CN105974357A

CN105974357A - Method and device for positioning terminal

Info

Publication number: CN105974357A
Application number: CN201610285351.0A
Authority: CN
Inventors: 宋建文; 郝宁; 刘欢欢
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2016-04-29
Filing date: 2016-04-29
Publication date: 2016-09-28

Abstract

The invention discloses a method and a device for positioning a terminal. The method comprises steps: WiFi information of a position where a user is currently is acquired; the device for positioning terminal is sent to a server connected with the terminal; the current position is photographed to obtain a current scene image, and the current scene image is sent to the server; and a target fingerprint map and a target position sent by the server are received, and the target position is displayed on the target fingerprint map. According to the technical scheme of the invention, the target fingerprint map which is more detailed and more accurate and corresponding to the current position is built through the server, more accurate positioning is thus realized according to the WiFi information of the position where the user is currently, and the user is greatly facilitated.

Description

The localization method of terminal and device

Technical field

It relates to field of terminal technology, particularly relate to localization method and the device of terminal.

Background technology

At present, use intelligent terminal with can utilize per family GPS (Global Positioning System, Global positioning system) etc. technology position, and the location technology in correlation technique is very accurate, nothing Method is precisely located out the current particular location of user, especially when user is in certain building, phase very much Location technology in the technology of pass is generally only capable of orienting user in this building, but cannot orient user Particular location in this building, as near which office location, which shop etc., this carries to user Serve inconvenience.

Summary of the invention

Disclosure embodiment provides localization method and the device of terminal.Described technical scheme is as follows:

First aspect according to disclosure embodiment, it is provided that the localization method of a kind of terminal, including:

Obtaining user and be presently in the WiFi information of position, wherein, described WiFi information includes: terminal The target WiFi network that the name of the target WiFi network that can search, described terminal can search One or more in the signal intensity instruction of corresponding reception；

Described WiFi information is sent to the server being connected with described terminal, so that described server root According to described WiFi information and the target fingerprint map set up, determine described in be presently in position described Target location in target fingerprint map；

The described position that is presently in is shot, obtains current scene image, and by described current scene Image sends to described server, and wherein, described server is for judging corresponding pre-in described target location Whether the target scene image of storage mates with described current scene image, if coupling, then by described target Fingerprint map and described target location send to described terminal；

Receive described target fingerprint map and described target location that described server sends, and by described mesh Cursor position shows on described target fingerprint map.

In one embodiment, before acquisition user is presently in the WiFi information of position, described method Also include:

When described user movement to target indoor environment, obtain the positional information of user present position, its In, described positional information includes: the WiFi information of described user present position and the motion of described user State, the kinestate of described user includes: described user motion in described target indoor environment rises Point, described user present position are relative to the moving line of motion starting point, described user present position correspondence The direction of motion, described user present position relative to the displacement of motion starting point, described user at described mesh Exercise end in mark indoor environment, described user present position floor in described target indoor environment In at least one information；

Described positional information is sent to described server, so that described server is according to described positional information, Set up described target fingerprint map corresponding with described target indoor environment, wherein, described target fingerprint ground All there is the WiFi information of correspondence in each place in figure.

In one embodiment, described when described user movement to target indoor environment, obtain user institute The positional information of position, place, including:

When described user movement to described target indoor environment, according to the position letter installed in described terminal Breath detecting instrument obtains described positional information, and wherein, described detecting instrument includes: altimeter, electronics At least two instrument in compass, accelerometer, gyroscope.

In one embodiment, before obtaining the positional information of user present position, described method is also wrapped Include:

Gps data during described user movement to described target indoor environment is sent to described server, So that server positions the predeterminated position of described target indoor environment according to described gps data, and according to institute State the default map that predeterminated position calls the described target indoor environment of pre-stored；

It is described by described positional information transmission extremely described server, so that described server is according to described position Information, sets up described target fingerprint map corresponding with described target indoor environment, including:

Described positional information is sent to described server, so that described server is according to described default map With described positional information, set up described target fingerprint map.

In one embodiment, described the described position that is presently in is shot, obtain current scene figure Picture, including:

The described position that is presently in is shot by the preset direction indicated according to described electronic compass, obtains Current scene image.

In one embodiment, described target WiFi includes: described terminal can search at least two The signal intensity of the reception that individual WiFi network is corresponding indicates and arranges forward N number of WiFi network, wherein, N is the positive integer more than or equal to 1.

According to the second aspect of disclosure embodiment, additionally provide the localization method of another kind of terminal, including:

Receiving the WiFi information being presently in position that terminal sends, wherein, described WiFi information includes: Target WiFi that the name of the target WiFi network that terminal can search, described terminal can search The reception that network is corresponding signal intensity instruction in one or more；

According to described WiFi information and the target fingerprint map set up, determine described in be presently in position Target location in described target fingerprint map；

Receive the current scene image being presently in position described in the transmission of described terminal；

The target scene image judging pre-stored corresponding to described target location with described current scene image is No coupling；

Upon a match, described target fingerprint map and described target location are sent to described terminal, so that Described terminal receives described target fingerprint map and described target location, and is shown described target location On described target fingerprint map.

In one embodiment, described method also includes:

When described target scene image does not mates with described current scene image, call pre-stored with institute State the range difference pre-stored scene image less than each adjacent position of predeterminable range difference of target location；

Judge that whether with described current scene image mutually the pre-stored scene image of described each adjacent position Join；

Pre-stored scene image and described current scene when the arbitrary adjacent position in described each adjacent position When image matches, determine that described arbitrary adjacent position is described target location.

In one embodiment, before receiving the WiFi information being presently in position that terminal sends, Described method also includes:

Receive the positional information moved in target indoor environment that described terminal sends, wherein, institute's rheme Confidence breath includes: the WiFi information of user present position and the kinestate of described user, described user Kinestate include: described user motion starting point in described target indoor environment, described user institute Position, the place direction of motion corresponding relative to the moving line of motion starting point, described user present position, institute State user present position relative to the displacement of motion starting point, described user in described target indoor environment At least one letter in exercise end, described user present position floor in described target indoor environment Breath；

According to described positional information, set up described target fingerprint map corresponding with described target indoor environment, Wherein, all there is the WiFi information of correspondence in each place in described target fingerprint map.

In one embodiment, the position moved in target indoor environment that described terminal sends is being received Before information, described method also includes:

Receive the described user movement of described terminal transmission to gps data during described target indoor environment；

The predeterminated position of described target indoor environment is positioned according to described gps data；

The default map of the described target indoor environment of pre-stored is called according to described predeterminated position；

According to described positional information, set up described target fingerprint map corresponding with described target indoor environment, Including:

According to described default map and described positional information, set up described target fingerprint map.

The third aspect according to disclosure embodiment, it is provided that the positioner of a kind of terminal, including:

First acquisition module, is presently in the WiFi information of position for obtaining user, wherein, described WiFi information includes: the name of the target WiFi network that terminal can search, described terminal can be searched Rope to reception corresponding to target WiFi network signal intensity instruction in one or more；

First sending module, for sending described WiFi information to the service being connected with described terminal Device, so that described server is according to described WiFi information and the target fingerprint map set up, determines institute State the target location being presently in position in described target fingerprint map；

First processing module, for shooting the described position that is presently in, obtains current scene image, And described current scene image is sent to described server, wherein, described server is used for judging described Whether the target scene image of the pre-stored that target location is corresponding mates with described current scene image, if Join, then described target fingerprint map and described target location are sent to described terminal；

Second processing module, for receiving described target fingerprint map and the described mesh that described server sends Cursor position, and described target location is shown on described target fingerprint map.

In one embodiment, described device also includes:

Second acquisition module, before be presently in the WiFi information of position acquisition user, when described When user movement is to target indoor environment, the positional information of acquisition user present position, wherein,

Described positional information includes: the WiFi information of described user present position and the motion shape of described user State, the kinestate of described user includes: described user motion starting point in described target indoor environment, The fortune that described user present position is corresponding relative to the moving line of motion starting point, described user present position Move direction, described user present position relative to the displacement of motion starting point, described user in described target chamber In exercise end in interior environment, described user present position floor in described target indoor environment At least one information；

Second sending module, for described positional information is sent to described server, so that described service Device, according to described positional information, sets up described target fingerprint map corresponding with described target indoor environment, Wherein, all there is the WiFi information of correspondence in each place in described target fingerprint map.

In one embodiment, described second acquisition module includes:

Obtain submodule, for during when described user movement to described target indoor environment, according to described end The positional information detecting instrument installed in end obtains described positional information, wherein, described detecting instrument bag Include: at least two instrument in altimeter, electronic compass, accelerometer, gyroscope.

In one embodiment, described device also includes:

3rd sending module, for before obtaining the positional information of user present position, by described user Gps data when moving to described target indoor environment sends to described server so that server according to Described gps data positions the predeterminated position of described target indoor environment, and calls according to described predeterminated position The default map of the described target indoor environment of pre-stored；

Described second sending module includes:

Send submodule, for described positional information is sent to described server, so that described server According to described default map and described positional information, set up described target fingerprint map.

In one embodiment, described first processing module includes:

Shooting submodule, is presently in position for the preset direction indicated according to described electronic compass to described Put and shoot, obtain current scene image.

According to the fourth aspect of disclosure embodiment, additionally provide the positioner of another kind of terminal, including:

First receiver module, for receiving the WiFi information being presently in position that terminal sends, wherein, Described WiFi information includes: the name of the target WiFi network that terminal can search, described terminal institute One or more in the signal intensity instruction of the reception that the target WiFi network that can search is corresponding；

Determine module, for according to described WiFi information and the target fingerprint map set up, determining institute State the target location being presently in position in described target fingerprint map；

Second receiver module, for receiving the current scene being presently in position described in the transmission of described terminal Image；

First judge module, for judge the target scene image of pre-stored corresponding to described target location with Whether described current scene image mates；

Sending module, for upon a match, sends described target fingerprint map and described target location extremely Described terminal, so that described terminal receives described target fingerprint map and described target location, and by described Target location shows on described target fingerprint map.

In one embodiment, described device also includes:

First calling module, is used for when described target scene image does not mates with described current scene image, That calls pre-stored is less than prestoring of the poor each adjacent position of predeterminable range with the range difference of described target location Storage scene image；

Second judge module, for judging that whether the pre-stored scene image of described each adjacent position is with described Current scene image matches；

Determine module, for when the pre-stored scene image of the arbitrary adjacent position in described each adjacent position When matching with described current scene image, determine that described arbitrary adjacent position is described target location.

In one embodiment, described device also includes:

3rd receiver module, before the WiFi information being presently in position in reception terminal transmission, Receive described terminal send the positional information moved in target indoor environment, wherein,

Described positional information includes: the WiFi information of user present position and the kinestate of described user, The kinestate of described user includes: described user motion starting point in described target indoor environment, institute State the motion that user present position is corresponding relative to the moving line of motion starting point, described user present position Direction, described user present position relative to the displacement of motion starting point, described user in described target chamber In exercise end in environment, described user present position floor in described target indoor environment extremely Few a kind of information；

Set up module, for according to described positional information, set up institute corresponding with described target indoor environment Stating target fingerprint map, wherein, all there is the WiFi of correspondence in each place in described target fingerprint map Information.

In one embodiment, described device also includes:

4th receiver module, for receiving the position moved in target indoor environment that described terminal sends Confidence breath before, receive described terminal send described user movement to described target indoor environment time Gps data；

Locating module, for positioning the predeterminated position of described target indoor environment according to described gps data；

Second calling module, for calling the described target indoor environment of pre-stored according to described predeterminated position Default map；

Described module of setting up includes:

Set up submodule, for according to described default map and described positional information, set up described target and refer to Stricture of vagina map.

The 5th aspect according to disclosure embodiment, it is provided that the positioner of a kind of terminal, including:

Processor；

For storing the memorizer of processor executable；

Wherein, described processor is configured to:

The 6th aspect according to disclosure embodiment, it is provided that the positioner of a kind of terminal, including:

Processor；

For storing the memorizer of processor executable；

Wherein, described processor is configured to:

Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:

Embodiment of the disclosure the technical scheme of offer, at user movement to the mesh being presently in place, position During mark indoor environment, positional information when moving in this target indoor environment by obtaining user, and will This positional information send to this server, it is simple to server be this target indoor environment create in further detail, Target fingerprint map the most corresponding with the WiFi information in each place of this target indoor environment accurately, Thus realize when any one user enters this target indoor environment, no matter user movement is to this target chamber Any position in interior environment, all may utilize the target fingerprint map of pre-stored in server and receives The accurate indoor positioning of WiFi information realization, is very easy to user.

It should be appreciated that it is only exemplary and explanatory that above general description and details hereinafter describe , the disclosure can not be limited.

Accompanying drawing explanation

Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet these public affairs The embodiment opened, and for explaining the principle of the disclosure together with description.

Fig. 1 is the flow chart of the localization method according to a kind of terminal shown in an exemplary embodiment.

Fig. 2 is the flow chart of the localization method according to the another kind of terminal shown in an exemplary embodiment.

Fig. 3 is the flow chart of the localization method according to another terminal shown in an exemplary embodiment one.

Fig. 4 is the flow chart of the localization method according to another terminal shown in an exemplary embodiment one.

Fig. 5 is the flow chart of the localization method according to another terminal shown in an exemplary embodiment one.

Fig. 6 is the flow chart of the localization method according to another terminal shown in an exemplary embodiment one.

Fig. 7 is the block diagram of the positioner according to a kind of terminal shown in an exemplary embodiment.

Fig. 8 is the block diagram of the positioner according to the another kind of terminal shown in an exemplary embodiment.

Fig. 9 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 10 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 11 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 12 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 13 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 14 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 15 is the block diagram of the positioner according to another terminal shown in an exemplary embodiment.

Figure 16 is the block diagram according to a kind of positioner being applicable to terminal shown in an exemplary embodiment.

Figure 17 is the frame of the positioner being applicable to terminal according to the another kind shown in an exemplary embodiment Figure.

Detailed description of the invention

Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Following retouches Stating when relating to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous and wants Element.Embodiment described in following exemplary embodiment does not represent own consistent with the disclosure Embodiment.On the contrary, they only with as appended claims describes in detail, the disclosure some The example of the apparatus and method that aspect is consistent.

In order to solve above-mentioned technical problem, disclosure embodiment provides the localization method of a kind of terminal, the party Method can be used in the finder of terminal, system or device, and executive agent corresponding to the method can be Mobile phone that user carries, flat board etc., as it is shown in figure 1, the method comprising the steps of S101 is to step S104:

In step S101, obtaining user and be presently in the WiFi information of position, wherein, WiFi information can Including: target WiFi that the name of the target WiFi network that terminal can search, terminal can search The reception that network is corresponding signal intensity instruction in one or more, the signal intensity of reception is designated as RSSI, full name is Received Signal Strength Indication；

In step s 102, WiFi information is sent to the server being connected with terminal, so that service Device, according to WiFi information and the target fingerprint map set up, determines and is presently in position in target fingerprint Target location in map, wherein, have recorded in this target fingerprint map near each place and this place The name of target WiFi network and the corresponding relation of RSSI of target WiFi network, and due to each WiFi information near place may be the most different, thus, can be more smart according to this target fingerprint map Really determine target location in this target fingerprint map, this current present position, it addition, this target Fingerprint map is also recorded for the corresponding relation of the scene image in each place and each place；

In step s 103, shoot being presently in position, obtain current scene image, and will Current scene image sends to server, and wherein, server is for judging the pre-stored that target location is corresponding Target scene image whether mate with current scene image, if coupling, then by target fingerprint map and mesh Cursor position sends to terminal；

By this current present position is shot, this current scene image obtained can be sent extremely Server so that server can interpolate that target scene image corresponding to this target location of pre-stored and should Whether current scene image mates, if it does, then illustrate that the scene of this target location is presently in this The scene of position is essentially identical, further relates to this target location according to WiFi information primarily determines that out and is Accurately, therefore, it is possible to this target fingerprint map and this target location are sent to this terminal；Certainly, If it does not match, the target location primarily determined that out can be finely adjusted by server, to primarily determine that Matched target scene figure is searched according to this current scene image further near the target location gone out Picture, and new corresponding to the target scene image matched with this current scene image that will finally find out Target location send to this terminal as final target location.

In step S104, receive target fingerprint map and target location that server sends, and by mesh Cursor position shows on target fingerprint map.

When receiving target fingerprint map and the target location that this server sends, by by this target position Put display on this target fingerprint map, it is possible to use family is clearly understood and oneself is presently in position, Thus realize positioning the most accurately.

As in figure 2 it is shown, in one embodiment, before step S101 in performing Fig. 1, above-mentioned Method also includes:

In step s 201, when user movement to target indoor environment, obtain user present position Positional information, wherein, positional information includes: the WiFi information of user present position and the motion of user State, the kinestate of user includes: user's motion starting point in target indoor environment is (such as this target The porch of indoor environment), user present position is relative to position residing for the moving line of motion starting point, user Put the direction of motion of correspondence, user present position relative to the displacement of motion starting point, user in target chamber Residing for exercise end in environment (such as the exit of this target indoor environment or corner etc.), user At least one information in the floor in target indoor environment of the position, wherein, user present position and work as The essence of front present position is identical, and user's any position in this target indoor environment is user Present position or be presently in position, and in order to distinguish both, in the process setting up target fingerprint map In, user's any position in this target indoor environment is referred to as user present position, is obtaining WiFi Information during obtaining target location by the target fingerprint map of server, user is at this mesh Any position in mark indoor environment is referred to as being presently in position；

In step S202, positional information is sent to server, so that server is according to positional information, Set up target fingerprint map corresponding with target indoor environment, wherein, in target fingerprint map eachly Point all has the WiFi information of correspondence.

When target indoor environment (such as certain building) of user movement to place, user present position, logical Cross the positional information obtained when user moves in this target indoor environment, and this positional information is sent extremely This server, it is simple to server be this target indoor environment create in further detail, accurately with this target chamber The target fingerprint map that the WiFi information in each place of interior environment is all corresponding, so that the later stage is permissible Realizing when any one user enters this target indoor environment, no matter user movement is to this target chamber internal ring Any position in border, the target fingerprint map that all may utilize pre-stored in server realizes accurate indoor Location, and then it is very easy to user.

In one embodiment, above-mentioned steps S201 can be performed as:

When user movement to target indoor environment, come according to the positional information detecting instrument installed in terminal Obtaining positional information, wherein, detecting instrument includes: altimeter, electronic compass, accelerometer, gyro At least two instrument in instrument.

When user movement to this target indoor environment, altimeter, electronic compass, acceleration can be passed through At least two instrument in meter, gyroscope obtains this positional information, such as: altimeter can be utilized to obtain That takes family is presently in the position concrete floor in this target indoor environment；

Utilize accelerometer to obtain acceleration, and this acceleration is carried out an integration can get movement velocity, Carry out the displacement that quadratic integral can obtain being presently in position relative to motion starting point；

Angular velocity can be obtained by gyroscope, this angular velocity be carried out an integration and can obtain the anglec of rotation Degree, and then can determine that and be presently in the direction of motion corresponding to position and displacement etc., and by electronics sieve Dish can also obtain the direction of motion.

In one embodiment, before performing step S201, said method may also include that

Gps data during user movement to target indoor environment is sent to server, so that server root According to the predeterminated position of gps data location target indoor environment, and call the mesh of pre-stored according to predeterminated position The default map of mark indoor environment；

Wherein, gps data is for indicating server to obtain this target indoor environment substantially according to this GPS Position i.e. predeterminated position, if this target indoor environment is in the XX street in the XX administrative area in XX city No. XX (or XX crossing, XX community etc.), and then according to the approximate location of this target indoor environment, Obtain skeleton map i.e. this default map of this target indoor environment, and this default map the most only have recorded This predeterminated position construction has this target indoor environment, does not record details in this target indoor environment, As this target indoor environment which has can walk on route, each route have which facility (as shop, station, Elevator etc.), this target indoor environment have which turning etc..

Step S202 in above-mentioned Fig. 2 can be performed as:

Positional information is sent to server, so that server is according to default map and positional information, sets up Target fingerprint map.

Send after server at this positional information that terminal is got, server can be made according to being somebody's turn to do The skeleton map of target indoor environment and these positional informationes, progressively set up and improve this target fingerprint ground Figure, thus realize when any one user enters this target indoor environment, no matter user movement is to this mesh Any position in mark indoor environment, the target fingerprint map that all may utilize pre-stored in server realizes essence True indoor positioning, and then it is very easy to user, meet the indoor positioning demand accurately of user.

It addition, in order to make this target fingerprint map more perfect, accurate, set up rank at target fingerprint map Section, different users or same user repeatedly can enter this and state target indoor environment by carried terminal, And positional information terminal got sends to server every time, thus constantly improve this target fingerprint ground Figure so that this target fingerprint map can be more accurate.

In one embodiment, step S103 in above-mentioned Fig. 1 can be performed as:

Shoot being presently in position according to the preset direction of electronic compass instruction, obtain current scene Image, this preset direction is the most positive north, direction of electronic compass acquiescence.

In order to make what server can orient user more accurately to be presently in position at target chamber internal ring Target location in the target fingerprint map that border is corresponding, it is also possible to the default side indicated according to this electronic compass Shoot to this current present position, to obtain this current scene image, consequently facilitating server root Whether mate with the target scene image of the target location primarily determined that out according to this current scene image, it is right to come The target location primarily determined that out further confirms that, to guarantee to feed back to one essence of user Accurate location information i.e. this present position target location in this target fingerprint map.

In one embodiment, target WiFi includes: at least two WiFi net that terminal can search The signal intensity instruction of the reception that network is corresponding arranges forward N number of WiFi network, and wherein, N is for being more than Positive integer equal to 1.

In order to the indoor positioning result making target fingerprint map and later stage is more accurate, this target WiFi can To be the signal intensity instruction arrangement of reception corresponding at least two WiFi network that terminal can search Forward N number of WiFi network, wherein N is positive integer, and the number of N is the biggest, this target fingerprint ground The indoor positioning result in figure and later stage is the most accurate.

As it is shown on figure 3, according to the second aspect of disclosure embodiment, it is provided that the localization method of a kind of terminal, Including:

In step S301, receive the WiFi information being presently in position that terminal sends, wherein, WiFi Information includes: the mesh that the name of the target WiFi network that terminal can search, terminal can search One or more in the signal intensity instruction of mark reception corresponding to WiFi network；

In order to the indoor positioning result making target fingerprint map and later stage is more accurate, this target WiFi can To be the signal intensity instruction arrangement of reception corresponding at least two WiFi network that terminal can search Forward N number of WiFi network, wherein N is positive integer, and the number of N is the biggest, target fingerprint map The most accurate with the indoor positioning result in later stage.

In step s 302, according to WiFi information and the target fingerprint map set up, current institute is determined Target location in target fingerprint map, the position, place；

This target fingerprint map have recorded the name of target WiFi network near each place and this place The corresponding relation of the RSSI of word and target WiFi network, and due to the WiFi information near each place May be the most different, thus, this can be more precisely determined according to this target fingerprint map and be presently in Target location in this target fingerprint map, the position.

In step S303, receive the current scene image being presently in position that terminal sends；

In step s 304, it is judged that the target scene image of the pre-stored that target location is corresponding and current field Whether scape image mates；

In order to make target fingerprint map more accurate, this target fingerprint map is also recorded for each place and The corresponding relation of the scene image in each place.

Although, this target fingerprint map have recorded the target WiFi network near each place and this place Name and the corresponding relation of RSSI of target WiFi network, and due to the WiFi near each place Information may be the most different, thus, substantially this current institute can be precisely determined according to target fingerprint map Target location in this target fingerprint map, the position, place, but owing to the WiFi information in each place may Can change (as increased when the number of the change in location of the router in this place or router, subtract Time few, the WiFi information in this place will change), thus, in order to ensure the target location determined it is Accurately, the current scene image being presently in position that terminal sends can be received, and then judge to prestore Whether the target scene image that this target location of storage is corresponding mates with this current scene image, with to tentatively The target location determined carries out further accuracy judgement.

In step S305, upon a match, target fingerprint map and target location are sent to terminal, So that terminal receives target fingerprint map and target location, and target location is shown at target fingerprint map On.

If this target scene image matches with this current scene image, then the field of this target location is described Scape is essentially identical with the scene of this current present position, and this target location further relating to determine is accurate , thus this target fingerprint map and this target location can be sent to this terminal, so that target location Display is on target fingerprint map, thus realizes being accurately positioned.

As shown in Figure 4, in one embodiment, said method may also include that

In step S401, when target scene image does not mates with current scene image, call and prestore The pre-stored scene image of each adjacent position poor less than predeterminable range with the range difference of target location of storage, Wherein, this predeterminable range difference can be 5 meters, 2 meters etc.；

In step S402, it is judged that the pre-stored scene image of each adjacent position whether with current scene figure As matching；

In step S403, when the arbitrary adjacent position in each adjacent position pre-stored scene image with When current scene image matches, determine that arbitrary adjacent position is target location.

When target scene image does not mates with current scene image, the scene of this target location is described and is somebody's turn to do Being presently in the scene of position and differ, this target location further relating to determine is less accurate, because of And, server can call the pre-stored scene image of each adjacent position of pre-stored, and then judges each successively Whether the pre-stored scene image of adjacent position matches with current scene image, when in each adjacent position When the pre-stored scene image of arbitrary adjacent position and this current scene image match, this target position is described The scene put is essentially identical with the scene of this current present position, then may determine that this arbitrary adjacent position is Target location, thus when realizing less accurate in the target location primarily determined that out, can be to primarily determining that The target location gone out is finely adjusted, to provide the user the information that positions accurately.

As it is shown in figure 5, in one embodiment, before performing step S301, said method also may be used Including:

In step S501, receive the positional information moved in target indoor environment that terminal sends, Wherein, positional information includes: the WiFi information of user present position and the kinestate of user, user Kinestate include: user's motion starting point in target indoor environment, user present position relative to The direction of motion corresponding to the moving line of motion starting point, user present position, user present position relative to Exercise end in target indoor environment of the displacement of motion starting point, user, user present position are in target At least one information in floor in indoor environment；

In step S502, according to positional information, set up target fingerprint corresponding with target indoor environment Map, wherein, all there is the WiFi information of correspondence in each place in target fingerprint map.

By receive above-mentioned positional information be easy to server be this target indoor environment create in further detail, essence The target fingerprint map that the WiFi information in the accurate each place with this target indoor environment is the most corresponding, from And realize when any one user enters this target indoor environment, no matter user movement is in this target chamber Any position in environment, the target fingerprint map that all may utilize pre-stored in server realizes accurate room Inner position, and then it is very easy to user.

As shown in Figure 6, in one embodiment, before performing step S501, said method also may be used Including:

In step s 601, the user movement of terminal transmission is received to GPS number during target indoor environment According to；

In step S602, according to the predeterminated position of gps data location target indoor environment；

In step S603, call the default map of the target indoor environment of pre-stored according to predeterminated position；

This user movement according to the terminal transmission received, can to this GPS during this target indoor environment To orient the approximate location i.e. predeterminated position of this target indoor environment, if this target indoor environment is at XX No. XX (or XX crossing, the XX community etc.) in the XX street in the XX administrative area in city, and then According to the approximate location of this target indoor environment, i.e. this is preset to obtain the skeleton map of this target indoor environment Map, and this default map the most only have recorded this predeterminated position construction and has this target indoor environment, not Record details in this target indoor environment, as which this target indoor environment has to walk route, every Have on individual route which facility (such as shop, station, elevator etc.), this target indoor environment have which turning, Which position hot work in progress of this target indoor environment etc..

Step S502 in above-mentioned Fig. 5 can be performed as:

In step A1, according to default map and positional information, set up target fingerprint map.

Skeleton map (i.e. presetting map) according to this target indoor environment and these positional informationes, permissible Progressively set up and improve this target fingerprint map, thus realize entering this target chamber as any one user During interior environment, no matter user movement is to any position in this target indoor environment, all may utilize server The target fingerprint map of middle pre-stored realizes accurate indoor positioning, and then is very easy to user, full The indoor positioning demand accurately of foot user.

The localization method of the above-mentioned terminal that corresponding disclosure embodiment provides, disclosure embodiment also provides for one Plant the positioner of terminal, as it is shown in fig. 7, this device includes:

First acquisition module 701, is configured to obtain user and is presently in the WiFi information of position, wherein, WiFi information includes: the name of the target WiFi network that terminal can search, terminal can search Reception corresponding to target WiFi network signal intensity instruction in one or more；

First sending module 702, is configured to send to the server being connected with terminal WiFi information, So that server is according to WiFi information and the target fingerprint map set up, determine that being presently in position exists Target location in target fingerprint map；

First processing module 703, is configured to shoot being presently in position, obtains current scene Image, and current scene image is sent to server, wherein, server is configured to judge target position Whether the target scene image of the pre-stored putting correspondence mates with current scene image, if coupling, then by mesh Mark fingerprint map and target location send to terminal；

Second processing module 704, is configured to receive target fingerprint map and the target position that server sends Put, and target location is shown on target fingerprint map.

As shown in Figure 8, in one embodiment, device also includes:

Second acquisition module 801, is configured to before acquisition user is presently in the WiFi information of position, When user movement to target indoor environment, the positional information of acquisition user present position, wherein,

Positional information includes: the WiFi information of user present position and the kinestate of user, the fortune of user Dynamic state includes: user's motion starting point in target indoor environment, user present position are relative to motion The direction of motion corresponding to the moving line of starting point, user present position, user present position are relative to motion Exercise end in target indoor environment of the displacement of starting point, user, user present position are in target chamber At least one information in floor in environment；

Second sending module 802, is configured to send to server positional information, so that server root According to positional information, set up target fingerprint map corresponding with target indoor environment, wherein, target fingerprint ground All there is the WiFi information of correspondence in each place in figure.

As it is shown in figure 9, in one embodiment, the second acquisition module 801 includes:

Obtain submodule 8011, when being configured as user movement to target indoor environment, according in terminal The positional information detecting instrument installed obtains positional information, and wherein, detecting instrument includes: altimeter, At least two instrument in electronic compass, accelerometer, gyroscope.

As shown in Figure 10, in one embodiment, device also includes:

3rd sending module 1001, is configured to before obtaining the positional information of user present position, will User movement sends to server to gps data during target indoor environment, so that server is according to GPS The predeterminated position of data locking target indoor environment, and call according to predeterminated position in the target chamber of pre-stored The default map of environment；

Second sending module 802 includes:

Send submodule 8021, be configured to by positional information send to server so that server according to Preset map and positional information, set up target fingerprint map.

As shown in figure 11, in one embodiment, the first processing module 703 includes:

Shooting submodule 7031, is configured to the preset direction according to electronic compass instruction to being presently in position Put and shoot, obtain current scene image.

The localization method of the above-mentioned terminal that corresponding disclosure embodiment provides, disclosure embodiment also provides for separately A kind of positioner of terminal, as shown in figure 12, this device includes:

First receiver module 1201, is configured to receive the WiFi letter being presently in position that terminal sends Breath, wherein, WiFi information includes: the name of the target WiFi network that terminal can search, terminal One or more in the signal intensity instruction of the reception that the target WiFi network that can search is corresponding；

Determine module 1202, be configured to according to WiFi information and the target fingerprint map set up, really Target location in target fingerprint map, the settled front present position；

Second receiver module 1203, is configured to receive the current scene being presently in position that terminal sends Image；

First judge module 1204, is configured to judge the target scene figure of pre-stored corresponding to target location As whether mating with current scene image；

Sending module 1205, is configured to upon a match, target fingerprint map and target location is sent extremely Terminal, so that terminal receives target fingerprint map and target location, and shows target location and refers in target On stricture of vagina map.

As shown in figure 13, in one embodiment, device also includes:

First calling module 1301, is configured as target scene image and does not mates with current scene image Time, that calls pre-stored is less than prestoring of the poor each adjacent position of predeterminable range with the range difference of target location Storage scene image；

Second judge module 1302, be configured to judge the pre-stored scene image of each adjacent position whether with Current scene image matches；

Determine module 1303, the pre-stored scene of the arbitrary adjacent position being configured as in each adjacent position When image and current scene image match, determine that arbitrary adjacent position is target location.

As shown in figure 14, in one embodiment, device also includes:

3rd receiver module 1401, is configured to receiving the WiFi being presently in position that terminal sends Before information, the positional information moved in target indoor environment that reception terminal sends, wherein,

Positional information includes: the WiFi information of user present position and the kinestate of user, user's Kinestate includes: user's motion starting point in target indoor environment, user present position are relative to fortune The direction of motion corresponding to the dynamic moving line of starting point, user present position, user present position are relative to fortune Move the displacement of starting point, the user exercise end in target indoor environment, user present position in target chamber At least one information in floor in interior environment；

Set up module 1402, be configured to, according to positional information, set up mesh corresponding with target indoor environment Mark fingerprint map, wherein, all there is the WiFi information of correspondence in each place in target fingerprint map.

As shown in figure 15, in one embodiment, device also includes:

4th receiver module 1501, is configured to move in target indoor environment what reception terminal sent Positional information before, receive terminal send user movement to gps data during target indoor environment；

Locating module 1502, is configured to the predeterminated position according to gps data location target indoor environment；

Second calling module 1503, is configured to call the target indoor environment of pre-stored according to predeterminated position Default map；

Set up module 1402 to include:

Set up submodule 14021, be configured to, according to presetting map and positional information, set up target fingerprint Map.

Processor；

For storing the memorizer of processor executable；

Wherein, processor is configured to:

Above-mentioned processor is also configured to:

Before acquisition user is presently in the WiFi information of position, described method also includes:

Above-mentioned processor is also configured to:

Described when described user movement to target indoor environment, obtain the positional information of user present position, Including:

Above-mentioned processor is also configured to:

Before obtaining the positional information of user present position, described method also includes:

Above-mentioned processor is also configured to:

Described the described position that is presently in is shot, obtain current scene image, including:

Above-mentioned processor is also configured to:

Described target WiFi includes: at least two WiFi network that described terminal can search is corresponding The signal intensity instruction received arranges forward N number of WiFi network, and wherein, N is more than or equal to 1 Positive integer.

The 6th aspect according to disclosure embodiment, it is provided that the positioner of another kind of terminal, including:

Processor；

For storing the memorizer of processor executable；

Wherein, processor is configured to:

Above-mentioned processor is also configured to:

Described method also includes:

Above-mentioned processor is also configured to:

Before receiving the WiFi information being presently in position that terminal sends, described method also includes:

Above-mentioned processor is also configured to:

Before receiving the positional information moved in target indoor environment that described terminal sends, described side Method also includes:

Figure 16 is the frame according to a kind of positioner 1600 for terminal shown in an exemplary embodiment Figure, this device is applicable to terminal unit.Such as, device 1600 can be mobile phone, computer, number Word broadcast terminal, messaging devices, game console, tablet device, armarium, body-building equipment, Individual number assistant etc..

With reference to Figure 16, device 1600 can include with next or at least two assembly: processes assembly 1602, Memorizer 1604, power supply module 1606, multimedia groupware 1608, audio-frequency assembly 1610, input/output (I/O) interface 1612, sensor cluster 1614, and communications component 1616.

Process assembly 1602 and generally control the integrated operation of device 1600, such as with display, call, The operation that data communication, camera operation and record operation are associated.Process assembly 1602 and can include one Or at least two processor 1620 performs instruction, to complete all or part of step of above-mentioned method. Additionally, process assembly 1602 can include one or at least two module, it is simple to process assembly 1602 He Mutual between other assemblies.Such as, process assembly 1602 and can include multi-media module, many to facilitate Media component 1608 and process between assembly 1602 mutual.

Memorizer 1604 is configured to store various types of data to support the operation at device 1700. The example of these data includes any storage object for operation on device 1600 or the instruction of method, Contact user data, telephone book data, message, picture, video etc..Memorizer 1604 can be by any The volatibility of type or non-volatile memory device or combinations thereof realize, as static random-access is deposited Reservoir (SRAM), Electrically Erasable Read Only Memory (EEPROM), erasable programmable is only Reading memorizer (EPROM), programmable read only memory (PROM), read only memory (ROM), Magnetic memory, flash memory, disk or CD.

The various assemblies that power supply module 1606 is device 1600 provide power supply.Power supply module 1606 can wrap Include power-supply management system, one or at least two power supply, and other with generate for device 1600, manage and The assembly that distribution power supply is associated.

One output interface of offer that multimedia groupware 1608 is included between described device 1600 and user Screen.In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP). If screen includes that touch panel, screen may be implemented as touch screen, to receive the input from user Signal.Touch panel includes that one or at least two touch sensor touch with sensing, slide and touch surface Gesture on plate.Described touch sensor can not only sense touch or the border of sliding action, but also Detect the persistent period relevant to described touch or slide and pressure.In certain embodiments, many matchmakers Body assembly 1608 includes a front-facing camera and/or post-positioned pick-up head.When device 1700 is in operation mould Formula, during such as screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive outside Multi-medium data.Each front-facing camera and post-positioned pick-up head can be fixing optical lens systems Or there is focal length and optical zoom ability.

Audio-frequency assembly 1610 is configured to output and/or input audio signal.Such as, audio-frequency assembly 1610 Including a mike (MIC), when device 1600 is in operator scheme, such as call model, record mould When formula and speech recognition mode, mike is configured to receive external audio signal.The audio frequency letter received Number can be further stored at memorizer 1604 or send via communications component 1616.Implement at some In example, audio-frequency assembly 1610 also includes a speaker, is used for exporting audio signal.

I/O interface 1612 is to process to provide interface between assembly 1602 and peripheral interface module, above-mentioned outside Enclosing interface module can be keyboard, puts striking wheel, button etc..These buttons may include but be not limited to: homepage Button, volume button, start button and locking press button.

Sensor cluster 1614 includes one or at least two sensor, for providing each for device 1600 The state estimation of individual aspect.Such as, sensor cluster 1614 can detect the opening of device 1700/ Closed mode, the relative localization of assembly, the most described assembly is display and the keypad of device 1600, Sensor cluster 1614 can also detect device 1600 or the position change of 1,600 1 assemblies of device, uses The presence or absence that family contacts with device 1600, device 1600 orientation or acceleration/deceleration and device 1600 Variations in temperature.Sensor cluster 1614 can include proximity transducer, is configured to the most any Physical contact time detection near the existence of object.Sensor cluster 1614 can also include optical sensor, Such as CMOS or ccd image sensor, it is used for using in imaging applications.In certain embodiments, This sensor cluster 1614 can also include acceleration transducer, gyro sensor, Magnetic Sensor, pressure Force transducer or temperature sensor.

Communications component 1616 is configured to facilitate wired or wireless mode between device 1600 and other equipment Communication.Device 1600 can access wireless network based on communication standard, such as WiFi, 2G or 3G, Or combinations thereof.In one exemplary embodiment, communications component 1616 receives via broadcast channel From broadcast singal or the broadcast related information of external broadcasting management system.In one exemplary embodiment, Described communications component 1616 also includes near-field communication (NFC) module, to promote junction service.Such as, Can be based on RF identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, Ultra broadband (UWB) technology, bluetooth (BT) technology and other technologies realize.

In the exemplary embodiment, device 1600 can be by one or at least two application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), able to programme patrol Collect device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor Or other electronic building bricks realize, it is used for performing said method.

In the exemplary embodiment, a kind of non-transitory computer-readable storage including instruction is additionally provided Medium, such as, include the memorizer 1604 of instruction, and above-mentioned instruction can be by the processor 1620 of device 1600 Perform to complete said method.Such as, described non-transitory computer-readable recording medium can be ROM, Random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..

Figure 17 is the frame according to a kind of positioner 1700 for terminal shown in an exemplary embodiment Figure.Such as, device 1700 may be provided in a server.With reference to Figure 17, device 1700 includes place Managing assembly 1722, it farther includes one or more processor, and by representated by memorizer 1732 Memory resource, for storage can be by the instruction of the execution of processing component 1722, such as application program. In memorizer 1732 application program of storage can include one or more each corresponding to one The module of group instruction.It is configured to perform instruction, to perform said method additionally, process assembly 1722.

Device 1700 can also include that a power supply module 1726 is configured to perform the power supply of device 1700 Management, a wired or wireless network interface 1750 is configured to device 1700 is connected to network, and One input and output (I/O) interface 1758.Device 1700 can operate based on being stored in memorizer 1732 Operating system, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or similar.

A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is by above-mentioned dress When putting the processor execution of 1600 so that said apparatus 1600 is able to carry out the localization method of a kind of terminal, Including:

A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is by above-mentioned dress When putting the processor execution of 1700 so that said apparatus 1700 is able to carry out the localization method of a kind of terminal, Including:

In one embodiment, described method also includes:

Art technology user person, after considering description and putting into practice disclosure disclosed herein, will readily occur to Other embodiment of the disclosure.The application is intended to any modification, purposes or the adaptation of the disclosure Property change, these modification, purposes or adaptations are followed the general principle of the disclosure and include this Undocumented common knowledge in the art or conventional techniques means are disclosed.Description and embodiments is only Being considered exemplary, the true scope of the disclosure and spirit are pointed out by claim below.

It should be appreciated that the disclosure be not limited to described above and illustrated in the accompanying drawings accurately Structure, and various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only by institute Attached claim limits.

Claims

1. the localization method of a terminal, it is characterised in that including:

Method the most according to claim 1, it is characterised in that be presently in position obtaining user WiFi information before, described method also includes:

Method the most according to claim 2, it is characterised in that

The most according to the method in claim 2 or 3, it is characterised in that

Method the most according to claim 3, it is characterised in that

6. according to the method described in claim 1,2,3 or 5, it is characterised in that

7. the localization method of a terminal, it is characterised in that including:

Method the most according to claim 7, it is characterised in that described method also includes:

9. according to the method described in claim 7 or 8, it is characterised in that receiving working as of terminal transmission Before the WiFi information of front present position, described method also includes:

Method the most according to claim 9, it is characterised in that

The positioner of 11. 1 kinds of terminals, it is characterised in that including:

12. devices according to claim 11, it is characterised in that described device also includes:

13. devices according to claim 12, it is characterised in that

Described second acquisition module includes:

14. according to the device described in claim 12 or 13, it is characterised in that described device also includes:

Described second sending module includes:

15. devices according to claim 13, it is characterised in that

Described first processing module includes:

16. according to the device described in claim 11,12,13 or 15, it is characterised in that

The positioner of 17. 1 kinds of terminals, it is characterised in that including:

Sending module, for upon a match, sends described target fingerprint map and described target location extremely Described terminal, so that described terminal receives target fingerprint map and described target location described in described server, And described target location is shown on described target fingerprint map.

18. devices according to claim 17, it is characterised in that described device also includes:

19. according to the device described in claim 17 or 18, it is characterised in that described device also includes:

20. devices according to claim 19, it is characterised in that described device also includes:

Described module of setting up includes:

The positioner of 21. 1 kinds of terminals, it is characterised in that including:

Processor；

For storing the memorizer of processor executable；

Wherein, described processor is configured to:

The positioner of 22. 1 kinds of terminals, it is characterised in that including:

Processor；

For storing the memorizer of processor executable；

Wherein, described processor is configured to: