CN106255201A - A kind of indoor orientation method and device - Google Patents

A kind of indoor orientation method and device Download PDF

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Publication number
CN106255201A
CN106255201A CN201610697342.2A CN201610697342A CN106255201A CN 106255201 A CN106255201 A CN 106255201A CN 201610697342 A CN201610697342 A CN 201610697342A CN 106255201 A CN106255201 A CN 106255201A
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Prior art keywords
positioning
localization method
destination object
location information
indoor
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任昱晨
郑思伟
蔡明琬
李金贵
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Beijing Xi Technology Co Ltd
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Beijing Xi Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention provides a kind of indoor orientation method, first gathers the location information of destination object, and wherein said location information includes at least one in around Wi-Fi hotspot information and mobile communication base station signal；Then according to the location information gathered, according to default screening strategy, corresponding localization method is selected；Recycle described localization method to position, it is thus achieved that the positioning result of described destination object.The present invention can choose corresponding localization method according to the location information gathered and position, thus ensure the accuracy of location, avoid the dependency to single location information, compatible strong, applied widely, need not arrange that substantial amounts of network node can realize indoor positioning, accurate positioning and cost are relatively low, are capable of the seamless connection with outdoor positioning simultaneously, improve the precision of location.

Description

A kind of indoor orientation method and device
Technical field
The present invention relates to technical field of navigation and positioning, be specifically related to a kind of indoor orientation method and device.
Background technology
Along with the development of development of Mobile Internet technology, location-based service (LocationBased Severs, LBS) has obtained extensively Pay close attention to.According to statistics, have more than 80% relevant with " position " in the information that people are used, people are seamless to indoor and outdoor location Demand is also being continuously increased.
At present, outdoor positioning technology is the most ripe, the whole world with GPS, the Big Dipper, Galileo, GLONASS as representative Four large satellite navigation system have been able to popularization and application widely.But satellite positioning signal is difficult to the indoor ring covered Border, though existing indoor positioning technologies based on technology such as Wi-Fi, ZigBee, RFID, bluetooth, ultra broadbands, above-mentioned indoor are fixed Due to needs, the realization of position technology arranges that great deal of nodes, signal cover the shortcomings such as relatively costly, it is difficult to popularization and application.
Summary of the invention
For defect of the prior art, the present invention provides a kind of indoor orientation method and device, to solve existing indoor Location technology needs to arrange that great deal of nodes, signal cover relatively costly problem.
First aspect, a kind of indoor orientation method that the present invention provides, including:
Gathering the location information of destination object, wherein said location information includes around Wi-Fi hotspot information and mobile communication At least one in base station signal；
According to the described location information gathered, according to default screening strategy, select corresponding localization method；
Described localization method is utilized to position, it is thus achieved that the positioning result of described destination object.
Optionally, described according to default screening strategy, select corresponding localization method, including:
Default intensity threshold condition, localizing environment whether has been met the most according to the intensity of described location information gathered The priority of the localization method known and preset, selects at least one localization method.
Optionally, described localization method includes that WiFi tri-limit localization method, WiFi fingerprint positioning method, mobile communication are moved Communication base station signal framing method.
Optionally, described indoor orientation method also includes: use the positioning correction method preset to described destination object Positioning result is modified.
Optionally, the positioning result of described destination object is modified by the positioning correction method that described employing is preset, bag Include:
The real-time positioning information of described destination object is modified by the method using map match.
Second aspect, a kind of indoor positioning device that the present invention provides, including:
Locating information acquisition module, for gathering the location information of destination object, wherein said location information includes around At least one in Wi-Fi hotspot information and mobile communication base station signal；
Localization method selects module, for according to the described location information gathered, according to default screening strategy, selects phase The localization method answered；
Locating module, is used for utilizing described localization method to position, it is thus achieved that the positioning result of described destination object.
Optionally, described localization method selects module, including:
Localization method selects unit, for whether meeting default intensity threshold according to the intensity of the described location information gathered The priority of the localization method that value condition, localizing environment are the most known and default, selects at least one localization method.
Optionally, described localization method includes WiFi tri-limit localization method, WiFi fingerprint positioning method, mobile communication base station Signal framing method.
Optionally, described indoor positioning device, also include:
Location correcting module, for using default positioning correction method to repair the positioning result of described destination object Just.
Optionally, described location correcting module, including:
Map amending unit, for using the method for map match to repair the real-time positioning information of described destination object Just.
As shown from the above technical solution, a kind of indoor orientation method that the present invention provides, first gather determining of destination object Position information, wherein said location information includes at least one in around Wi-Fi hotspot information and mobile communication base station signal；So Afterwards according to the location information gathered, according to default screening strategy, select corresponding localization method；Recycle described localization method Position, it is thus achieved that the positioning result of described destination object.It is corresponding fixed that the present invention can choose according to the location information gathered Method for position positions, thus ensures the accuracy of location, it is to avoid the dependency to single location information, compatible strong, applicable Scope is wide, it is not necessary to arrange that substantial amounts of network node can realize indoor positioning, accurate positioning and cost relatively low, simultaneously can be real Now with the seamless connection of outdoor positioning, improve the precision of location.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to specifically In embodiment or description of the prior art, the required accompanying drawing used is briefly described.In all of the figs, similar element Or part is typically by the reference mark being similar to.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 shows the flow chart of a kind of indoor orientation method that first embodiment of the invention provided；
Fig. 2 shows the schematic diagram of a kind of indoor positioning device that second embodiment of the invention provided.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of technical solution of the present invention is described in detail.Following example are only used for Technical scheme is clearly described, is therefore intended only as example, and the protection of the present invention can not be limited with this Scope.
It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should be this The ordinary meaning that bright one of ordinary skill in the art are understood.
Fig. 1 shows the flow chart of a kind of indoor orientation method that first embodiment of the invention provided.As it is shown in figure 1, A kind of indoor orientation method that first embodiment of the invention provides comprises the following steps:
Step S101: gathering the location information of destination object, wherein said location information includes Wi-Fi hotspot information around With at least one in mobile communication base station signal.
This step, can position information accordingly by corresponding sensor or signal sending and receiving equipment collection, such as, pass through WiFi transceiver module gathers Wi-Fi hotspot information around, gathers mobile communication base by mobile communication module such as 4G communication module etc. Stand signal, etc., any of the above item is all existing mature technology, repeats the most one by one, and it is all in the protection of the application Within the scope of.
Step S102: according to the described location information gathered, according to default screening strategy, select the side of location accordingly Method.
The difference of the type of the location information according to the collection of step S101, the described location that this step can select and gather The corresponding localization method of information, such as, if the Wi-Fi hotspot information that described location information is surrounding, then can use WiFi tri-limit Localization method or WiFi fingerprint positioning method position；If described location information is mobile communication base station signal, then can make Position by mobile communication base station signal framing method.
In the embodiment of the present invention, described localization method includes WiFi tri-limit localization method, WiFi fingerprint positioning method, movement Communication base station signal framing method.One can be selected according to the type of the location information gathered or select multinomial being applied in combination to carry out determining Position, above every kind of localization method is all existing localization method, and therefore, concrete localization method repeats no more herein, and it is all at this Within the protection domain of invention.
In this step when implementing, whether can meet default intensity threshold according to the intensity of the described location information gathered The priority of the localization method that value condition, localizing environment are the most known and default, selects at least one localization method.Such as, When being in the localizing environment that known Wi-Fi hotspot is more, preferential use WiFi fingerprint positioning method positions；If Wi-Fi hotspot is less but time WiFi signal intensity is in default intensity threshold, it is possible to use location, WiFi tri-limit to carry out fixed Position.Wherein, can't detect certain signal and can be regarded as not meeting default intensity threshold condition and process, this step is permissible Arranging numerous embodiments the most flexibly, repeat the most one by one, it is all within protection scope of the present invention.
Step S103: utilize described localization method to position, it is thus achieved that the positioning result of described destination object.
So far, by step S101 to step S103, a kind of indoor that completing first embodiment of the invention is provided are determined The flow process of method for position.The present invention can choose corresponding localization method according to the location information gathered and position, thus ensures The accuracy of location, it is to avoid the dependency to single location information, compatible strong, applied widely, it is not necessary to arrange substantial amounts of It is relatively low that network node can realize indoor positioning, accurate positioning and cost, is capable of the seamless connection with outdoor positioning simultaneously, Improve the precision of location.
In the embodiment that the present invention provides, after step S103, also include: use the positioning correction method preset The positioning result of described destination object is modified.Wherein, the positioning correction method that described employing is preset is to described target pair The positioning result of elephant is modified, including:
The real-time positioning information of described destination object is modified by the method using map match.
Wherein, map match is to utilize the position in geometric properties point correction walking process during walking, described Geometric properties point includes the crossing of mark, doorway etc. in map.
In the embodiment that the present invention provides, after step S103, also include step S104 and S105:
Step S104: gather the described destination object inertial navigation data when indoor walking.
This step, can gather destination object at indoor row by the inertial navigation system that described destination object is carried with Inertial navigation data when walking, INS (Inertial Navigation System, inertial navigation system) is main by IMU (Inertial Measurement Unit, Inertial Measurement Unit) forms, and generally includes with lower module: three-axis gyroscope, three axles Accelerometer etc..After it is by processing inertia measurement data, the acceleration of object, angular velocity etc., Jin Erneng can be drawn Enough calculate the information such as speed, attitude, course.On the basis of given position, available IMU carries out Camera calibration, The covering that can solve GNSS (Global Navigation Satellite System GPS) system is asked Topic.As utilized accelerometer to gather acceleration information, utilize gyroscope acquisition angle speed data etc..
Step S105: according to described positioning result and described inertial navigation data, use the positioning and tracing method pair preset Described destination object carries out locating and tracking, it is thus achieved that the real-time positioning information of described destination object.
After the positioning result getting destination object and inertial navigation data, default positioning and tracing method can be used Described destination object is carried out locating and tracking, described default positioning and tracing method can be pedestrian's reckoning (PDR, Pedestrian Dead-Reckoning) method, pedestrian's reckoning, is to be judged pedestrian's stride motion by IMU detection, estimated Meter step-length, detection action course are to realize the navigator fix of pedestrian.Pedestrian's reckoning method can use of the prior art Any one, repeat the most one by one, and it is all within the protection domain of the application.
In the embodiment that the present invention provides, described according to described positioning result with described inertial navigation data, adopt By pedestrian's reckoning method, described destination object is carried out locating and tracking, it is thus achieved that the real-time positioning information of described destination object, Including:
According to described positioning result and described inertial navigation data, use the pedestrian reckoning side combining Kalman filtering Method carries out locating and tracking to described destination object, it is thus achieved that the real-time positioning information of described destination object.
Wherein, the pedestrian's reckoning method in conjunction with Kalman filtering is the improvement to pedestrian's reckoning method, passes through During reckoning, add Kalman filtering, the error of step-length, course value etc. can be revised in motor process, make step Precision long, course value is higher, to improve final reckoning precision, positioning precision etc..Detailed description of the invention is it may be that head First calculate the time that strides of destination object, step-length and course value according to inertial navigation data, then with described destination object Time, step-length and the course value of striding is recursive parameter, uses the recursive algorithm containing Kalman filtering preset to calculate described mesh The flight path of mark object.
In the embodiment that the present invention provides, the described time that strides, step-length and course value with described destination object For recursive parameter, the recursive algorithm containing Kalman filtering preset is used to calculate the flight path of described destination object, including:
Set up motion model:
x = x y v x v y
F k = 1 Δt k 1 Δt k ϵ k ϵ k = I Δt k I 0 ϵ k I
Q k = 0 0 0 Δt k 2 σ a 2 I = 0 0 0 σ v 2 ( 1 - ϵ k 2 ) I
In formula, x represents the quantity of state of walking track data, x, y represent destination object at horizontal and vertical coordinate figure, vx、vyRepresent that destination object is at horizontal and vertical translational speed component；FkRepresent kth stride correspondence state-transition matrix, ΔtkRepresent kth stride correspondence stride the time, εkThe index parameters of the correspondence that strides for kth, I representation unit matrix；QkTable Show dynamic disturbances covariance matrix, σa 2Represent the mean square deviation of acceleration of motion, σv 2Represent the mean square deviation of movement velocity, for constant；
Wherein,
ϵ k = exp ( - Δt k τ )
σa 2=σv 2(1-exp(-2Δtk/τ))/Δtk 2
In formula, τ represents the time constant relevant to movement velocity；
Set up observation model:
z k = x k - 1 + l k cosθ k y k - 1 + l k sinθ k l k cosθ k / Δt k l k sinθ k / Δt k
R k = σ l 2 I 0 0 σ l 2 / Δt k 2 I
In formula, zkRepresent the observed quantity of walking track data, xk-1、yk-1Represent that destination object strides correspondence kth-1 Horizontal and vertical coordinate figure, lkRepresent destination object kth stride correspondence step-length, θkRepresent that destination object is in kth The course value of the correspondence that strides, Δ tkRepresent kth stride correspondence stride the time；RkRepresent observation error, σl 2Represent step-length Mean square deviation, I representation unit matrix；
The state estimation of prediction walking track data and covariance:
x ^ k = F k x k - 1 = x k - 1 + v x Δt k y k - 1 + v y Δt k ϵ k v x ϵ k v y
P ^ k = F k P k - 1 F k T + Q k
In formula,Represent state estimation,Represent covariance, xk-1Represent kth-1 stride correspondence quantity of state, Pk-1 Represent kth-1 stride correspondence covariance,Represent FkTransposed matrix；
Calculating observation amount residual sum residual covariance:
y ~ k = z k - x ^ k
S k = H k P ^ k H k T + R k
In formula,Represent kth stride correspondence residual error of measurements；SkRepresent residual covariance, HkRepresent observing matrix,Represent observing matrix HkTransposed matrix；
The optimum Kalman gain of calculating:
K k = P ^ k H k T S k - 1
In formula, KkRepresent kth stride correspondence optimum Kalman gain,Represent residual covariance SkInverse matrix；
Calculate revised state estimation:
x k = x ^ k + K k y ~ k
In formula, xkRepresent the walking track data calculating the destination object obtained,Represent pre-to walking track data Survey state estimation, kkRepresent optimum Kalman gain,Represent the residual error of measurements to walking track data.
During concrete operation, some auxiliary parameters can be introduced and calculate, to improve operation efficiency, such as:
P ^ k = F k P k - 1 F k T + Q k = p 1 ^ I p 2 ^ I p 3 ^ I p 4 ^ I
Wherein,
p 1 ^ = p 1 + Δt k p 2 + Δt k p 3 + Δt k 2 p 4
p 2 ^ = ϵ k p 2 + ϵ k Δt k p 4
p 3 ^ = ϵ k p 3 + ϵ k Δt k p 4
p 4 ^ = ϵ k 2 p 4 + σ v 2 ( 1 - ϵ k 2 )
Residual covariance:
Inverse matrix
Optimum Kalman gain:
Wherein
The state estimation revised:
The estimate covariance revised:
Wherein
By step S104 and S105, the mode that the embodiment of the present invention have employed initial alignment and locating and tracking combines is real The now indoor positioning to destination object, thus it is further ensured that the precision of indoor positioning.
In above-mentioned first embodiment, it is provided that a kind of indoor orientation method, corresponding, the application also provides for A kind of indoor positioning device.Refer to Fig. 2, the signal of its a kind of indoor positioning device provided for second embodiment of the invention Figure.Owing to device embodiment is substantially similar to embodiment of the method, so describing fairly simple, relevant part sees method and implements The part of example illustrates.Device embodiment described below is only schematically.
A kind of indoor positioning device that second embodiment of the invention provides, including:
Locating information acquisition module 101, for gathering the location information of destination object, wherein said location information includes week Enclose at least one in Wi-Fi hotspot information and mobile communication base station signal；
Localization method selects module 102, for according to the described location information gathered, according to default screening strategy, choosing Select corresponding localization method；
Locating module 103, is used for utilizing described localization method to position, it is thus achieved that the positioning result of described destination object.
In the embodiment that the present invention provides, described localization method selects module 102, including:
Localization method selects unit, for whether meeting default intensity threshold according to the intensity of the described location information gathered The priority of the localization method that value condition, localizing environment are the most known and default, selects at least one localization method.
In the embodiment that the present invention provides, described localization method includes WiFi tri-limit localization method, WiFi fingerprint Localization method, mobile communication base station signal framing method.
In the embodiment that the present invention provides, described indoor positioning device, also include:
Location correcting module, for using default positioning correction method to repair the positioning result of described destination object Just.
In the embodiment that the present invention provides, described location correcting module, including:
Map amending unit, for using the method for map match to repair the real-time positioning information of described destination object Just.
Above, the embodiment explanation of a kind of indoor positioning device provided for second embodiment of the invention.
A kind of indoor positioning device that the present invention provides and above-mentioned indoor orientation method, for identical inventive concept, have Identical beneficial effect, here is omitted.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office One or more embodiments or example combine in an appropriate manner.Additionally, in the case of the most conflicting, the skill of this area The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel Close and combination.
It should be noted that flow chart in accompanying drawing and block diagram show the multiple embodiments according to the present invention system, Architectural framework in the cards, function and the operation of method and computer program product.In this, in flow chart or block diagram Each square frame can represent a module, program segment or a part for code, the part bag of described module, program segment or code Executable instruction containing one or more logic functions for realizing regulation.It should also be noted that at some as the reality replaced In Xian, the function marked in square frame can also occur to be different from the order marked in accompanying drawing.Such as, two continuous print sides Frame can essentially perform substantially in parallel, and they can also perform sometimes in the opposite order, and this is according to involved function Fixed.It is also noted that the group of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart Close, can realize by the special hardware based system of the function or action that perform regulation, or specialized hardware can be used Combination with computer instruction realizes.
The indoor positioning device that the embodiment of the present invention is provided can be computer program, including storing program generation The computer-readable recording medium of code, the instruction that described program code includes can be used for performing described in previous methods embodiment Method, implements and can be found in embodiment of the method, does not repeats them here.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, the system of foregoing description, The specific works process of device and unit, is referred to the corresponding process in preceding method embodiment, does not repeats them here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, permissible Realize by another way.Device embodiment described above is only schematically, such as, and the division of described unit, Being only a kind of logic function to divide, actual can have other dividing mode when realizing, and the most such as, multiple unit or assembly can To combine or to be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or beg for The coupling each other of opinion or direct-coupling or communication connection can be indirect by some communication interfaces, device or unit Coupling or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme 's.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual People's computer, Intelligent mobile equipment, server, or the network equipment etc.) perform the complete of method described in each embodiment of the present invention Portion or part steps.And aforesaid storage medium includes: magnetic storage medium, electronic device storage medium etc. are various can store journey The medium of sequence code.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.

Claims (10)

1. an indoor orientation method, it is characterised in that including:
Gathering the location information of destination object, wherein said location information includes around Wi-Fi hotspot information and mobile communication base station At least one in signal；
According to the described location information gathered, according to default screening strategy, select corresponding localization method；
Described localization method is utilized to position, it is thus achieved that the positioning result of described destination object.
Indoor orientation method the most according to claim 1, it is characterised in that described according to default screening strategy, selects Corresponding localization method, including:
According to the intensity of described location information gathered whether meet default intensity threshold condition, localizing environment the most known with And the priority of the localization method preset, select at least one localization method.
Indoor orientation method the most according to claim 1, it is characterised in that described localization method includes that WiFi tri-limit positions Method, WiFi fingerprint positioning method, mobile communication base station signal framing method.
Indoor orientation method the most according to claim 1, it is characterised in that also include: use the location correction side preset The positioning result of described destination object is modified by method.
Indoor orientation method the most according to claim 4, it is characterised in that the positioning correction method pair that described employing is preset The positioning result of described destination object is modified, including:
The real-time positioning information of described destination object is modified by the method using map match.
6. an indoor positioning device, it is characterised in that including:
Locating information acquisition module, for gathering the location information of destination object, wherein said location information includes WiFi around At least one in hot information and mobile communication base station signal；
Localization method selects module, for according to the described location information gathered, according to default screening strategy, selects corresponding Localization method；
Locating module, is used for utilizing described localization method to position, it is thus achieved that the positioning result of described destination object.
Indoor positioning device the most according to claim 6, it is characterised in that described localization method selects module, including:
Localization method selects unit, for whether meeting default intensity threshold bar according to the intensity of the described location information gathered The priority of the localization method that part, localizing environment are the most known and default, selects at least one localization method.
Indoor orientation method the most according to claim 6, it is characterised in that described localization method includes that WiFi tri-limit positions Method, WiFi fingerprint positioning method, mobile communication base station signal framing method.
Indoor positioning device the most according to claim 6, it is characterised in that also include:
Location correcting module, for using default positioning correction method to be modified the positioning result of described destination object.
Indoor positioning device the most according to claim 9, it is characterised in that described location correcting module, including:
Map amending unit, for using the method for map match to be modified the real-time positioning information of described destination object.
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CN108471597A (en) * 2017-02-17 2018-08-31 刘润晨 The control method of locating and tracking system
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CN108471597A (en) * 2017-02-17 2018-08-31 刘润晨 The control method of locating and tracking system
CN108574984A (en) * 2017-03-10 2018-09-25 中国移动通信集团上海有限公司 A kind of localization method and device
CN108574984B (en) * 2017-03-10 2020-08-28 中国移动通信集团上海有限公司 Positioning method and device
CN107426816A (en) * 2017-07-24 2017-12-01 南京邮电大学 The implementation method that a kind of WiFi positioning is merged with map match
CN107966678A (en) * 2017-11-03 2018-04-27 平安科技（深圳）有限公司 Localization method, electronic device and storage medium based on signal data screening
CN109547940A (en) * 2018-11-19 2019-03-29 上海航天电子通讯设备研究所 A kind of bluetooth localization method and system based on indoor map information
CN110572778A (en) * 2019-08-02 2019-12-13 深圳市科迈爱康科技有限公司 position determination method and device based on multi-network cooperation

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