound signal；

The equipment to be positioned obtains corresponding echo to be matched according to the space exploration voice signal and the echo signal Feature vector, according to for indicating that the posture of the current equipment posture of the equipment to be positioned identifies in multiple echo fingerprint bases Determine target echo fingerprint base, and determination matches with the echo characteristics vector to be matched in the target echo fingerprint base Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location；

Wherein, be stored with multiple echo fingerprint bases in the equipment to be positioned, each echo fingerprint base with for indicating described undetermined The posture mark of the equipment posture of position equipment corresponds, azimuth of the equipment posture by the equipment to be positioned, pitching The three dimension joints in angle and roll angle indicate；Include multiple echo characteristics vector, each echo fingerprint in each echo fingerprint base Each echo characteristics vector in library is corresponded with indoor multiple reference points；The reference point is in advance in the interior The reference position of setting, each echo characteristics vector in each echo fingerprint base is that the equipment to be positioned is in corresponding reference When on point according to the space exploration voice signal of broadcasting and recording obtain the space exploration voice signal echo signal and It gets.

2. according to the method described in claim 1, it is characterized in that, the equipment to be positioned is believed according to the space exploration sound Number and the echo signal obtain corresponding echo characteristics vector to be matched and include：

The equipment to be positioned is by the echo sequences Seq in the echo signal_rxWith the hair in the space exploration voice signal Send sequence Seq_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceEach of which item For the absolute value for the sum that the displacement of two sequences is multiplied, specific formula isLen=Len_rx +Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength；

According to the cross-correlation sequence R', the M echo average energies apart from section are calculated separately, obtain echo characteristics vector EV =(echoE₁,echoE₂,...,echoE_M), wherein echoE_iFor i-th of echo average energy apart from section, i=1, 2,...,M。

3. according to the method described in claim 2, it is characterized in that, described according to the cross-correlation sequence R', M are calculated separately Echo average energy apart from section obtains echo characteristics vector EV=(echoE₁,echoE₂,...,echoE_M), including：

Calculate separately i=1, the corresponding echo average energy apart from section when 2 ..., M obtains echo characteristics vector EV= (echoE₁,echoE₂,...,echoE_M)。

4. method according to any one of claims 1 to 3, which is characterized in that described to carry out the recording acquisition space exploration The echo signal of voice signal includes：

It records, at least postpones the time of Δ t after broadcasting；Wherein, Δ t ＞ t_A, t_A=d_max·2/f_sound, d_max The propagation maximum distance of echo signal, f can be returned for the space exploration voice signal_soundFor the aerial propagation of sound Speed.

5. method according to any one of claims 1 to 3, which is characterized in that described true in the target echo fingerprint base The fixed echo characteristics vector to match with the echo characteristics vector to be matched, including：

Each echo characteristics vector in the echo characteristics vector to be matched and the target echo fingerprint base is subjected to similitude meter Calculate, and using the most similar echo characteristics vector of result as the echo characteristics to match with the echo characteristics vector to be matched to Amount.

6. a kind of indoor orientation method, which is characterized in that including：

In indoor device plays space exploration voice signal to be positioned, and it is carried out at the same time recording and obtains the space exploration sound The echo signal of sound signal；It is special that corresponding echo to be matched is obtained according to the space exploration voice signal and the echo signal Sign vector, and determine the posture mark of the equipment to be positioned, the posture mark is for indicating that the equipment to be positioned is current Equipment posture, wherein the equipment posture is joined by three azimuth of the equipment to be positioned, pitch angle and roll angle dimensions It closes and indicates；

The equipment to be positioned sends Location Request to location-server, and the Location Request includes that the echo to be matched is special Posture mark described in vector sum is levied, is determined in multiple echo fingerprint bases so that the location-server is identified according to the posture Target echo fingerprint base determines the echo to match with the echo characteristics vector to be matched in the target echo fingerprint base Feature vector, and using the indoor reference point corresponding to the echo characteristics vector as the current of the equipment to be positioned Position；

7. according to the method described in claim 6, it is characterized in that, described according to the space exploration voice signal and described time Acoustical signal obtains corresponding echo characteristics vector to be matched：

8. the method according to the description of claim 7 is characterized in that described according to the cross-correlation sequence R', M are calculated separately Echo average energy apart from section obtains echo characteristics vector EV=(echoE₁,echoE₂,...,echoE_M), including：

9. according to any method of claim 6 to 8, which is characterized in that described to carry out the recording acquisition space exploration The echo signal of voice signal includes：

10. a kind of indoor orientation method, which is characterized in that including：

Location-server receives the Location Request sent in indoor equipment to be positioned, and the Location Request includes to be matched Echo characteristics vector sum posture identifies；Wherein, the echo characteristics vector to be matched is by the device plays space to be positioned Sound detecting signal, and after being carried out at the same time the echo signal that recording obtains the space exploration voice signal, according to the space What sound detecting signal and the echo signal obtained；The posture mark is determined by the equipment to be positioned, the appearance State identifies the equipment posture current for indicating the equipment to be positioned；The equipment posture by the equipment to be positioned orientation Three angle, pitch angle and roll angle dimension joints indicate；

The location-server identifies according to the posture and determines target echo fingerprint base in multiple echo fingerprint bases, described Determine the echo characteristics vector to match with the echo characteristics vector to be matched in target echo fingerprint base, and by the echo Current location of the indoor reference point as the equipment to be positioned corresponding to feature vector；Wherein, the positioning clothes Multiple echo fingerprint bases are stored in business device, each echo fingerprint base is corresponded with posture mark, in each echo fingerprint base It is vectorial including multiple echo characteristics, each echo characteristics vector in each echo fingerprint base and indoor multiple reference points one One corresponds to, and the reference point is each echo characteristics in advance in the reference position of the indoor setting, each echo fingerprint base Vector is the space exploration voice signal and recording acquisition when the equipment to be positioned is in corresponding reference point according to broadcasting The space exploration voice signal echo signal and obtain and be sent to the location-server；

11. according to the method described in claim 10, it is characterized in that, the determining and institute in the target echo fingerprint base The echo characteristics vector that echo characteristics vector to be matched matches is stated, including：

12. a kind of indoor orientation method, which is characterized in that including：

In indoor device plays space exploration voice signal to be positioned, it is carried out at the same time recording and obtains the space exploration sound The echo signal of signal；And determining the posture mark of the equipment to be positioned, the posture mark is for indicating described to be positioned The current equipment posture of equipment；The equipment posture is by three azimuth of the equipment to be positioned, pitch angle and roll angle dimensions Degree joint indicates；

The equipment to be positioned sends Location Request to location-server, and the Location Request includes the space exploration sound Signal, the echo signal and posture mark, for the location-server according to the space exploration voice signal and After the echo signal obtains corresponding echo characteristics vector to be matched, according to posture mark in multiple echo fingerprint bases Determine target echo fingerprint base, the determining and echo characteristics vector to be matched matches in the target echo fingerprint base Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location；Wherein, the reference point is in advance in the reference position of the indoor setting；

13. a kind of indoor orientation method, which is characterized in that including：

Location-server receives the Location Request sent in indoor equipment to be positioned, and the Location Request includes that space is visited Survey voice signal, echo signal and posture mark；Wherein, the echo signal is the space described in the device plays to be positioned The echo signal of the space exploration voice signal recorded and obtained while sound detecting signal, the posture mark It is to be determined by the equipment to be positioned, the posture identifies the equipment posture current for indicating the equipment to be positioned, institute Equipment posture is stated to be indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；

The location-server obtains corresponding echo to be matched according to the space exploration voice signal and the echo signal Feature vector, and target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, and in the target Determine the echo characteristics vector to match with the echo characteristics vector to be matched in echo fingerprint base, and by the echo characteristics Current location of the indoor reference point as the equipment to be positioned corresponding to vector；Wherein, the location-server In be stored with multiple echo fingerprint bases, each echo fingerprint base is corresponded with posture mark；It is wrapped in each echo fingerprint base Multiple echo characteristics vectors are included, each echo characteristics vector and indoor multiple reference points in each echo fingerprint base are one by one It is corresponding；The reference point be in advance each echo characteristics in the reference position of the indoor setting, each echo fingerprint base to Amount is that the equipment to be positioned obtains the space exploration voice signal played here and recording when being in corresponding reference point The echo signal of the space exploration voice signal taken is sent to the location-server, is got by the location-server 's；

14. according to the method for claim 13, which is characterized in that described according to the space exploration voice signal and described Echo signal obtains corresponding echo characteristics vector to be matched：

The location-server is by the echo sequences Seq in the echo signal_rxWith the hair in the space exploration voice signal Send sequence Seq_txProgress related operation, which takes absolute value, obtains cross-correlation sequenceEach of which item For the absolute value for the sum that the displacement of two sequences is multiplied, specific formula isLen=Len_rx+ Len_tx；Len_rxFor Seq_rxLength, Len_txFor Seq_txLength；

15. according to the method for claim 14, which is characterized in that it is described according to the cross-correlation sequence R', calculate separately M A echo average energy apart from section obtains echo characteristics vector EV=(echoE₁,echoE₂,...,echoE_M), including：

16. according to any method of claim 13 to 15, which is characterized in that described in the target echo fingerprint base Determine the echo characteristics vector to match with the echo characteristics vector to be matched, including：

17. a kind of equipment to be positioned, which is characterized in that including：

Echo acquisition module for being in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording Obtain the echo signal of the space exploration voice signal；

Locating module, it is special for obtaining corresponding echo to be matched according to the space exploration voice signal and the echo signal Sign vector, according to for indicating that the posture of the current equipment posture of the equipment to be positioned identifies in multiple echo fingerprint bases really Set the goal echo fingerprint base, and determines in the target echo fingerprint base and match with the echo characteristics vector to be matched Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location；

18. equipment to be positioned according to claim 17, which is characterized in that the equipment to be positioned is visited according to the space It surveys voice signal and the corresponding echo characteristics vector to be matched of echo signal acquisition includes：

19. equipment to be positioned according to claim 18, which is characterized in that it is described according to the cross-correlation sequence R', divide Not Ji Suan echo average energies of the M apart from section, obtain echo characteristics vector EV=(echoE₁,echoE₂,..., echoE_M), including：

20. according to any equipment to be positioned of claim 17 to 19, which is characterized in that described to carry out described in recording acquisition The echo signal of space exploration voice signal includes：

21. according to any equipment to be positioned of claim 17 to 19, which is characterized in that described to refer in the target echo The echo characteristics vector to match with the echo characteristics vector to be matched is determined in line library, including：

22. a kind of equipment to be positioned, which is characterized in that including：

Acquisition module for being in indoor device plays space exploration voice signal to be positioned, and is carried out at the same time recording and obtains The echo signal of the space exploration voice signal；It is obtained and is corresponded to according to the space exploration voice signal and the echo signal Echo characteristics to be matched vector, and determine the posture mark of the equipment to be positioned, the posture mark is for indicating described The current equipment posture of equipment to be positioned；Wherein, the equipment posture by the azimuth of the equipment to be positioned, pitch angle and is turned over Three dimension joints of roll angle indicate；

Sending module, for sending Location Request to location-server, the Location Request includes that the echo to be matched is special Posture mark described in vector sum is levied, is determined in multiple echo fingerprint bases so that the location-server is identified according to the posture Target echo fingerprint base determines the echo to match with the echo characteristics vector to be matched in the target echo fingerprint base Feature vector, and using the indoor reference point corresponding to the echo characteristics vector as the current of the equipment to be positioned Position；

23. equipment to be positioned according to claim 22, which is characterized in that described according to the space exploration voice signal Obtaining corresponding echo characteristics vector to be matched with the echo signal includes：

24. equipment to be positioned according to claim 23, which is characterized in that it is described according to the cross-correlation sequence R', divide Not Ji Suan echo average energies of the M apart from section, obtain echo characteristics vector EV=(echoE₁,echoE₂,..., echoE_M), including：

25. according to any equipment to be positioned of claim 22 to 24, which is characterized in that described to carry out described in recording acquisition The echo signal of space exploration voice signal includes：

26. a kind of location-server, which is characterized in that including：

Receiving module, for receiving the Location Request sent in indoor equipment to be positioned, the Location Request includes waiting for Match echo characteristics vector sum posture mark；Wherein, the echo characteristics vector to be matched is by the device plays to be positioned Space exploration voice signal, and after being carried out at the same time the echo signal that recording obtains the space exploration voice signal, according to described What space exploration voice signal and the echo signal obtained；The posture mark is determined by the equipment to be positioned, institute It states posture and identifies the equipment posture current for indicating the equipment to be positioned；The equipment posture is by the equipment to be positioned Three azimuth, pitch angle and roll angle dimension joints indicate；

Locating module, for determining target echo fingerprint base in multiple echo fingerprint bases according to posture mark, described Determine the echo characteristics vector to match with the echo characteristics vector to be matched in target echo fingerprint base, and by the echo Current location of the indoor reference point as the equipment to be positioned corresponding to feature vector；Wherein, the positioning clothes Multiple echo fingerprint bases are stored in business device, each echo fingerprint base is corresponded with posture mark, in each echo fingerprint base It is vectorial including multiple echo characteristics, each echo characteristics vector in each echo fingerprint base and indoor multiple reference points one One corresponds to, and the reference point is each echo characteristics in advance in the reference position of the indoor setting, each echo fingerprint base Vector is the space exploration voice signal and recording acquisition when the equipment to be positioned is in corresponding reference point according to broadcasting The space exploration voice signal echo signal and obtain and be sent to the location-server；

27. location-server according to claim 26, which is characterized in that described true in the target echo fingerprint base The fixed echo characteristics vector to match with the echo characteristics vector to be matched, including：

28. a kind of equipment to be positioned, which is characterized in that including：

Determining module is carried out at the same time recording and obtains institute for being in indoor device plays space exploration voice signal to be positioned State the echo signal of space exploration voice signal；And determining the posture mark of the equipment to be positioned, the posture mark is used for Indicate the current equipment posture of the equipment to be positioned；Azimuth of the equipment posture by the equipment to be positioned, pitch angle It is indicated with three dimension joints of roll angle；

Sending module, for sending Location Request to location-server, the Location Request includes the space exploration sound Signal, the echo signal and posture mark, for the location-server according to the space exploration voice signal and After the echo signal obtains corresponding echo characteristics vector to be matched, according to posture mark in multiple echo fingerprint bases Determine target echo fingerprint base, the determining and echo characteristics vector to be matched matches in the target echo fingerprint base Echo characteristics vector, and using the indoor reference point corresponding to the echo characteristics vector as the equipment to be positioned Current location；Wherein, the reference point is in advance in the reference position of the indoor setting；

29. a kind of location-server, which is characterized in that including：

Receiving module, for receiving the Location Request sent in indoor equipment to be positioned, the Location Request includes empty Between sound detecting signal, echo signal and posture mark；Wherein, the echo signal is described in the device plays to be positioned The echo signal of the space exploration voice signal recorded and obtained while space exploration voice signal, the posture Mark is determined by the equipment to be positioned, and the posture identifies the equipment appearance current for indicating the equipment to be positioned State；The equipment posture is indicated by three azimuth of the equipment to be positioned, pitch angle and roll angle dimension joints；

Locating module, it is special for obtaining corresponding echo to be matched according to the space exploration voice signal and the echo signal Sign vector, and target echo fingerprint base is determined in multiple echo fingerprint bases according to posture mark, and returned in the target Determine the echo characteristics vector to match with the echo characteristics vector to be matched in sound fingerprint base, and by the echo characteristics to Current location of the corresponding indoor reference point of amount as the equipment to be positioned；Wherein, in the location-server Multiple echo fingerprint bases are stored with, each echo fingerprint base is corresponded with posture mark；Include in each echo fingerprint base Multiple echo characteristics are vectorial, and each echo characteristics vector in each echo fingerprint base is a pair of with indoor multiple reference points one It answers；The reference point is that each echo characteristics in advance in the reference position of the indoor setting, each echo fingerprint base is vectorial It is to obtain the space exploration voice signal played here and recording when the equipment to be positioned is in corresponding reference point The echo signal of the space exploration voice signal be sent to the location-server, got by the location-server 's；

30. location-server according to claim 29, which is characterized in that described according to the space exploration voice signal Obtaining corresponding echo characteristics vector to be matched with the echo signal includes：

31. location-server according to claim 30, which is characterized in that it is described according to the cross-correlation sequence R', divide Not Ji Suan echo average energies of the M apart from section, obtain echo characteristics vector EV=(echoE₁,echoE₂,..., echoE_M), including：

32. according to any location-server of claim 29 to 31, which is characterized in that described to refer in the target echo The echo characteristics vector to match with the echo characteristics vector to be matched is determined in line library, including：

33. a kind of indoor locating system, which is characterized in that including：

Such as claim 22 to 25 any one of them equipment to be positioned, and the positioning service as described in claim 26 or 27 Device.

34. a kind of indoor locating system, which is characterized in that including：

Equipment to be positioned as claimed in claim 28, and such as claim 29 to 32 any one of them location-server.