CN105813191B - positioning method and device and mobile terminal - Google Patents
positioning method and device and mobile terminal Download PDFInfo
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- CN105813191B CN105813191B CN201410851955.8A CN201410851955A CN105813191B CN 105813191 B CN105813191 B CN 105813191B CN 201410851955 A CN201410851955 A CN 201410851955A CN 105813191 B CN105813191 B CN 105813191B
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Abstract
The embodiment of the invention discloses a positioning method, a positioning device and a mobile terminal, and relates to the technical field of communication, wherein the method comprises the following steps: determining signal sampling information in a period of time, wherein the signal sampling information comprises the number of signal sampling points and the direction of each signal sampling point; acquiring walking information in the period of time, wherein the walking information comprises the walking steps and step length; and determining the position information of each signal sampling point according to the signal sampling information and the walking information. The embodiment of the invention can realize indoor positioning.
Description
Technical Field
the present invention relates to the field of communications technologies, and in particular, to a positioning method and apparatus, and a mobile terminal.
Background
In the outdoor environment, the positioning method is mainly a satellite navigation method such as a Global Positioning System (GPS), that is, the position (longitude and latitude coordinates) information of a specific position point is provided by the navigation method such as the GPS.
However, in the indoor environment, since the wireless signal is faded after passing through the building, the signal strength is weakened, and the accurate positioning of a specific location point cannot be achieved or is difficult to achieve through navigation methods such as GPS.
disclosure of Invention
the technical problem to be solved by the embodiment of the invention is as follows: the problem of indoor location is solved.
According to an aspect of the present invention, there is provided a positioning method, including: determining signal sampling information in a period of time, wherein the signal sampling information comprises the number of signal sampling points and the direction of each signal sampling point; acquiring walking information in the period of time, wherein the walking information comprises the walking steps and step length; and determining the position information of each signal sampling point according to the signal sampling information and the walking information.
In one embodiment, the determining the position information of each signal sampling point according to the signal sampling information and the walking information comprises: determining the number of walking steps between adjacent signal sampling points according to the number of the signal sampling points and the walking steps; determining the distance between adjacent signal sampling points according to the walking steps and the step length between the adjacent signal sampling points; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
In one embodiment, the determining the position information of each signal sampling point according to the signal sampling information and the walking information comprises: determining the number of signal sampling points between each step according to the number of the signal sampling points and the number of walking steps; determining the distance between adjacent signal sampling points between each step according to the number and the step length of the signal sampling points between each step; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
In one embodiment, the direction of each signal sample point is determined by a magnetic induction technique.
In one embodiment, the number of steps taken is obtained by gravity sensing or acceleration sensing techniques.
In one embodiment, the step size of the walk is determined according to the following method: recording the number of steps of walking from a certain starting point to a terminal point in an area covered by a satellite navigation system; and obtaining an average step length according to the number of steps of walking between the starting point and the end point and the distance between the starting point and the end point determined by the satellite navigation system, and taking the average step length as the step length of walking.
In one embodiment, the method further comprises: and converting the position information of each signal sampling point from rectangular coordinates into coordinates of a satellite navigation system.
according to another aspect of the present invention, there is provided a positioning apparatus comprising: the sampling information determining unit is used for determining signal sampling information in a period of time, and the signal sampling information comprises the number of signal sampling points and the direction of each signal sampling point; the walking information acquisition unit is used for acquiring walking information in the period of time, and the walking information comprises the walking steps and the step length; and the positioning unit is used for determining the position information of each signal sampling point according to the signal sampling information and the walking information.
In one embodiment, the positioning unit is specifically configured to: determining the number of walking steps between adjacent signal sampling points according to the number of the signal sampling points and the walking steps; determining the distance between adjacent signal sampling points according to the walking steps and the step length between the adjacent signal sampling points; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
in one embodiment, the positioning unit is specifically configured to: determining the number of signal sampling points between each step according to the number of the signal sampling points and the number of walking steps; determining the distance between adjacent signal sampling points between each step according to the number and the step length of the signal sampling points between each step; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
in one embodiment, the sampling information determining unit is specifically configured to determine the direction of each signal sampling point by a magnetic induction technique.
In one embodiment, the walking information obtaining unit is specifically configured to obtain the number of steps of walking through a gravity sensing technology or an acceleration sensing technology.
in one embodiment, the walking information obtaining unit is further configured to record the number of steps of walking from a certain starting point to a certain terminal point in an area covered by a satellite navigation system; the device further comprises: and the step length calibration unit is used for obtaining an average step length according to the number of steps of walking between the starting point and the end point and the distance between the starting point and the end point determined by the satellite navigation system, and taking the average step length as the step length of walking.
In one embodiment, the apparatus further comprises: and the coordinate conversion unit is used for converting the position information of each signal sampling point into the coordinate of the satellite navigation system from rectangular coordinates.
According to another aspect of the present invention, there is provided a mobile terminal including the positioning apparatus provided in any of the above embodiments.
By the positioning method provided by the embodiment of the invention, the positioning function can be realized in an area without satellite navigation coverage, such as indoors. In addition, compared with the rough positioning realized by fading, time delay and the like of a plurality of wireless signals of a mobile network, the positioning method provided by the embodiment of the invention can accurately determine the position information of each signal sampling point, thereby realizing the precise positioning.
the technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of one embodiment of a positioning method of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the positioning device of the present invention;
FIG. 3 is a schematic structural diagram of another embodiment of the positioning device of the present invention;
Fig. 4 is a schematic structural diagram of a positioning device according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a flowchart of an embodiment of a positioning method of the present invention. As shown in fig. 1, the positioning method provided in this embodiment includes the following steps:
Step 102, determining signal sampling information in a period of time, wherein the signal sampling information comprises the number of signal sampling points and the direction of each signal sampling point.
one implementation manner is as follows: the direction of each signal sampling point is determined using magnetic induction techniques, for example, by a magnetic sensor. Specifically, a direction sensor may be utilized to collect signal signals or data and determine the direction of each signal sampling point based on the collected signals or data. Optionally, the acquired signal sampling information may further include a sampling time of each signal sampling point.
And 104, acquiring walking information in the period of time, wherein the walking information comprises the walking step number and step length.
Wherein, the walking steps can be recorded by a gravity sensing technology or an acceleration sensing technology. For example, the step counting function may be implemented by a step counting device having a gravity sensor or an acceleration sensor built therein, where the gravity sensor or the acceleration sensor detects a change in acceleration of a user (e.g., a tester) when the user walks, and when the change in acceleration is detected to exceed a preset threshold, the user may be considered to have walked one step, and a step counting counter is incremented by one, thereby implementing the step counting function. Optionally, the obtained walking information may further include a time at which each step starts.
the step size of walking can be adjusted according to different users. For more accuracy, the step sizes of different users can also be calibrated, and the process of step size calibration will be described later.
And 106, determining the position information of each signal sampling point according to the signal sampling information and the walking information.
The number of signal samples and the number of steps taken over a period of time may include two cases, one in which there are multiple steps between adjacent signal samples and another in which there are multiple signal samples between one step. Hereinafter, a description will be made separately for these two cases.
The positioning method of the embodiment can realize the positioning function in the area without satellite navigation coverage, such as indoors. In addition, relative to rough positioning realized by fading, time delay and the like of a plurality of wireless signals of the mobile network, the positioning method of the embodiment can accurately determine the position information of each signal sampling point, thereby realizing precise positioning.
The positioning method provided by the embodiment of the invention can be used for drive test positioning, including but not limited to indoor drive test positioning. In the case of a drive test, drive test information may be collected at each signal sampling point, and the drive test information may include, but is not limited to, serving cell signal strength, reference signal received power RSRP, signal to interference plus noise ratio SINR, cell identification code, uplink and downlink rate, and the like, for example.
For outdoor drive test, the drive test positioning can be carried out by using the method. The positioning method of the embodiment of the invention is used for carrying out the drive test, can realize automatic dotting drive test during the drive test, does not influence the traveling speed of a user at a turning point in each direction, and improves the accuracy of the information distribution of the drive test.
The specific implementation of step 106 in the embodiment shown in fig. 1 is described below for different cases.
For the first case where there are multiple steps between adjacent signal samples, step 106 can be implemented in the following manner:
Determining the number of walking steps between adjacent signal sampling points according to the number of the signal sampling points and the walking steps; determining the distance between adjacent signal sampling points according to the walking steps and the step length between the adjacent signal sampling points; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
For example, the number of steps of walking between adjacent signal sampling points is determined to be n steps according to the number of the signal sampling points and the number of the steps of walking, and then the distance between the adjacent signal sampling points is n times of the step length. Assuming that the position information of the starting point is the origin of coordinates, the position information of the signal sampling point 1 can be determined according to the direction of the signal sampling point 1 adjacent to the starting point and the distance between the starting point and the signal sampling point 1. In this manner, the position information of another signal sampling point 2 adjacent to the signal sampling point 1 can be determined, so that the position information of each signal sampling point can be determined.
For the second case, where there are multiple signal samples between one step, step 106 can be implemented in the following way:
determining the number of signal sampling points between each step according to the number of the signal sampling points and the number of walking steps; determining the distance between adjacent signal sampling points between each step according to the number and the step length of the signal sampling points between each step; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
For example, a step has m signal samples, each signal sample has a certain direction, and assuming that the step length is L, the step can be divided into m parts, and the distance between adjacent signal samples between the steps is L/m. Assuming that the position information of the starting point is the origin of coordinates, the position information of the signal sampling point 1 can be determined according to the direction of the signal sampling point 1 adjacent to the starting point and the distance between the starting point and the signal sampling point 1. In this manner, the position information of another signal sampling point 2 adjacent to the signal sampling point 1 can be determined, so that the position information of each signal sampling point can be determined.
In a specific application, a user may determine the value of the step length in each of the above embodiments according to the step length of the user during positioning, for example, the user may use the estimated step length as the step length of walking, or, in order to make the positioning result more accurate, the step length may be calibrated in the following manner:
First, in an area covered by a satellite navigation system, the number of steps taken from a certain starting point to an ending point is recorded. Then, an average step length is obtained according to the number of steps of walking between the starting point and the end point and the distance between the starting point and the end point determined by the satellite navigation system, and the average step length is used as the step length of walking.
Specifically, the distance from the starting point to the end point obtained in the area covered by the satellite navigation system, such as the GPS navigation system or the beidou navigation system, can be more accurate, so that the average step length obtained in this way is taken as the step length of walking, and the accuracy of positioning can be improved.
through the embodiments as described above, the position information of each signal sampling point in the rectangular coordinate system can be obtained. In one embodiment, the position information of each signal sampling point can be converted from rectangular coordinates to coordinates of a satellite navigation system, for example, coordinates of a GPS or a beidou navigation system.
The following description will be made with reference to drive test positioning and GPS coordinates as an example to perform coordinate transformation:
In one mode, when the drive test is carried out, the drive test track can be obtained by walking from an outdoor area with GPS coverage to an indoor area without GPS coverage, and the GPS coordinates of outdoor signal sampling points on the drive test track can be determined, so that the position information of each signal sampling point on the drive test track can be converted into the GPS coordinates from rectangular coordinates by at least determining the GPS coordinates of three outdoor signal sampling points.
In another mode, a drive test track is obtained by walking indoors, the GPS coordinates of three points corresponding to the roof of the indoor three signal sampling points in the vertical direction are determined, the determined GPS coordinates of the three points are used as the GPS coordinates of the indoor three signal sampling points, and then the position information of each signal sampling point on the drive test track can be converted into the GPS coordinates from the rectangular coordinates.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the device embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Fig. 2 is a schematic structural diagram of an embodiment of the positioning device of the present invention. As shown in fig. 2, the positioning device of the present embodiment includes:
A sampling information determining unit 201, configured to determine signal sampling information in a period of time, where the signal sampling information includes the number of signal sampling points and the direction of each signal sampling point;
A walking information obtaining unit 202, configured to obtain walking information in the period of time, where the walking information includes a number of steps and a step length of walking;
And the positioning unit 203 is used for determining the position information of each signal sampling point according to the signal sampling information and the walking information.
In one embodiment, the positioning unit 203 is specifically configured to: determining the number of walking steps between adjacent signal sampling points according to the number of the signal sampling points and the walking steps; determining the distance between adjacent signal sampling points according to the walking steps and the step length between the adjacent signal sampling points; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
in one embodiment, the positioning unit 203 is specifically configured to: determining the number of signal sampling points between each step according to the number of the signal sampling points and the number of walking steps; determining the distance between adjacent signal sampling points between each step according to the number and the step length of the signal sampling points between each step; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
In one embodiment, referring to fig. 2, the sampling information determining unit 201 is specifically configured to determine the direction of each signal sampling point through a magnetic induction technology, for example, a magnetic sensor may be used to determine the direction of each signal sampling point.
In one embodiment, referring to fig. 2, the walking information obtaining unit 202 is specifically configured to record and obtain the number of steps of walking through a gravity sensing technology or an acceleration sensing technology. For example, a gravity sensor or an acceleration sensor may be used to acquire the change of the acceleration value, and then determine whether to increase the count of the step-counting unit by one according to the magnitude relationship with a preset threshold.
In one embodiment, as shown in FIG. 3, the step-counting unit 202 may also be configured to record the number of steps taken from a starting point to an ending point in an area covered by the satellite navigation system. The positioning device in this embodiment may further include: the step size calibration unit 301 is configured to obtain an average step size according to the number of steps taken between the start point and the end point and the distance between the start point and the end point determined by the satellite navigation system, and use the average step size as the step size of the step.
In one embodiment, as shown in fig. 4, the positioning device may further include: and a coordinate conversion unit 401 for converting the position information of each signal sampling point from rectangular coordinates to coordinates of the satellite navigation system.
The positioning device provided by the above embodiments of the present invention can be used for, but not limited to, a mobile terminal.
The embodiment of the invention also provides a mobile terminal which comprises the positioning device provided by each embodiment.
When the positioning device and the mobile terminal are used for conducting drive test positioning, the problem that manual operation of indoor dotting drive test is complex can be solved, meanwhile, the test cost is reduced, indoor system construction and optimization benefits are improved, and network benefits and user experience are improved.
those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (7)
1. a positioning method is used for drive test, and the positioning method comprises the following steps:
Determining signal sampling information in a period of time, wherein the signal sampling information comprises the number of signal sampling points and the direction of each signal sampling point, and each signal sampling point has corresponding drive test information;
Acquiring walking information in the period of time, wherein the walking information comprises the walking steps and step length;
Determining the position information of each signal sampling point according to the signal sampling information and the walking information;
Converting the position information of each signal sampling point into the coordinate of a satellite navigation system from a rectangular coordinate;
wherein, the determining the position information of each signal sampling point according to the signal sampling information and the walking information comprises:
determining the number of signal sampling points between each step according to the number of the signal sampling points and the number of walking steps;
Determining the distance between adjacent signal sampling points between each step according to the number and the step length of the signal sampling points between each step;
Determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points;
wherein, the step length of walking is determined according to the following method:
Recording the number of steps of walking from a certain starting point to a terminal point in an area covered by a satellite navigation system;
And obtaining an average step length according to the number of steps of walking between the starting point and the end point and the distance between the starting point and the end point determined by the satellite navigation system, and taking the average step length as the step length of walking.
2. The method of claim 1, wherein the direction of each signal sample point is determined by a magnetic induction technique.
3. The method of claim 1, wherein the number of steps taken is obtained by a gravity sensing technique or an acceleration sensing technique.
4. A positioning device, wherein the positioning device is used for drive test, the positioning device comprising:
The device comprises a sampling information determining unit, a data processing unit and a data processing unit, wherein the sampling information determining unit is used for determining signal sampling information in a period of time, the signal sampling information comprises the number of signal sampling points and the direction of each signal sampling point, and each signal sampling point has corresponding drive test information;
The walking information acquisition unit is used for acquiring walking information in the period of time, and the walking information comprises the walking steps and the step length; recording the number of steps of walking from a certain starting point to a terminal point in an area covered by a satellite navigation system;
the positioning unit is used for determining the position information of each signal sampling point according to the signal sampling information and the walking information;
The coordinate conversion unit is used for converting the position information of each signal sampling point into the coordinate of the satellite navigation system from the rectangular coordinate;
The step length calibration unit is used for obtaining an average step length according to the number of steps of walking between the starting point and the end point and the distance between the starting point and the end point determined by the satellite navigation system, and taking the average step length as the walking step length;
Wherein, the positioning unit is specifically configured to: determining the number of signal sampling points between each step according to the number of the signal sampling points and the number of walking steps; determining the distance between adjacent signal sampling points between each step according to the number and the step length of the signal sampling points between each step; and determining the position information of each signal sampling point according to the position information of the starting point, the direction of each signal sampling point and the distance between adjacent signal sampling points.
5. The device according to claim 4, characterized in that the sampling information determination unit is configured to determine the direction of each signal sampling point by means of a magnetic induction technique.
6. The device according to claim 4, wherein the walking information acquiring unit is specifically configured to record and acquire the number of steps of walking through a gravity sensing technology or an acceleration sensing technology.
7. A mobile terminal, characterized in that it comprises a positioning device according to any one of claims 4-6.
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| CN103454657A (en) * | 2012-05-30 | 2013-12-18 | 中兴通讯股份有限公司 | Method and device for comprehensively positioning intelligent terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103454657A (en) * | 2012-05-30 | 2013-12-18 | 中兴通讯股份有限公司 | Method and device for comprehensively positioning intelligent terminal |
Non-Patent Citations (1)
| Title |
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| A Method for Dead Reckoning Parameter Correction in Pedestrian Navigation System;Rommanee Jirawimut等;《IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT》;20030228;第52卷(第1期);全文 * |
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