CN106842259A - Localization method and positioner - Google Patents
Localization method and positioner Download PDFInfo
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- CN106842259A CN106842259A CN201710009356.5A CN201710009356A CN106842259A CN 106842259 A CN106842259 A CN 106842259A CN 201710009356 A CN201710009356 A CN 201710009356A CN 106842259 A CN106842259 A CN 106842259A
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- Prior art keywords
- broadcast data
- data packet
- labels
- packet
- location information
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention provides a kind of localization method and positioner, wherein, localization method includes：After obtaining location information to be modified within any cycle, detect whether to receive the broadcast data packet of one or more Wi Fi labels transmission；When detection receives the broadcast data packet of one or more Wi Fi labels transmission, it is determined that at least one broadcast data packet being modified to location information, and target broadcast packet is denoted as, location information is modified according to default pseudorange correction parameter in target broadcast packet.By technical solution of the present invention, on the premise of hardware cost is not improved, the accuracy and promptness of targeting scheme are improve.
Description
Technical field
The present invention relates to the field of locating technology of mobile terminal, in particular to a kind of localization method and a kind of positioning
Device.
Background technology
In the related art, for the mobile terminals such as mobile phone, Intelligent bracelet and intelligent watch, positioning function is most heavy
Will be one of with the most frequently used function, generally using Wi-Fi positioning, communication base station positioning and GNSS (Global Navigation
Satellite System, GLONASS) location technology such as positioning realizes that the parameter of location technology compares such as following table
Shown in 1：
Table 1
| Location technology | Application apparatus | Positioning time | Practicality | Positioning precision | Communication |
| Wi-Fi is positioned | Mobile phone, computer, IPAD etc. | ≤ 1 second | 99.8% | 3-5 meters | Mobile phone |
| GNSS is positioned | Navigator | ≤ 1 second | 80% | 3-10 meters | Do not communicate |
| Architecture | Mobile phone | ≤ 3 minutes | It is uncertain | 150-200 meters | Mobile phone |
To sum up, at least there is following technological deficiency in existing location technology：
(1) Wi-Fi positioning makes one or object carries out fine accurately positioning, work i.e. by Wireless Fidelity (Wi-Fi) technology
Make frequency range usually 2.4GHz, it does not need extra-pay, the transmission of Wi-Fi module as free frequency range for user
Distance can reach 100m, can cover whole building, and the transmission rate of Wi-Fi module is very high, can reach 54Mbps, but,
It is commonly used to the positioning in LAN.
(2) GNSS positioning is based on difference GNSS location technologies, will a GNSS receiver be placed on base station and carry out
Observation, the precision coordinate according to known to base station calculates base station to the distance correction parameter of satellite, and pass through nothing by base station
Line electric equipment in real time goes out this data is activation, while the GNSS receiver of mobile terminal receives GNSS data, also receives
To the distance correction parameter that base station sends, and its positioning result is modified, so that positioning precision is improved, but even if such as
This, the degree of accuracy of its positioning still can not meet user's request, it is impossible to reach the requirement of sub_meter position.
(3) architecture is normally based on the geographical position of multiple base-station nodes, is believed according to the distance between base-station node
Breath and/or subtended angle information determine the geographical position of mobile terminal, the characteristics of targeting scheme does not possess real-time, cannot equally reach
To the requirement of sub_meter position.
(4) in addition to the location technology in table 1, high accuracy positioning can also be carried out using BT (Bit Torrent) positioning,
I.e. by determining the positional information of the host node under Bit Torrent agreements, the location information of corresponding node is determined, although BT is fixed
Position precision can reach sub-meter grade, but, but BT base stations are not popularized and expensive at present, not yet large-scale promotion at present.
The content of the invention
The present invention is based at least one above-mentioned technical problem, it is proposed that a kind of new targeting scheme, by obtaining Wi-
The broadcast data packet that Fi labels send determines pseudorange correction parameter, and then location information is modified, and it is high to be not required to purchase
Expensive hardware positioning equipment, in addition, positioning precision is improved to sub-meter grade, and has the reliability of real-time positioning concurrently.
In view of this, a kind of embodiment according to the first aspect of the invention, it is proposed that localization method, including：Any
After obtaining location information to be modified in cycle, detect whether to receive the broadcast data of one or more Wi-Fi labels transmission
Bag；When detection receives the broadcast data packet of one or more Wi-Fi labels transmission, it is determined that for being repaiied to location information
At least one positive broadcast data packet, and it is denoted as target broadcast packet；Repaiied according to default pseudorange in target broadcast packet
Positive parameter is modified to location information.
In the technical scheme, pseudorange correction parameter is determined by obtaining the broadcast data packet of Wi-Fi labels transmission, entered
And location information is modified, and the expensive hardware positioning equipment of purchase is not required to, in addition, positioning precision is improved to sub- rice
Level, and have the reliability of real-time positioning concurrently.
Wherein, Wi-Fi labels refer to the positioning label of Wi-Fi module, are usually provided in outdoor and Wi-Fi label sheets
Body possesses GNSS positioning functions, to obtain the location information of itself in real time, in addition, Wi-Fi labels are fixedly installed, therefore,
The precise positioning information of itself is also prestored, therefore, Wi-Fi labels location information at any one time according to itself is determined with precisely
Position information can determine pseudorange correction parameter, and the correlative factor such as ionosphere, troposphere and refraction coefficient is to the puppet of Wi-Fi labels
It is identical with the influence of the pseudorange correction parameter of terminal away from corrected parameter, therefore, by the pseudorange correction parameter of Wi-Fi labels send to
Mobile terminal, GNSS location informations that can be accurately and efficiently to acquisition for mobile terminal are modified.
In addition, targeting scheme of the invention can depart from communication base station and GNSS base stations are realized, in order to user saves high-precision
Degree cost of serving.
It is worth it is emphasized that although targeting scheme of the invention make use of Wi-Fi to communicate, but the Wi-Fi of terminal
Module and Wi-Fi labels are connected without setting up, and terminal only needs to receive the broadcast data packet of Wi-Fi labels, terminal Wi-Fi module
May be at low-power consumption mode and wait broadcast data packet, significantly reduce the power consumption penalty of terminal.
In the above-mentioned technical solutions, it is preferable that receive the broadcast data of one or more Wi-Fi labels transmission in detection
Bao Shi, it is determined that at least one broadcast data packet being modified to location information, and target broadcast packet is denoted as, specifically
Comprise the following steps：When detection receives the broadcast data packet that a Wi-Fi label sends, a Wi-Fi label is sent
Broadcast data packet be defined as target broadcast packet；When detection receives the broadcast data packet that multiple Wi-Fi labels send,
It is determined that the received signal strength of multiple broadcast data packets；Using the broadcast data packet of received signal strength highest at least one as mesh
Mark broadcast data packet.
In the technical scheme, by when detection receives the broadcast data packet that a Wi-Fi label sends, by one
The broadcast data packet that Wi-Fi labels send is defined as target broadcast packet, namely now mobile terminal only exists in a Wi-Fi
In the range of transmission of label, hence, it can be determined that a pseudorange correction parameter for target broadcast packet is used for location information
It is modified, when detection receives the broadcast data packet that multiple Wi-Fi labels send, it is determined that the reception of multiple broadcast data packets
Signal intensity, using the broadcast data packet of received signal strength highest at least one as target broadcast packet, reliability is high.
In the above-mentioned technical solutions, it is preferable that according to default pseudorange correction parameter in target broadcast packet to positioning
Information is modified, and specifically includes following steps：It is multiple received signal strength highest target broadcast packet is detected
When, it is determined that the default weight of multiple target broadcast packets；Default weight according to multiple target broadcast packets is to whole puppets
Average computation is weighted away from corrected parameter, and location information is modified according to the result of weighted average calculation.
In the technical scheme, by the default weight according to multiple target broadcast packets to whole pseudorange correction parameters
Average computation is weighted, and location information is modified according to the result of weighted average calculation, targeting scheme can be improved
Accuracy.
Wherein, when mobile terminal is within the range of transmission of multiple Wi-Fi labels, multiple broadcast target packets
The default weighted of pseudorange correction parameter, it is also possible to which the pseudorange correction parameter to multiple broadcast target packets is averaged.
In the above-mentioned technical solutions, it is preferable that the movement rate of the detection mobile terminal, and the movement rate is judged
Whether predetermined movement speed is more than or equal to；When judging that the movement rate is more than or equal to the predetermined movement speed, contracting
The small locating periodically；When judging that the movement rate is less than the predetermined movement speed, increase the locating periodically.
In the technical scheme, by detecting the movement rate of mobile terminal, and it is being more than or is waiting in judgement movement rate
When predetermined movement speed, reduce locating periodically, namely mobile terminal change in location it is very fast when, reduce positioning time between
Every, when judging that movement rate is less than predetermined movement speed, increase the locating periodically, namely mobile terminal change in location compared with
When slow, increase the time interval of positioning, to reduce the power consumption penalty of mobile terminal.
A kind of embodiment according to the second aspect of the invention, it is proposed that localization method, including：A locating periodically in office
It is interior, obtain the Wi-Fi label positioning informations that GNSS system sends and the stationary positioned information for prestoring；According to the Wi-Fi labels
Location information and the stationary positioned information determine the pseudorange correction parameter in any locating periodically；The pseudorange will be loaded
The broadcast data packet of corrected parameter is sent to the positioner (i.e. mobile terminal) as described in above-mentioned any one technical scheme.
In the technical scheme, Wi-Fi labels are applied to, Wi-Fi labels refer to the positioning label of Wi-Fi module,
It is usually provided in outdoor and Wi-Fi labels possesses GNSS positioning functions in itself, to obtain the location information of itself in real time, in addition,
Wi-Fi labels are fixedly installed, therefore, the precise positioning information of itself is also prestored, therefore, Wi-Fi labels a period of time in office
Quarter can determine pseudorange correction parameter according to itself location information and precise positioning information, and ionosphere and troposphere are to GNSS
The influence of the location information that system sends is identical, therefore, the pseudorange correction parameter of Wi-Fi labels is sent to mobile terminal, can
It is modified with the GNSS location informations accurately and efficiently to acquisition for mobile terminal.
A kind of embodiment according to the third aspect of the invention we, it is also proposed that positioner, including：Receiving unit, is used for
After obtaining location information to be modified within any cycle, detect whether to receive the wide of one or more Wi-Fi labels transmission
Unicast packets；Determining unit, during for the broadcast data packet that the transmission of one or more Wi-Fi labels is received in detection, it is determined that
For at least one broadcast data packet being modified to location information, and it is denoted as target broadcast packet；Amending unit, is used for
Location information is modified according to default pseudorange correction parameter in target broadcast packet.
In the technical scheme, pseudorange correction parameter is determined by obtaining the broadcast data packet of Wi-Fi labels transmission, entered
And location information is modified, and the expensive hardware positioning equipment of purchase is not required to, in addition, positioning precision is improved to sub- rice
Level, and have the reliability of real-time positioning concurrently.
Wherein, Wi-Fi labels refer to the positioning label of Wi-Fi module, are usually provided in outdoor and Wi-Fi label sheets
Body possesses GNSS positioning functions, to obtain the location information of itself in real time, in addition, Wi-Fi labels are fixedly installed, therefore,
The precise positioning information of itself is also prestored, therefore, Wi-Fi labels location information at any one time according to itself is determined with precisely
Position information can determine pseudorange correction parameter, and the correlative factor such as ionosphere, troposphere and refraction coefficient is to the puppet of Wi-Fi labels
It is identical with the influence of the pseudorange correction parameter of terminal away from corrected parameter, therefore, by the pseudorange correction parameter of Wi-Fi labels send to
Mobile terminal, GNSS location informations that can be accurately and efficiently to acquisition for mobile terminal are modified.
In addition, targeting scheme of the invention can depart from communication base station and GNSS base stations are realized, in order to user saves high-precision
Degree cost of serving.
It is worth it is emphasized that although targeting scheme of the invention make use of Wi-Fi to communicate, but the Wi-Fi of terminal
Module and Wi-Fi labels are connected without setting up, and terminal only needs to receive the broadcast data packet of Wi-Fi labels, terminal Wi-Fi module
May be at low-power consumption mode and wait broadcast data packet, significantly reduce the power consumption penalty of terminal.
In the above-mentioned technical solutions, it is preferable that determining unit is additionally operable to：A Wi-Fi label is received in detection to send
Broadcast data packet when, the broadcast data packet that Wi-Fi label sends is defined as target broadcast packet；Received in detection
During the broadcast data packet sent to multiple Wi-Fi labels, it is determined that the received signal strength of multiple broadcast data packet；Signal will be received
The broadcast data packet of intensity highest at least one is used as target broadcast packet.
In the technical scheme, by when detection receives the broadcast data packet that a Wi-Fi label sends, by one
The broadcast data packet that Wi-Fi labels send is defined as target broadcast packet, namely now mobile terminal only exists in a Wi-Fi
In the range of transmission of label, hence, it can be determined that a pseudorange correction parameter for target broadcast packet is used for location information
It is modified, when detection receives the broadcast data packet that multiple Wi-Fi labels send, it is determined that the reception of multiple broadcast data packets
Signal intensity, using the broadcast data packet of received signal strength highest at least one as target broadcast packet, reliability is high.
In the above-mentioned technical solutions, it is preferable that amending unit also includes：Computing subelement, for detecting reception letter
Number intensity highest target broadcast packet for it is multiple when, it is determined that the default weight of multiple target broadcast packets；Amending unit
It is additionally operable to：Default weight according to multiple target broadcast packets is weighted average computation to whole pseudorange correction parameters, and
Result according to weighted average calculation is modified to location information.
In the technical scheme, by the default weight according to multiple target broadcast packets to whole pseudorange correction parameters
Average computation is weighted, and location information is modified according to the result of weighted average calculation, targeting scheme can be improved
Accuracy.
Wherein, when mobile terminal is within the range of transmission of multiple Wi-Fi labels, multiple broadcast target packets
The default weighted of pseudorange correction parameter, it is also possible to which the pseudorange correction parameter to multiple broadcast target packets is averaged.
In the above-mentioned technical solutions, it is preferable that also include：Test the speed unit, the movement rate for detecting mobile terminal, sentences
Whether disconnected movement rate is more than or equal to predetermined movement speed；Adjustment unit, for judging movement rate more than or equal to pre-
If during movement rate, reducing locating periodically；Adjustment unit is additionally operable to：When judging that movement rate is less than predetermined movement speed, increase
The big locating periodically.
In the technical scheme, by detecting the movement rate of mobile terminal, and it is being more than or is waiting in judgement movement rate
When predetermined movement speed, reduce locating periodically, namely mobile terminal change in location it is very fast when, reduce positioning time between
Every, when judging that movement rate is less than predetermined movement speed, increase the locating periodically, namely mobile terminal change in location compared with
When slow, increase the time interval of positioning, to reduce the power consumption penalty of mobile terminal.
A kind of embodiment according to the fourth aspect of the invention, it is also proposed that positioner, including：Acquiring unit, is used for
In a locating periodically in office, the Wi-Fi label positioning informations that GNSS system sends and the stationary positioned information for prestoring are obtained；It is determined that
Unit, for being determined in any locating periodically according to the Wi-Fi label positioning informations and the stationary positioned information
Pseudorange correction parameter；Transmitting element, for the broadcast data packet for loading the pseudorange correction parameter to be sent to any as described above
Positioner (i.e. mobile terminal) described in item technical scheme.
In the technical scheme, Wi-Fi labels are applied to, Wi-Fi labels refer to the positioning label of Wi-Fi module,
It is usually provided in outdoor and Wi-Fi labels possesses GNSS positioning functions in itself, to obtain the location information of itself in real time, in addition,
Wi-Fi labels are fixedly installed, therefore, the precise positioning information of itself is also prestored, therefore, Wi-Fi labels a period of time in office
Quarter can determine pseudorange correction parameter according to itself location information and precise positioning information, and ionosphere and troposphere are to GNSS
The influence of the location information that system sends is identical, therefore, the pseudorange correction parameter of Wi-Fi labels is sent to mobile terminal, can
It is modified with the GNSS location informations accurately and efficiently to acquisition for mobile terminal.
By above technical scheme, pseudorange correction parameter is determined by obtaining the broadcast data packet of Wi-Fi labels transmission,
And then location information is modified, and the expensive hardware positioning equipment of purchase is not required to, in addition, positioning precision is improved to sub- rice
Level, and have the reliability of real-time positioning concurrently.
Brief description of the drawings
Fig. 1 shows the schematic flow diagram of localization method according to an embodiment of the invention；
Fig. 2 shows the schematic flow diagram of localization method according to another embodiment of the invention；
Fig. 3 shows the schematic block diagram of positioner according to an embodiment of the invention；
Fig. 4 shows the schematic block diagram that mobile terminal according to an embodiment of the invention and Wi-Fi are positioned；
Fig. 5 shows the schematic flow diagram of localization method according to still a further embodiment；
Fig. 6 shows the schematic flow diagram of localization method according to still a further embodiment；
Fig. 7 shows the schematic block diagram of positioner according to another embodiment of the invention.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied to be further described in detail the present invention.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also
Implemented with being different from third party's mode described here using third party, therefore, protection scope of the present invention is not by following
The limitation of disclosed specific embodiment.
The targeting scheme of mobile terminal is specifically described with reference to Fig. 1 to Fig. 3.
Fig. 1 shows the schematic flow diagram of localization method according to an embodiment of the invention.
As shown in figure 1, localization method according to an embodiment of the invention, including：Step 102, within any cycle
After obtaining location information to be modified, detect whether to receive the broadcast data packet of one or more Wi-Fi labels transmission；Step
104, when detection receives the broadcast data packet of one or more Wi-Fi labels transmission, it is determined that for being carried out to location information
At least one broadcast data packet of amendment, and it is denoted as target broadcast packet；Step 106, according to pre- in target broadcast packet
If pseudorange correction parameter location information is modified.
In the technical scheme, pseudorange correction parameter is determined by obtaining the broadcast data packet of Wi-Fi labels transmission, entered
And location information is modified, and the expensive hardware positioning equipment of purchase is not required to, in addition, positioning precision is improved to sub- rice
Level, and have the reliability of real-time positioning concurrently.
Wherein, Wi-Fi labels refer to the positioning label of Wi-Fi module, are usually provided in outdoor and Wi-Fi label sheets
Body possesses GNSS positioning functions, to obtain the location information of itself in real time, in addition, Wi-Fi labels are fixedly installed, therefore,
The precise positioning information of itself is also prestored, therefore, Wi-Fi labels location information at any one time according to itself is determined with precisely
Position information can determine pseudorange correction parameter, and the influence phase of the location information that ionosphere and troposphere send to GNSS system
Together, therefore, the pseudorange correction parameter of Wi-Fi labels is sent to mobile terminal, can accurately and efficiently to acquisition for mobile terminal
GNSS location informations be modified.
In addition, targeting scheme of the invention can depart from communication base station and GNSS base stations are realized, in order to user saves high-precision
Degree cost of serving.
It is worth it is emphasized that although targeting scheme of the invention make use of Wi-Fi to communicate, but the Wi-Fi of terminal
Module and Wi-Fi labels are connected without setting up, and terminal only needs to receive the broadcast data packet of Wi-Fi labels, terminal Wi-Fi module
May be at low-power consumption mode and wait broadcast data packet, significantly reduce the power consumption penalty of terminal.
In the above-mentioned technical solutions, it is preferable that receive the broadcast data of one or more Wi-Fi labels transmission in detection
Bao Shi, it is determined that at least one broadcast data packet being modified to location information, and target broadcast packet is denoted as, specifically
Comprise the following steps：When detection receives the broadcast data packet that a Wi-Fi label sends, a Wi-Fi label is sent
Broadcast data packet be defined as target broadcast packet；When detection receives the broadcast data packet that multiple Wi-Fi labels send,
It is determined that the received signal strength of multiple broadcast data packets；Using the broadcast data packet of received signal strength highest at least one as mesh
Mark broadcast data packet.
In the technical scheme, by when detection receives the broadcast data packet that a Wi-Fi label sends, by one
The broadcast data packet that Wi-Fi labels send is defined as target broadcast packet, namely now mobile terminal only exists in a Wi-Fi
In the range of transmission of label, hence, it can be determined that a pseudorange correction parameter for target broadcast packet is used for location information
It is modified, when detection receives the broadcast data packet that multiple Wi-Fi labels send, it is determined that the reception of multiple broadcast data packets
Signal intensity, using the broadcast data packet of received signal strength highest at least one as target broadcast packet, reliability is high.
In the above-mentioned technical solutions, it is preferable that according to default pseudorange correction parameter in target broadcast packet to positioning
Information is modified, and specifically includes following steps：It is multiple received signal strength highest target broadcast packet is detected
When, it is determined that the default weight of multiple target broadcast packets；Default weight according to multiple target broadcast packets is to whole puppets
Average computation is weighted away from corrected parameter, and location information is modified according to the result of weighted average calculation.
In the technical scheme, by the default weight according to multiple target broadcast packets to whole pseudorange correction parameters
Average computation is weighted, and location information is modified according to the result of weighted average calculation, targeting scheme can be improved
Accuracy.
Wherein, when mobile terminal is within the range of transmission of multiple Wi-Fi labels, multiple broadcast target packets
The default weighted of pseudorange correction parameter, it is also possible to which the pseudorange correction parameter to multiple broadcast target packets is averaged.
In the above-mentioned technical solutions, it is preferable that also include：The movement rate of mobile terminal is detected, judges that movement rate is
It is no more than or equal to predetermined movement speed；When judging that movement rate is more than or equal to predetermined movement speed, locating periodically is reduced；
When judging that movement rate is less than predetermined movement speed, increase the locating periodically.
In the technical scheme, by detecting the movement rate of mobile terminal, and it is being more than or is waiting in judgement movement rate
When predetermined movement speed, reduce locating periodically, namely mobile terminal change in location it is very fast when, reduce positioning time between
Every, when judging that movement rate is less than predetermined movement speed, increase the locating periodically, namely mobile terminal change in location compared with
When slow, increase the time interval of positioning, to reduce the power consumption penalty of mobile terminal.
Fig. 2 shows the schematic flow diagram of localization method according to another embodiment of the invention.
As shown in Fig. 2 localization method according to another embodiment of the invention, including：Step 202, mobile terminal connects
Receive the location information of GNSS system hair；Step 204, Wi-Fi tag locations；Step 206, generates pseudorange correction parameter；Step
208, WI-FI tag broadcasts；Step 210, mobile terminal receives broadcast (i.e. broadcast data packet)；Step 212, receives pseudorange correction
Parameter；Step 214, is modified according to pseudorange correction parameter to location information；Step 216, by revised location information hair
The positioning application process delivered to.
Fig. 3 shows the schematic block diagram of positioner according to an embodiment of the invention.
As shown in figure 3, positioner 300 according to an embodiment of the invention, including：Receiving unit 302, for any
After obtaining location information to be modified in cycle, detect whether to receive the broadcast data of one or more Wi-Fi labels transmission
Bag；Determining unit 304, during for the broadcast data packet that the transmission of one or more Wi-Fi labels is received in detection, it is determined that being used for
At least one broadcast data packet being modified to location information, and it is denoted as target broadcast packet；Amending unit 306, is used for
Location information is modified according to default pseudorange correction parameter in target broadcast packet.
In the technical scheme, pseudorange correction parameter is determined by obtaining the broadcast data packet of Wi-Fi labels transmission, entered
And location information is modified, and the expensive hardware positioning equipment of purchase is not required to, in addition, positioning precision is improved to sub- rice
Level, and have the reliability of real-time positioning concurrently.
Wherein, Wi-Fi labels refer to the positioning label of Wi-Fi module, are usually provided in outdoor and Wi-Fi label sheets
Body possesses GNSS positioning functions, to obtain the location information of itself in real time, in addition, Wi-Fi labels are fixedly installed, therefore,
The precise positioning information of itself is also prestored, therefore, Wi-Fi labels location information at any one time according to itself is determined with precisely
Position information can determine pseudorange correction parameter, and the influence phase of the location information that ionosphere and troposphere send to GNSS system
Together, therefore, the pseudorange correction parameter of Wi-Fi labels is sent to mobile terminal, can accurately and efficiently to acquisition for mobile terminal
GNSS location informations be modified.
In addition, targeting scheme of the invention can depart from communication base station and GNSS base stations are realized, in order to user saves high-precision
Degree cost of serving.
It is worth it is emphasized that although targeting scheme of the invention make use of Wi-Fi to communicate, but the Wi-Fi of terminal
Module and Wi-Fi labels are connected without setting up, and terminal only needs to receive the broadcast data packet of Wi-Fi labels, terminal Wi-Fi module
May be at low-power consumption mode and wait broadcast data packet, significantly reduce the power consumption penalty of terminal.
In the above-mentioned technical solutions, it is preferable that determining unit 304 is additionally operable to：A Wi-Fi labels hair is received in detection
During the broadcast data packet sent, the broadcast data packet that a Wi-Fi label sends is defined as target broadcast packet；Connect in detection
When receiving the broadcast data packet that multiple Wi-Fi labels send, it is determined that the received signal strength of multiple broadcast data packets；Believe receiving
Number broadcast data packet of intensity highest at least one is used as target broadcast packet.
In the technical scheme, by when detection receives the broadcast data packet that a Wi-Fi label sends, by one
The broadcast data packet that Wi-Fi labels send is defined as target broadcast packet, namely now mobile terminal only exists in a Wi-Fi
In the range of transmission of label, hence, it can be determined that a pseudorange correction parameter for target broadcast packet is used for location information
It is modified, when detection receives the broadcast data packet that multiple Wi-Fi labels send, it is determined that the reception of multiple broadcast data packets
Signal intensity, using the broadcast data packet of received signal strength highest at least one as target broadcast packet, reliability is high.
In the above-mentioned technical solutions, it is preferable that amending unit 306 also includes：Computing subelement 3062, for detecting
When received signal strength highest target broadcast packet is for multiple, it is determined that the default weight of multiple target broadcast packets；Repair
Positive unit 306 is additionally operable to：Default weight according to multiple target broadcast packets is weighted flat to whole pseudorange correction parameters
Calculate, and location information is modified according to the result of weighted average calculation.
In the technical scheme, by the default weight according to multiple target broadcast packets to whole pseudorange correction parameters
Average computation is weighted, and location information is modified according to the result of weighted average calculation, targeting scheme can be improved
Accuracy.
Wherein, when mobile terminal is within the range of transmission of multiple Wi-Fi labels, multiple broadcast target packets
The default weighted of pseudorange correction parameter, it is also possible to which the pseudorange correction parameter to multiple broadcast target packets is averaged.
In the above-mentioned technical solutions, it is preferable that also include：Test the speed unit 308, the motion speed for detecting mobile terminal
Whether rate, judge movement rate more than or equal to predetermined movement speed；Adjustment unit 310, for being more than in judgement movement rate
Or during equal to predetermined movement speed, reduce locating periodically；Adjustment unit 310 is additionally operable to：Judging movement rate less than default fortune
During dynamic speed, increase the locating periodically.
In the technical scheme, by detecting the movement rate of mobile terminal, and it is being more than or is waiting in judgement movement rate
When predetermined movement speed, reduce locating periodically, namely mobile terminal change in location it is very fast when, reduce positioning time between
Every, when judging that movement rate is less than predetermined movement speed, increase the locating periodically, namely mobile terminal change in location compared with
When slow, increase the time interval of positioning, to reduce the power consumption penalty of mobile terminal.
Fig. 4 shows the schematic block diagram that mobile terminal according to an embodiment of the invention and Wi-Fi are positioned.
Fig. 5 shows the schematic flow diagram of localization method according to still a further embodiment.
Targeting scheme according to an embodiment of the invention is specifically described with reference to Fig. 4 and Fig. 5.
As shown in Figure 4 and Figure 5, Wi-Fi labels send the broadcast data packet with pseudorange correction parameter in real time, mobile whole
End may receive multiple broadcast data packets when broadcast is received.Therefore extract optimal in multiple broadcast data packets
The algorithm of pseudorange correction parameter is as follows：
If as shown in figure 4, distributed several Wi-Fi labels on a road, intelligent mobile mobile terminal can
The broadcast data packet of Wi-Fi labels is received, the dashed circle in lower Fig. 4 is the signal of Wi-Fi tag signal strength scopes, it is real
Border mobile terminal should be in the range of signal intensity circle.
Wherein, Wi-Fi labels distribution needs the condition observed：
1) in the signal intensity circle of Wi-Fi labels n-1, mobile terminal should not receive the broadcast of Wi-Fi labels n+1
Packet, that is to say, that RSSI=RSSIn+1=-∞, can so ensure that mobile terminal is extracted most preferably from broadcast data packet
Pseudorange correction parameter；
2) similarly, in the signal intensity circle of Wi-Fi labels n+1, mobile terminal should not receive Wi-Fi labels n-
1 broadcast data packet, that is to say, that RSSI=RSSIn-1=-∞；
3) the signal intensity circle of Wi-Fi labels n needs to intersect with the signal intensity circle of Wi-Fi labels n-1 and n+1 respectively,
Influence of the distance increase to positioning precision between mobile terminal and Wi-Fi labels n can so be reduced.
As shown in figure 5, mobile terminal selects the pseudorange correction parameter of different Wi-Fi labels according to RSSI, to ensure positioning
Precision：
1) when mobile terminal reaches the scope of Wi-Fi label n-1 signal intensities circle, and Wi-Fi labels n-1 can only be received
Broadcast data packet when, RSSI=RSSIn-1, the now pseudorange correction parameter of acquisition for mobile terminal Wi-Fi labels n-1；
2) when mobile terminal reaches the common region scope of Wi-Fi label n-1 and Wi-Fi label n signal intensities circle, connect
The RSSI=RSSI for receivingn-1>RSSIn, mobile terminal still obtains the pseudorange correction parameter of Wi-Fi labels n-1；
3) when mobile terminal reaches the common region scope of Wi-Fi label n-1 and Wi-Fi label n signal intensities circle, connect
The RSSI=RSSI for receivingn≥RSSIn-1, the pseudorange correction parameter of acquisition for mobile terminal Wi-Fi labels n；
4) when mobile terminal reaches the scope of Wi-Fi label n signal intensities circle, and the wide of Wi-Fi labels n can only be received
During unicast packets, RSSI=RSSIn, the now pseudorange correction parameter of acquisition for mobile terminal Wi-Fi labels n；
5) when mobile terminal reaches the common region scope of Wi-Fi label n and Wi-Fi label n+1 signal intensities circle, connect
The RSSI=RSSI for receivingn>RSSIn+1, the pseudorange correction parameter of acquisition for mobile terminal Wi-Fi labels n；
6) when mobile terminal reaches the common region scope of Wi-Fi label n and Wi-Fi label n+1 signal intensities circle, connect
The RSSI=RSSI for receivingn+1≥RSSIn, the pseudorange correction parameter of acquisition for mobile terminal Wi-Fi labels n+1；
7) when mobile terminal reaches the scope of Wi-Fi label n+1 signal intensities circle, and Wi-Fi labels n+1 can only be received
Broadcast data packet when, RSSI=RSSIn+1, the now pseudorange correction parameter of acquisition for mobile terminal Wi-Fi labels n+1；
Wherein, n >=2, in n=2, Wi-Fi labels 1 are the Wi-Fi labels of original position.n>When 2, pseudorange correction parameter
Obtained by circulating above-mentioned steps.
The targeting scheme of Wi-Fi labels is specifically described with reference to Fig. 6 and Fig. 7.
Fig. 6 shows the schematic flow diagram of localization method according to still a further embodiment.
As shown in fig. 6, localization method according to still a further embodiment, including：Step 602, a positioning in office
In cycle, the Wi-Fi label positioning informations that GNSS system sends and the stationary positioned information for prestoring are obtained；Step 604, according to
Wi-Fi label positioning informations and stationary positioned information determine the pseudorange correction parameter in any locating periodically；Step 606, will be negative
The broadcast data packet for carrying pseudorange correction parameter is sent to the positioner (i.e. mobile terminal) of such as above-mentioned any one technical scheme.
In the technical scheme, Wi-Fi labels are applied to, Wi-Fi labels refer to the positioning label of Wi-Fi module,
It is usually provided in outdoor and Wi-Fi labels possesses GNSS positioning functions in itself, to obtain the location information of itself in real time, in addition,
Wi-Fi labels are fixedly installed, therefore, the precise positioning information of itself is also prestored, therefore, Wi-Fi labels a period of time in office
Quarter can determine pseudorange correction parameter according to itself location information and precise positioning information, and ionosphere and troposphere are to GNSS
The influence of the location information that system sends is identical, therefore, the pseudorange correction parameter of Wi-Fi labels is sent to mobile terminal, can
It is modified with the GNSS location informations accurately and efficiently to acquisition for mobile terminal.
Fig. 7 shows the schematic block diagram of positioner according to another embodiment of the invention.
As shown in fig. 7, positioner 700 according to another embodiment of the invention, including：Obtain single 702, for
In any locating periodically, the Wi-Fi label positioning informations that GNSS system sends and the stationary positioned information for prestoring are obtained；It is determined that single
Unit 704, for determining that the pseudorange correction in any locating periodically is joined according to Wi-Fi label positioning informations and stationary positioned information
Number；Transmitting element 706, for the broadcast data packet for loading pseudorange correction parameter to be sent to such as above-mentioned any one technical scheme
Positioner (i.e. mobile terminal).
In the technical scheme, Wi-Fi labels are applied to, Wi-Fi labels refer to the positioning label of Wi-Fi module,
It is usually provided in outdoor and Wi-Fi labels possesses GNSS positioning functions in itself, to obtain the location information of itself in real time, in addition,
Wi-Fi labels are fixedly installed, therefore, the precise positioning information of itself is also prestored, therefore, Wi-Fi labels a period of time in office
Quarter can determine pseudorange correction parameter according to itself location information and precise positioning information, and ionosphere and troposphere are to GNSS
The influence of the location information that system sends is identical, therefore, the pseudorange correction parameter of Wi-Fi labels is sent to mobile terminal, can
It is modified with the GNSS location informations accurately and efficiently to acquisition for mobile terminal.
Wi-Fi module and GNSS module are provided with Wi-Fi labels of the invention, Wi-Fi also is provided with mobile terminal
Module and GNSS module, the precise position information of Wi-Fi labels, it is known that the GNSS module of Wi-Fi labels is constantly positioned,
The pseudorange correction parameter of Wi-Fi labels, the Wi- of Wi-Fi labels are calculated using the elements of a fix and accurate coordinates of Wi-Fi labels
Fi modules are broadcasted in real time, and the pseudorange correction parameter comprising label in packet, intelligent mobile terminal Wi-Fi module is received
To packet, and the GNSS module that the pseudorange correction parameter in packet is given to terminal is extracted, ionosphere and the refraction to flow
As influence etc. correlative factor to label pseudorange and terminal pseudorange is, it is possible to which label pseudorange correction parameter directly should
Use in the positioning of terminal, terminal GNSS system calculates high-precision positional information.
Technical scheme is described in detail above in association with accompanying drawing, it is contemplated that how to improve positioning in correlation technique
Accuracy and promptness, and low cost technical problem, the present invention proposes a kind of targeting scheme, is marked by obtaining Wi-Fi
Sign and issue the broadcast data packet sent to determine pseudorange correction parameter, and then location information is modified, and it is expensive to be not required to purchase
Hardware positioning equipment, in addition, positioning precision is improved to sub-meter grade, and has the reliability of real-time positioning concurrently.
Step in present invention method can according to actual needs carry out order adjustment, merge and delete.
Unit in embodiment of the present invention terminal can according to actual needs be merged, divides and deleted.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Completed with instructing the hardware of correlation by program, the program can be stored in a computer-readable recording medium, storage
Medium include read-only storage (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only storage (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only storage
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), read-only optical disc (Compact
Disc Read-Only Memory, CD-ROM) or other disk storages, magnetic disk storage, magnetic tape storage or can
For carrying or computer-readable any other medium of data storage.
The preferred embodiments of the present invention are these are only, is not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.All any modifications within the spirit and principles in the present invention, made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of localization method, is applied to mobile terminal, and the mobile terminal can obtain the location information of GNSS system transmission,
Characterized in that, the localization method includes：
After obtaining location information to be modified in a locating periodically in office, detect whether to receive one or more Wi-Fi labels
The broadcast data packet of transmission；
When detection receives the broadcast data packet that one or more described Wi-Fi labels send, it is determined that being used for the positioning
At least one broadcast data packet that information is modified, and it is denoted as target broadcast packet；
The location information is modified according to default pseudorange correction parameter in the target broadcast packet.
2. localization method according to claim 1, it is characterised in that described to be received described in one or more in detection
During the broadcast data packet that Wi-Fi labels send, it is determined that at least one broadcast data being modified to the location information
Bag, and target broadcast packet is denoted as, specifically include following steps：
When detection receives the broadcast data packet that a Wi-Fi label sends, a Wi-Fi label is sent
Broadcast data packet is defined as the target broadcast packet；
When detection receives the broadcast data packet that multiple Wi-Fi labels send, it is determined that multiple broadcast data packets
Received signal strength；
Broadcast data packet described in received signal strength highest at least one is defined as the target broadcast packet.
3. localization method according to claim 2, it is characterised in that described to be preset according in the target broadcast packet
Pseudorange correction parameter the location information is modified, specifically include following steps：
When received signal strength highest target broadcast packet is detected for multiple, it is determined that multiple target broadcast data
The default weight of bag；
Default weight according to multiple target broadcast packets is weighted average meter to all pseudorange correction parameters
Calculate, and the location information is modified according to the result of the weighted average calculation.
4. localization method according to any one of claim 1 to 3, it is characterised in that also include：
The movement rate of the mobile terminal is detected, and judges the movement rate whether more than or equal to predetermined movement speed；
When judging that the movement rate is more than or equal to the predetermined movement speed, the locating periodically is reduced；
When judging that the movement rate is less than the predetermined movement speed, increase the locating periodically.
5. a kind of localization method, is applied to Wi-Fi labels, it is characterised in that the localization method includes：
In a locating periodically in office, the Wi-Fi label positioning informations that GNSS system sends and the stationary positioned information for prestoring are obtained；
Determine that the pseudorange in any locating periodically is repaiied according to the Wi-Fi label positioning informations and the stationary positioned information
Positive parameter；
The broadcast data packet for loading the pseudorange correction parameter is sent to the positioning as any one of Claims 1-4
Device.
6. a kind of positioner, is applied to mobile terminal, and the mobile terminal can obtain the location information of GNSS system transmission,
Characterized in that, the positioner includes：
Receiving unit, after obtaining location information to be modified in a locating periodically in office, detect whether to receive one or
The broadcast data packet that multiple Wi-Fi labels send；
Determining unit, during for the broadcast data packet that one or more Wi-Fi labels transmissions are received in detection, it is determined that with
In at least one broadcast data packet being modified to the location information, and it is denoted as target broadcast packet；
Amending unit, for being carried out to the location information according to default pseudorange correction parameter in the target broadcast packet
Amendment.
7. positioner according to claim 6, it is characterised in that
The determining unit is additionally operable to：When detection receives the broadcast data packet that a Wi-Fi label sends, by one
The broadcast data packet that the Wi-Fi labels send is defined as the target broadcast packet；
The determining unit is additionally operable to：When detection receives the broadcast data packet that multiple Wi-Fi labels send, it is determined that many
The received signal strength of the individual broadcast data packet；
The determining unit is additionally operable to：Broadcast data packet described in received signal strength highest at least one is defined as the mesh
Mark broadcast data packet.
8. positioner according to claim 7, it is characterised in that the amending unit also includes：
Computing subelement, for when received signal strength highest target broadcast packet is detected for multiple, it is determined that multiple
The default weight of the target broadcast packet；
The amending unit is additionally operable to：Default weight according to multiple target broadcast packets is to all pseudorange corrections
Parameter is weighted average computation, and the location information is modified according to the result of the weighted average calculation.
9. the positioner according to any one of claim 6 to 8, it is characterised in that also include：
Test the speed unit, for detecting the movement rate of the mobile terminal, and judges whether the movement rate is more than or equal to
Predetermined movement speed；
Adjustment unit, for when judging that the movement rate is more than or equal to the predetermined movement speed, reducing the positioning
Cycle；
The adjustment unit is additionally operable to：When judging that the movement rate is less than the predetermined movement speed, increase the positioning
Cycle.
10. a kind of positioner, is applied to Wi-Fi labels, it is characterised in that the positioner includes：
Acquiring unit, in a locating periodically in office, obtains GNSS system Wi-Fi label positioning informations for sending and prestores
Stationary positioned information；
Determining unit, for determining any positioning according to the Wi-Fi label positioning informations and the stationary positioned information
Pseudorange correction parameter in cycle；
Transmitting element, for the broadcast data packet for loading the pseudorange correction parameter to be sent into any into such as claim 6 to 9
Positioner described in.
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| CN201710009356.5A CN106842259A (en) | 2017-01-06 | 2017-01-06 | Localization method and positioner |
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Application publication date: 20170613 |