CN107027168A - Localization method and device - Google Patents
Localization method and device Download PDFInfo
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- CN107027168A CN107027168A CN201610073267.2A CN201610073267A CN107027168A CN 107027168 A CN107027168 A CN 107027168A CN 201610073267 A CN201610073267 A CN 201610073267A CN 107027168 A CN107027168 A CN 107027168A
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- station
- keeping mode
- location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
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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
Abstract
The application is related to a kind of localization method and device, and this method is included in point to be determined and obtains the first location information that at least two different station-keeping mode locating modules are sent respectively；First location information the second location information corresponding with the position being pre-stored in pre-stored location data fingerprint base is matched, the corresponding position of the station-keeping mode is determined, the position of point to be determined is obtained further according to the corresponding position Synthesis of each station-keeping mode.Point to be determined is positioned by the locating module of at least two different station-keeping modes, overcome prior art according only to single station-keeping mode point to be determined is positioned present in accuracy it is not high the problem of.
Description
Technical field
The application is related to field of locating technology, more particularly to a kind of localization method and device.
Background technology
Presently the most the indoor positioning technologies of main flow mainly include triangle polyester fibre and fingerprint location, and this two kinds fixed
Position technology be single station-keeping mode (due to a kind of station-keeping mode be used for position signal source for one kind, because
Single station-keeping mode is also referred to as the positioning of single signal source by this), e.g., station-keeping mode is wifi positioning, indigo plant
Tooth positioning etc..
Because in actual applications, every kind of station-keeping mode corresponds to a kind of location information, such as station-keeping mode is wifi
Then its corresponding location information is wifi signals for positioning, i.e., the wifi that station-keeping mode scanning wifi equipment is sent
Signal；Its corresponding location information is Bluetooth information if station-keeping mode is bluetooth positioning, i.e. station-keeping mode
Scan the Bluetooth information that bluetooth equipment is sent., may be due to for the location equipment of same station-keeping mode
Its deployment is unbalanced, higher and make it that the location equipment quantity of deployment is inadequate in view of cost, Huo Zheding
The various situations such as the characteristic distributions and signal propagation characteristicses of position equipment itself, may result in this kind positioning
The location equipment signal cover of pattern is not complete, there is no signal or the weaker region that can not be positioned of signal,
Once object to be positioned enters these regions and will cause positioning failure or position inaccurate technical problem.
The content of the invention
A kind of localization method and device that the embodiment of the present application is provided, improving position success rate is and accuracy.
To achieve the above object, this application provides a kind of method of positioning, this method includes：
The first positioning letter that the locating module of at least two different station-keeping modes is sent is obtained in point to be determined
Breath；
The first location information that each locating module is sent is divided into one group, obtains each station-keeping mode corresponding
One location information；
It is for each station-keeping mode, the first location information of the station-keeping mode is corresponding to preset respectively
Corresponding second location information of each position stored in the location data fingerprint base of station-keeping mode is matched,
Determine the corresponding position of station-keeping mode；
According to the corresponding position of each station-keeping mode, the corresponding position in point to be determined is determined.
The embodiment of the present application also provides a kind of positioner, and device includes acquiring unit, grouped element, first
Determining unit and the second determining unit, wherein：
The acquiring unit, the locating module hair for obtaining at least two different station-keeping modes in point to be determined
The first location information sent；
The grouped element, the first location information for each locating module to be sent is divided into one group, obtains each
Corresponding first location information of station-keeping mode；
First determining unit, for for each station-keeping mode, the first of the station-keeping mode to be determined
The each position that position information is stored in the location data fingerprint base of station-keeping mode corresponding to preset respectively is corresponding
Second location information is matched, and determines the corresponding position of the station-keeping mode；
Second determining unit, for according to the corresponding position of each station-keeping mode, determining described to be positioned
The corresponding position of point.
A kind of terminal device, includes the locating module and processor of at least two different station-keeping modes；
Locating module, during for positioning service in user's opening terminal apparatus, end of scan equipment is current
The first location information or the first location information of surrounding enviroment that the location equipment on position periphery is sent.
Processor, for the first location information of the locating module transmission of identical station-keeping mode to be divided into one group,
Obtain corresponding first location information of each station-keeping mode；For each station-keeping mode, by the positioning mould
It is each that first location information of formula is stored in the location data fingerprint base of station-keeping mode corresponding to preset respectively
Corresponding second location information in position is matched, and determines the corresponding position of the station-keeping mode；And,
According to the corresponding position of each station-keeping mode, the terminal device present position is determined.
The localization method and device that the embodiment of the present application is provided, can be by least in same point to be determined
The locating module of two different station-keeping modes is positioned (also referred to as multisignal source positioning) to point to be determined,
On the one hand, due to the position difference that the corresponding location equipment of different station-keeping modes is disposed, relative to single
Station-keeping mode location equipment deployment scenario for, for the same area scope, different station-keeping modes
Location equipment covering density it is larger, the covering of location equipment signal is more complete, and different station-keeping mode
The signal distributions feature of corresponding location equipment is different with signal propagation characteristicses, therefore each other can be mutual
Mend, and seldom probability can be present without the weaker region of location information or location information, so that at each
Position can receive the location information of the location equipment of different station-keeping modes, based on the location information energy
Enough successfully positioned, overcome in the prior art according to determining that the location equipment of single station-keeping mode is sent
The problem of position information is positioned and failed in the presence of positioning；On the other hand, according to each station-keeping mode
Point to be determined position to obtain relevant position, and according to the corresponding position Synthesis of the plurality of station-keeping mode
The position of point to be determined is obtained, the positioning for overcoming single station-keeping mode itself to exist is unstable so as to cause
The problem of positioning inaccurate, therefore, this Shen more accurate relative to the position that the positioning of single station-keeping mode is obtained
It please improve positioning accuracy.
Brief description of the drawings
, below will be in the embodiment of the present application in order to illustrate more clearly of the technical scheme of the embodiment of the present application
The required accompanying drawing used is briefly described, it should be apparent that, drawings described below is only this
Some embodiments of application, for those of ordinary skill in the art, are not paying creative work
Under the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.
A kind of flow chart for localization method that Fig. 1 provides for the embodiment of the present application；
A kind of structural representation for positioner that Fig. 2 provides for the embodiment of the present application；
A kind of structural representation for terminal device that Fig. 3 provides for the embodiment of the present application.
Embodiment
The localization method and device that the embodiment of the present application is provided, it is adaptable to electronic map positioning, it is such as indoor fixed
Position, outdoor positioning.
In the embodiment of the present application, the first location information progress positioning to station-keeping mode can be fixed using triangle
Position technology, it would however also be possible to employ fingerprint location technology.
" fingerprint " in fingerprint location technology refer to location equipment (such as access point (Access Point,
AP the multipath characteristics that the positioning signal)) sent is produced after reflection, refraction etc. on a certain position
Signal is finger print information of the location equipment on the position.It is AP such as to assume location equipment, then AP
The radio wave of transmitting produces the multipath corresponding with the position in a certain position after reflection, refraction
Characteristic signal, " fingerprints " of the AP in the position is confirmed as by the multipath characteristics signal, and such as AP is indigo plant
Tooth equipment, base station equipment, wifi equipment, then " fingerprint " in the position is signal strength values.
Fingerprint location process can be divided into two stages：" off-line training " and " tuning on-line "." from
Line training " the stage is that it is multiple fixed to be fixedly installed in the place for all places with location requirement
Position equipment, in advance can by collector using collecting device place each location point collection around each
The location information of the location equipment transmitting of station-keeping mode, and/or using the ring of collecting device scanning each position point
Border location information；For every kind of station-keeping mode, set up each position point and the station-keeping mode is corresponding each fixed
Position equipment or environmental positioning information the location information of the location point corresponding relation, to obtain location data
Be stored with fingerprint base, i.e. location data fingerprint base substantial amounts of location point position and the position it is corresponding fixed
Position information (the application is referred to as the second location information)." online/positioning " refers to subsequently for be positioned
Object, the positioning of each station-keeping mode is received in the position (i.e. point to be determined) where the object to be positioned
Location information or environmental positioning information (the application is referred to as the first location information) that equipment is sent, and according to
Fingerprint in the location information or environmental positioning information location data fingerprint base corresponding with corresponding station-keeping mode
Matched, to obtain the position of point to be determined.
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out
Clearly and completely describe, it is clear that described embodiment is a part of embodiment of the application, without
It is whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making wound
The every other embodiment that the property made is obtained on the premise of working, should all belong to the scope of the application protection.
A kind of flow chart for localization method that Fig. 1 provides for the embodiment of the present application.As shown in figure 1, the party
The executive agent of method 100 be the terminal device with positioning function, such as mobile phone, pad, removable computer,
The locating module of at least two station-keeping modes is provided with the terminal device, this method 100 includes following
Step：
S110, first that the locating module transmission of at least two different station-keeping modes is obtained in point to be determined is determined
Position information.
In the embodiment of the present application, if the corresponding location information of station-keeping mode is affixed to determining for ad-hoc location
Position equipment is sent, then the corresponding locating module of the station-keeping mode is sent in point to be determined Scan orientation equipment
Location information；If the corresponding location information of station-keeping mode is to can be used for the information of positioning present in environment
Location information in the corresponding locating module scanning circumstance of the station-keeping mode.
For example：Station-keeping mode can include wifi positioning, bluetooth positioning, architecture, magnetic orientation,
Light-seeking, infrared positioning etc., the corresponding locating module being arranged in terminal device are wifi receivers, indigo plant
Tooth receiver, base station receiver, earth inductor, optical inductor and infrared remote receiver；Wherein, wifi
Positioning, bluetooth positioning, architecture, infrared positioning, then its corresponding location information can be set from wifi
The location equipments such as standby, bluetooth equipment, base station equipment and infrared equipment are sent, then wifi receivers, bluetooth
Receiver, base station receiver, earth inductor, optical inductor and infrared remote receiver scanning wifi equipment,
The location information that bluetooth equipment, base station equipment and infrared equipment are sent.As station-keeping mode be light-seeking and
Magnetic orientation, then the surrounding enviroment of optical inductor and earth inductor scanning point to be determined are fixed accordingly to obtain
Position information.
In step S110, the locating module hair of at least two different station-keeping modes is obtained in point to be determined
The first location information sent, specifically may include：Obtained at least according to the preset acquisition cycle in point to be determined
The first location information that the locating module of two different station-keeping modes is sent, wherein the cycle of acquisition be higher than or wait
The transmission cycle of the first location information is sent in locating module, therefore, in abovementioned steps S110, Ke Yi
At least one first positioning letter that the locating module that point to be determined obtains at least two different station-keeping modes is sent
Breath.
For example, it is assumed that terminal device is provided with wifi receivers, Bluetooth Receiver and earth inductor,
Then point to be determined is A points, then obtains wifi receivers, Bluetooth Receiver and earth inductor hair in A points
The first location information sent is respectively (T, maclist), (T, blelist) and (T, maglist),
Wherein：(T, maclist) is represented in T time section (obtaining the cycle) interior wifi receivers in A points
(the wifi information includes wifi equipment to the wifi information that the multiple wifi equipments scanned are sent
MAC (Media Access Control, media access control) addresses and wifi signal strength values)；(T,
Blelist multiple bluetooth equipments transmission that Bluetooth Receiver is arrived in A spot scans in T time section) is represented
Bluetooth information (Bluetooth information includes the MAC Address and bluetooth signal intensity value of bluetooth equipment)；(T,
Maglist multiple Geomagnetism Informations (ground that earth inductor is arrived in A spot scans in T time section) is represented
Magnetic information includes absolute force value).The wifi letters scanned with wifi receivers in T time section
Cease for t1 (ss11, ss12 ... ..., ss1n)；T2 (ss21, ss22 ... ..., ss2m)；t3
(ss31, ss32 ... ..., ss3k), wherein, t1, t2, and t3 represent T time section in difference when
Between point；Ss identifies the signal strength values of wifi information.In the embodiment of the present application, Bluetooth Receiver and ground
The location information that magnetic inductor scanning is obtained is similar with wifi information in form, is succinct description, at this
In repeat no more.
S120, the first location information that the locating module of identical station-keeping mode is sent is divided into one group, obtains
Corresponding first location information of each station-keeping mode.
In actual applications, due to being likely to be received the multiple of locating module transmission within the same acquisition cycle
First location information, so as to cause the first location information to there is data redundancy, according to including redundant data
First location information, which carries out positioning, to cause locating speed slower.Preferably, to solve the problem, preceding
State in S120, be divided into the first location information for sending the locating module of identical station-keeping mode after one group,
Re-scheduling is carried out to each group of the first location information, this group of location information after re-scheduling is defined as corresponding positioning
Corresponding first location information of pattern, to complete to carry out redundancy processing to the first location information.The side of re-scheduling
Formula can be as follows：According to the location equipment included in the first location information ID, by ID identicals n
(wherein n is the positive integer more than or equal to 1) first location information is confirmed as same location equipment and sent
Location information, then one of them first location information is chosen from n the first location informations and retained, will
Remaining n-1 the first location informations are rejected；Or, according to the location equipment included in the first location information
No. ID, by determining that ID identicals n the first location informations confirm as that same location equipment sends
Position information, then carry out COMPREHENSIVE CALCULATING according to the n the first location informations and obtain first location information,
First location information is replaced into n first location information, for example, using the first location information as letter
Exemplified by number intensity, the average value of the signal intensity of the n the first location informations is defined as COMPREHENSIVE CALCULATING
The first obtained location information.For example, it is assumed that station-keeping mode positions for wifi, obtained in an acquisition cycle
The wifi signals in multiple transmission cycles of wifi locating modules transmission are got, wherein there are multiple wifi signals to be
Obtained from the scanning of same location equipment, then the signal intensity for calculating the plurality of wifi signals obtains a wifi
Signal intensity, then retain the wifi signal intensities, and delete aforesaid plurality of wifi signals.
S130, for each station-keeping mode, by the first location information of station-keeping mode respectively with it is preset
The corresponding second location information progress of each position stored in the location data fingerprint base of corresponding station-keeping mode
Match somebody with somebody, determine the corresponding position of station-keeping mode.
Alternatively, in the embodiment of the present application, foregoing S130, implementing can be as follows：
For each station-keeping mode, calculate respectively station-keeping mode the first location information characteristic information with
The similarity of the individual features information of corresponding second location information of each position in location data fingerprint base；
By at least one corresponding position of the second location information that similarity is larger, it is defined as station-keeping mode corresponding
Position.For example, the order according to similarity from high to low, chooses n the second location information correspondences successively
Position be defined as the corresponding position of station-keeping mode.Characteristic information refers to the information that can be used in positioning, such as
First location information is wifi information, Bluetooth information, Geomagnetism Information etc., and its corresponding characteristic information is letter
Number intensity level；First location information is infrared etc., and its corresponding characteristic information is that information receives the time.
Alternatively, in the embodiment of the present application, foregoing S130, implementing can be as follows：
For each position in location data fingerprint base, calculate station-keeping mode according to formula 1.1 first is determined
The similarity of characteristic information the second location information individual features information corresponding with position of position information：
Wherein, Score represents similarity；N represents what is included in the first location information and the second location information
The maximum of location information number, ssi be first location information in i-th of location information feature
Information, ffi is the characteristic information of i-th of location information of second location information.
For example, it is assumed that station-keeping mode positions for wifi, the corresponding locating module of station-keeping mode positions for wifi
Module, the first location information that P is received from wifi locating modules in point to be determined for ss1, ss2 ... ...,
ssn}；The position and its second location information stored in location data fingerprint base is as follows：P1
(ff11, ff21 ... ..., ff1m), P2 (ff21, ff22 ... ..., ff2n), P3 (ff31, ff32 ... ...,
Ff3k) ... Pi (ffi1, ffi2 ... ..., ffij).First, for every in location data fingerprint base
One position, the of point to be determined P the first location information and the position is calculated according to aforementioned formula 1.1
The similarity of two location informations, obtain according to this P the first location information respectively with P1, P2, P3 ... Pi ...
The second location information similarity be followed successively by x1, x2, x3 ... xi ...；Secondly, by x1, x2,
X3 ... xi ... it is ranked up according to order from big to small；Finally by preceding n after sequence, (n's takes
Value can be 1 or be the positive integer more than 1, can flexibly set according to actual needs) similarity
The position of corresponding second location information is defined as point to be determined P position.Calculated often according to formula 1.1
The similarity of corresponding second location information in one position and point to be determined P the first location information, can be with
Illustrated exemplified by P1, it is specific as follows：
The positioning letter included in step A1, the first location information for taking corresponding second location informations of P1 and P
The maximum of the quantity of breath, that is, take L=max (m, n), if m=n, step A4 is performed, if m>N, then hold
Row step A2, if m<N then performs step A3；
Step A2, then supply m data by corresponding first location informations of P, i.e., in the first positioning letter
Increase (m-n) individual preset location information in breath, can such as increase (m-n) individual preset location information,
Such as { ss1, ss2 ..., ssn, ss0, ss0 ..., ss0 }；And perform step A4；
Step A3, then supply n data by corresponding second location informations of P1, i.e., in the second positioning letter
Increase (n-m) individual location information in breath, can such as increase (n-m) individual preset location information, such as
{ ff11, ff12 ..., ff1m, ff0, ff0 ..., ff0 }；And perform step A4；
Step A4, according to aforementioned formula 1.1, calculates P the first location information and P1 the second positioning is believed
The similarity of breath is x1.
Foregoing ss0 and ff0 is preset characteristic information, and value is empirical value, and both can be with identical
To differ.
Such as station-keeping mode positions for wifi, and in point to be determined, P obtains the first of the transmission of wifi locating modules
Location information is P { ss1, ss2, ss3, ss4, ss5 }；Assuming that positioning corresponding with wifi station-keeping modes
Data fingerprint storehouse be wifi fingerprint bases, the wifi fingerprint bases include P1 ff11, ff12, ff13, ff14,
ff15}；P2 { ff21, ff22, ff23, ff24 }；P3 ff31, ff32, ff33, ff34, ff35,
ff36}.Understood by abovementioned steps, P the first location information number and P1 the second location information number
It is identical, the phase of the location informations of P first and P1 the second location information can be directly calculated according to formula 1.1
It is x1 like degree；P the first location information number is more than P2 the second location information number, then by P2 the
Two location informations are processed as P2 { ff21, ff22, ff23, ff24, ff0 }, further according to aforementioned formula 1.1
The similarity for calculating the location informations of P first and P2 the second location information is x2；P the first location information
Number be less than P3 the second location information number, then by P the first location information be processed as P ss1, ss2,
Ss3, ss4, ss5, ss0 }, calculate the location informations of P first and P3 further according to formula 1.1 second is determined
The similarity of position information is x3.The processing mode of other station-keeping modes and foregoing wifi station-keeping modes principle class
Seemingly, this is no longer going to repeat them.
S140, according to the corresponding position of each station-keeping mode, determines the corresponding position in point to be determined.
Preferably, in the embodiment of the present application, determined in S140 according to the corresponding position of each station-keeping mode
The corresponding position in point to be determined, implementing can be as follows：Step A, according to the corresponding position of each station-keeping mode
The second location information and corresponding station-keeping mode the first location information similarity, determine that each is determined
The weight of bit pattern；Step B, according to the position of each station-keeping mode and its weight, synthesis is determined to be positioned
The corresponding position of point.
Alternatively, in the embodiment of the present application, in step A, according to the of the corresponding position of each station-keeping mode
The similarity of two location informations and the first location information of corresponding station-keeping mode, determines each positioning mould
The weight of formula, can specifically be realized using at least following two modes：
Mode 11：Calculate the second location information and corresponding station-keeping mode of the corresponding position of all station-keeping modes
The similarity and value of first location information, is used as first and value；For each station-keeping mode, calculate
The similarity of second location information of the corresponding position of station-keeping mode and the first location information of the station-keeping mode
And value, by this and value and first and the ratio that is worth, be defined as the weight of station-keeping mode.That is station-keeping mode
The similarity of second location information of correspondence position and the first location information of point to be determined is higher, then it is assumed that
The position that the station-keeping mode is oriented is more accurate, and confidence level is higher, therefore the corresponding power of the station-keeping mode
It is again bigger.
For example：Assuming that station-keeping mode includes wifi positioning, bluetooth positioning and ground magnetic orientation, wifi positioning correspondences
Position and its similarity (the i.e. phase of the second location information of the position and the location information of point to be determined first
Like degree) (P1, S1) is followed successively by, (P2, S2), wherein (P3, S3), P represent position, and S represents similarity；
Bluetooth positions corresponding position and similarity is followed successively by (P4, S4), (P5, S5), (P6, S6)；Ground magnetic orientation pair
The position answered and its similarity are (P7, S7), (P8, S8), (P9, S9).In the manner previously described, it can obtain
Wifi positions corresponding weight a=(S1+S2+S3)/(S1+S2+S3+S4+S5+S6+S7+S8+S9)；Bluetooth is determined
Corresponding weight b=(S4+S5+S6)/(S1+S2+S3+S4+S5+S6+S7+S8+S9) in position；Ground magnetic orientation
Weight c=(S7+S8+S9)/(S1+S2+S3+S4+S5+S6+S7+S8+S9).Such as, S1 to S9 increases successively
Greatly, then weight c>b>a.
Mode 12：For each station-keeping mode, the second positioning letter of the corresponding position of the station-keeping mode is calculated
Breath and the similarity average value of the first location information of corresponding station-keeping mode；From preset similarity and weight
Corresponding relation in, obtain the corresponding weight of corresponding with station-keeping mode similarity average value (such as general
With the similarity average value as the corresponding weight of close similarity it is defined as this in corresponding relation similar
Spend the corresponding weight of average value), the weight is defined as to the weight of the station-keeping mode.The similarity
With in the corresponding relation of weight, similarity is bigger, and weight is bigger.
Alternatively, in the embodiment of the present application, the position in step B according to each station-keeping mode and its weight,
Synthesis determines the corresponding position in the point to be determined, can be realized according at least following two modes：
Mode 21, for each station-keeping mode, calculate the longitude average value of the corresponding position of station-keeping mode with
And latitude average value, and calculate longitude average value and latitude average value and multiply respectively with the weight of station-keeping mode
Product, obtains the longitude weighted average and latitude weighted average of station-keeping mode；By each station-keeping mode correspondence
Longitude weighted average and value be defined as the longitude of point to be determined correspondence position, and, by each positioning
The latitude for being defined as point to be determined correspondence position with value of the corresponding latitude weighted average of pattern.
For example, being illustrated with previous examples.Assuming that the latitude and longitude coordinates of the corresponding position in point to be determined are used
(x, y) is represented；Wifi positions corresponding position
(x1, y1), (x2, y2) and (x3, y3)；It is corresponding for P4, P5 and P6 that bluetooth positions corresponding position
Latitude and longitude coordinates are respectively (x4, y4), (x5, y5) and (x6, y6)；The corresponding position of ground magnetic orientation be P7,
The corresponding latitude and longitude coordinates of P8 and P9 are (x7, y7), (x8, y8) and (x9, y9)；Wifi positioning, indigo plant
Tooth is positioned and ground magnetic orientation distinguishes corresponding weight for foregoing a, b, c.Calculate the warp of the position of point to be determined
Latitude coordinate is as follows：
Step B1, for each station-keeping mode, calculate the longitude average value of the corresponding position of station-keeping mode with
And latitude average value, i.e.,：
Step B2, calculate the longitude average value and latitude average value of each station-keeping mode respectively with station-keeping mode
The product of weight, obtains the longitude weighted average and latitude weighted average of station-keeping mode, i.e.,：
Step B3, by the corresponding latitude weighted average of each station-keeping mode and value be defined as point to be determined pair
The latitude of position is answered, i.e.,
That is the latitude and longitude coordinates of point to be determined are：
Mode 22, for each station-keeping mode, calculate the longitude average value of the corresponding position of station-keeping mode with
And latitude average value；The average value of the corresponding longitude average value of each station-keeping mode is defined as point to be determined pair
The longitude of position is answered, and the average value of the corresponding latitude average value of each station-keeping mode is defined as to be positioned
The latitude of point correspondence position.
Still by taking previous example as an example.Assuming that the latitude and longitude coordinates of the corresponding position in point to be determined use (x, y)
Represent；Wifi position corresponding position for the corresponding latitude and longitude coordinates of P1, P2 and P3 be respectively (x1, y1),
(x2, y2) and (x3, y3)；It is the corresponding latitude and longitude coordinates of P4, P5 and P6 that bluetooth, which positions corresponding position,
Respectively (x4, y4), (x5, y5) and (x6, y6)；Magnetic orientation corresponding position in ground is P7, P8 and P9
Corresponding latitude and longitude coordinates are (x7, y7), (x8, y8) and (x9, y9)：
Aforementioned manner 2 is for mode 1, it is not necessary to consider the weight of each station-keeping mode, directly
Obtained, realized relatively simple according to the average value of the latitude and longitude coordinates of each station-keeping mode correspondence position.And
Mode 1 is compared with mode 2, according to the second location information of station-keeping mode correspondence position and the position and the
Similarity between one location information determines the weight of the station-keeping mode, and such as similarity is more high corresponding
Weight is higher, then the position of 2 points to be determined calculated is closer to the weight big in the manner previously described
The corresponding position of station-keeping mode, because similarity is more high, determines position corresponding with the station-keeping mode more
Accurately, therefore its corresponding position credibility of the bigger station-keeping mode of weight is higher, therefore by point to be determined
To be partial to the corresponding position of the station-keeping mode also more accurate for position, therefore, compared with mode 2, mode 1
Determine that the position of point to be determined is more accurate.
In previous embodiment only so that station-keeping mode is wifi positioning, bluetooth positioning and earth magnetism positioning as an example, this
Application is not limited in foregoing three kinds of station-keeping modes, can also include other station-keeping modes, such as light-seeking,
Infrared positioning, architecture etc..I.e. the station-keeping mode of technical scheme can include following at least two
Plant the station-keeping mode of the above：Wifi positioning, bluetooth positioning, magnetic orientation, light-seeking, infrared positioning and
Architecture etc..Strict limitation is not made to this in the embodiment of the present application.
A kind of structural representation for positioner that Fig. 2 provides for the embodiment of the present application.As shown in Fig. 2 should
Device 200 can be used for realizing the method shown in Fig. 1, and the device 200 includes acquiring unit 210, packet
Unit 220, the first determining unit 230 and the second determining unit 240, wherein, described device is set and tool
Have on the terminal device of positioning function, at least two different station-keeping modes are provided with the terminal device
Locating module, wherein；
Acquiring unit 210, the locating module hair for obtaining at least two different station-keeping modes in point to be determined
The first location information sent.
Grouped element 220, for the first location information of the locating module transmission of identical station-keeping mode to be divided into
One group, obtain corresponding first location information of each station-keeping mode.
Grouped element 220 is specifically for the first location information for sending the locating module of identical station-keeping mode
It is divided into one group, and re-scheduling is carried out to each group of the first location information, this group of location information after re-scheduling is true
It is set to corresponding first location information of corresponding station-keeping mode.Re-scheduling mode can be found in foregoing teachings, herein not
Repeat again.
First determining unit 230, for for each station-keeping mode, the first positioning of station-keeping mode to be believed
Cease each position corresponding second stored in the location data fingerprint base of station-keeping mode corresponding to preset respectively
Location information is matched, and determines the corresponding position of station-keeping mode.
Second determining unit 240, for according to the corresponding position of each station-keeping mode, determining point to be determined pair
The position answered.
Alternatively, in the embodiment of the present application, the second determining unit 240 is specifically included：
Similarity Measure subelement, for for each station-keeping mode, the station-keeping mode to be calculated respectively
The second positioning corresponding with each position in the location data fingerprint base of the characteristic information of first location information
The similarity of the individual features information of information；
Position determination subelement, for by least one larger corresponding position of the second location information of similarity
Put, be defined as the corresponding position of the station-keeping mode.
Alternatively, in the embodiment of the present application, Similarity Measure subelement specifically for,
For each position in location data fingerprint base, calculate station-keeping mode according to below equation first is determined
The similarity of characteristic information the second location information individual features information corresponding with position of position information：
Wherein, Score represents similarity；N represents what is included in the first location information and the second location information
The maximum of location information number, ssi believes for the feature of i-th of location information in the first location information
Breath, ffi is the characteristic information of i-th of location information of the second location information.
Alternatively, in the embodiment of the present application, position determination subelement specifically for：According to each station-keeping mode
The similarity of second location information of corresponding position and the first location information of corresponding station-keeping mode, it is determined that
Go out the weight of each station-keeping mode；And, it is comprehensive true according to the position of each station-keeping mode and its weight
Make the corresponding position in point to be determined.
Alternatively, in the embodiment of the present application, position determination subelement is according to the corresponding position of each station-keeping mode
The second location information and corresponding station-keeping mode the first location information similarity, determine that each is determined
The weight of bit pattern, specifically for：Calculate the second location information of the corresponding position of all station-keeping modes with
The similarity and value of first location information of corresponding station-keeping mode, is used as first and value；For each
Station-keeping mode, calculates the second location information of the corresponding position of station-keeping mode and determines with the first of the station-keeping mode
The similarity and value of position information, by this and value and first and the ratio of value, is defined as the power of station-keeping mode
Weight.
Alternatively, in the embodiment of the present application, the position determination subelement is according to the position of each station-keeping mode
And its weight, it is comprehensive to determine the corresponding position in the point to be determined, specifically for：It is fixed for each
Bit pattern, calculates the longitude average value and latitude average value of the corresponding position of station-keeping mode, and calculates warp
The product of average value and latitude average value respectively with the weight of station-keeping mode is spent, the longitude of station-keeping mode is obtained
Weighted average and latitude weighted average；By the corresponding longitude weighted average of each station-keeping mode and value
It is defined as the longitude of point to be determined correspondence position, and, by the corresponding latitude weighted average of each station-keeping mode
The latitude for being defined as point to be determined correspondence position with value of value.
The device that the embodiment of the present application is provided, is positioned by least two locating modules to point to be determined,
Different weights are selected according to the characteristic of every kind of signal source, the final position for determining point to be determined is improved
Positioning to point to be determined and the precision positioned to point to be determined, simultaneously, it is to avoid single in the prior art
The problem of what one signal was caused can not position or position inaccurate to point to be determined.
Alternatively, as another embodiment of the application, the second determining unit 240 specifically for：For each
Station-keeping mode is planted, the longitude average value and latitude average value of the corresponding position of station-keeping mode is calculated；Will be each
The average value of the corresponding longitude average value of station-keeping mode is defined as the longitude of point to be determined correspondence position, and,
The average value of the corresponding latitude average value of each station-keeping mode is defined as to the latitude of point to be determined correspondence position.
The device that the embodiment of the present application is provided, is treated by the locating module of at least two different station-keeping modes
Anchor point is positioned, and different weights are selected according to the characteristic of every kind of signal source, are finally determined to be positioned
The corresponding position of point, improves the positioning to point to be determined and the precision positioned to point to be determined, meanwhile,
Avoid that single signal in the prior art causes can not position or asking point to be determined positioning is inaccurate
Topic.
It should be noted that in the embodiment of the present application, acquiring unit 210 in the device 200 can be with
The S110 in the method 100 shown in Fig. 1 is realized, grouped element 220 can realize S120, and first determines
Unit 230 can realize S130, and the second determining unit 240 can realize S140, be succinct description, dress
Put implementing for unit in 200 consistent with its implementation for realizing corresponding method and step,
This is repeated no more.
A kind of terminal device that Fig. 3 provides for the embodiment of the present application, the terminal device 300 includes at least two
The locating module 310 and processor 320 of individual different station-keeping modes.
Locating module 310, during for positioning service in user's opening terminal apparatus, end of scan equipment is worked as
The first location information or the first positioning letter of surrounding enviroment that the location equipment on preceding position periphery is sent
Breath.
The positioning service of user's opening terminal apparatus can be：User opens the ground loaded on the terminal device
During figure software, user is positioned；Or, user open map software indoor map when, and
Positioning in walking process to user indoors；Or, to positioning of customer location etc. in navigation procedure.
Processor 320, for the first location information point for sending the locating module 310 of identical station-keeping mode
For one group, corresponding first location information of each station-keeping mode is obtained；For each station-keeping mode, by institute
The first location information of station-keeping mode is stated respectively in the location data fingerprint base of station-keeping mode corresponding to preset
Corresponding second location information of each position of storage is matched, and determines the corresponding position of the station-keeping mode
Put；And, according to the corresponding position of each station-keeping mode, determine the corresponding position in the point to be determined.
Wherein in processor 320, each performs implementing for step and can be found in Fig. 1 methods described flows
Implementing for corresponding steps, will not be repeated here.
Preferably, in the embodiment of the present application, the equipment 300 can also include data output devices 330,
Such as display screen, the position for showing the point to be determined determined.
Localization method, device and terminal device that the embodiment of the present application is provided, in same point to be determined, energy
Enough point to be determined is positioned by the locating module of at least two different station-keeping modes (also referred to as to believe more
The positioning of number source), on the one hand, because the position that the corresponding location equipment of different station-keeping modes is disposed is different,
For the deployment scenario of the location equipment of single station-keeping mode, for the same area scope, no
The density covered with the location equipment of station-keeping mode is larger, and the covering of location equipment signal is more complete, and not
With station-keeping mode, the signal distributions feature of corresponding location equipment is different with signal propagation characteristicses, therefore mutually
Between can be complementary, and seldom probability can be present without the weaker region of location information or location information so that
So that the location information of the location equipment of different station-keeping modes can be received in each position, based on this
Location information can be positioned successfully, overcome and set in the prior art according to the positioning of single station-keeping mode
The problem of location information that preparation is sent is positioned and failed in the presence of positioning；On the other hand, it is fixed according to each
Bit pattern to point to be determined can position obtaining relevant position, and according to the plurality of station-keeping mode correspondence
Position Synthesis obtain the position of point to be determined, the positioning for overcoming single station-keeping mode itself to exist is unstable
It is fixed so as to the problem of causing to position inaccurate, therefore obtained position is positioned relative to single station-keeping mode more
Accurately, the application improves positioning accuracy.
It should be noted that the dress shown in Fig. 2 can be realized in the equipment 300 that the embodiment of the present application is provided
The function of unit/module in 200 is put, each behaviour of the method 100 shown in Fig. 1 can also be completed
Work/method and step, it is succinct for description, just repeat no more herein.
Professional should further appreciate that, be described with reference to the embodiments described herein
The unit and algorithm steps of each example, can be come with electronic hardware, computer software or the combination of the two
Realize, in order to clearly demonstrate the interchangeability of hardware and software, in the above description according to function
Generally describe the composition and step of each example.These functions are come with hardware or software mode actually
Perform, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel can be to every
Described function is realized in individual specific application using distinct methods, but it is this realize it is not considered that
Beyond scope of the present application.
The step of method or algorithm for being described with reference to the embodiments described herein, can use hardware, processing
The software module that device is performed, or the two combination are implemented.Software module can be placed in random access memory
(RAM), internal memory, read-only storage (ROM), electrically programmable ROM, electrically erasable ROM,
Any other form well known in register, hard disk, moveable magnetic disc, CD-ROM or technical field
Storage medium in.
Above-described embodiment, purpose, technical scheme and beneficial effect to the application are carried out
Be further described, should be understood that the embodiment that the foregoing is only the application and
, it is not used to limit the protection domain of the application, it is all within spirit herein and principle, done
Any modification, equivalent substitution and improvements etc., should be included within the protection domain of the application.
Claims (17)
1. a kind of localization method, it is characterised in that methods described includes：
The first location information that the locating module of at least two different station-keeping modes is sent is obtained in point to be determined；
The first location information that the locating module of identical station-keeping mode is sent is divided into one group, obtains each positioning mould
Corresponding first location information of formula；
It is for each station-keeping mode, the first location information of the station-keeping mode is corresponding to preset respectively
Corresponding second location information of each position stored in the location data fingerprint base of station-keeping mode is matched,
Determine the corresponding position of the station-keeping mode；
According to the corresponding position of each station-keeping mode, the corresponding position in the point to be determined is determined.
2. according to the method described in claim 1, it is characterised in that for each station-keeping mode, will
The location data fingerprint base of first location information of station-keeping mode station-keeping mode corresponding to preset respectively
Corresponding second location information of each position of middle storage is matched, and determines that the station-keeping mode is corresponding
Position, is specifically included：
For each station-keeping mode, the characteristic information of the first location information of the station-keeping mode is calculated respectively
The phase of the individual features information of the second location information corresponding with each position in the location data fingerprint base
Like degree；
By at least one corresponding position of the second location information that similarity is larger, it is defined as the station-keeping mode
Corresponding position.
3. method according to claim 2, it is characterised in that for each station-keeping mode, point
In the characteristic information and the location data fingerprint base that do not calculate the first location information of the station-keeping mode
The similarity of the individual features information of corresponding second location information of each position, is specifically included：
For each position in location data fingerprint base, the of the station-keeping mode is calculated according to below equation
The characteristic information of one location information the second location information individual features information corresponding with the position it is similar
Degree：
Wherein, Score represents similarity；N represents what is included in the first location information and the second location information
The maximum of location information number, ssi be first location information in i-th of location information feature
Information, ffi is the characteristic information of i-th of location information of second location information.
4. method according to claim 2, it is characterised in that according to the corresponding position of each station-keeping mode
Put, determine the corresponding position in the point to be determined, specifically include：
According to the first positioning of the second location information of the corresponding position of each station-keeping mode and corresponding station-keeping mode
The similarity of information, determines the weight of each station-keeping mode；
According to the position of each station-keeping mode and its weight, synthesis determines the corresponding position in the point to be determined.
5. method according to claim 4, it is characterised in that according to the corresponding position of each station-keeping mode
The similarity of the second location information put and the first location information of corresponding station-keeping mode, determines each
The weight of station-keeping mode, is specifically included：
The second location information of the corresponding position of all station-keeping modes is calculated with the first of corresponding station-keeping mode to determine
The similarity and value of position information, is used as first and value；
For each station-keeping mode, the second location information of the corresponding position of the station-keeping mode is calculated with being somebody's turn to do
The similarity and value of first location information of station-keeping mode, by this and value and described first and the ratio of value,
It is defined as the weight of the station-keeping mode.
6. method according to claim 4, it is characterised in that according to the position of each station-keeping mode and
Its weight, synthesis determines the corresponding position in the point to be determined, specifically includes：
For each station-keeping mode, the longitude average value and latitude of the corresponding position of the station-keeping mode are calculated
Average value is spent, and calculates the weight of the longitude average value and latitude average value respectively with the station-keeping mode
Product, obtain the longitude weighted average and latitude weighted average of the station-keeping mode；
The corresponding longitude weighted average of each station-keeping mode and value are defined as the corresponding position in the point to be determined
The longitude put, and, the corresponding latitude weighted average of each station-keeping mode and value are defined as described treat
The latitude of anchor point correspondence position.
7. the method according to claim any one of 1-3, it is characterised in that according to each station-keeping mode
Corresponding position, determines the corresponding position in the point to be determined, specifically includes：
For each station-keeping mode, the longitude average value and latitude of the corresponding position of the station-keeping mode are calculated
Spend average value；
The average value of the corresponding longitude average value of each station-keeping mode is defined as the point to be determined correspondence position
Longitude, and, the average value of the corresponding latitude average value of each station-keeping mode is defined as described to be positioned
The latitude of point correspondence position.
8. the method according to claim any one of 1-6, it is characterised in that by identical station-keeping mode
Locating module send the first location information be divided into one group, obtain each station-keeping mode it is corresponding first positioning
Information, is specifically included：
The first location information that the locating module of identical station-keeping mode is sent is divided into one group, and to each group the
One location information carries out re-scheduling, this group of location information after re-scheduling is defined as into corresponding station-keeping mode corresponding
First location information.
9. a kind of positioner, it is characterised in that described device includes acquiring unit, grouped element, the
One determining unit and the second determining unit, wherein：
The acquiring unit, the locating module hair for obtaining at least two different station-keeping modes in point to be determined
The first location information sent；
The grouped element, for the first location information of the locating module transmission of identical station-keeping mode to be divided into
One group, obtain corresponding first location information of each station-keeping mode；
First determining unit, for for each station-keeping mode, the first of the station-keeping mode to be determined
The each position that position information is stored in the location data fingerprint base of station-keeping mode corresponding to preset respectively is corresponding
Second location information is matched, and determines the corresponding position of the station-keeping mode；
Second determining unit, for according to the corresponding position of each station-keeping mode, determining described to be positioned
The corresponding position of point.
10. device according to claim 9, it is characterised in that second determining unit is specifically used
In,
Similarity Measure subelement, for for each station-keeping mode, the station-keeping mode to be calculated respectively
The second positioning corresponding with each position in the location data fingerprint base of the characteristic information of first location information
The similarity of the individual features information of information；
Position determination subelement, for by least one larger corresponding position of the second location information of similarity
Put, be defined as the corresponding position of the station-keeping mode.
11. device according to claim 10, it is characterised in that Similarity Measure subelement is specific
For,
For each position in location data fingerprint base, the of the station-keeping mode is calculated according to below equation
The characteristic information of one location information the second location information individual features information corresponding with the position it is similar
Degree：
Wherein, Score represents similarity；N represents what is included in the first location information and the second location information
The maximum of location information number, ssi be first location information in i-th of location information feature
Information, ffi is the characteristic information of i-th of location information of second location information.
12. device according to claim 10, it is characterised in that the position determination subelement tool
Body is used for,
According to the first positioning of the second location information of the corresponding position of each station-keeping mode and corresponding station-keeping mode
The similarity of information, determines the weight of each station-keeping mode；
According to the position of each station-keeping mode and its weight, synthesis determines the corresponding position in the point to be determined.
13. device according to claim 12, it is characterised in that the position determination subelement root
According to the second location information and the first location information of corresponding station-keeping mode of the corresponding position of each station-keeping mode
Similarity, determines the weight of each station-keeping mode, specifically for,
The second location information of the corresponding position of all station-keeping modes is calculated with the first of corresponding station-keeping mode to determine
The similarity and value of position information, is used as first and value；
For each station-keeping mode, the second location information of the corresponding position of the station-keeping mode is calculated with being somebody's turn to do
The similarity and value of first location information of station-keeping mode, by this and value and described first and the ratio of value,
It is defined as the weight of the station-keeping mode.
14. device according to claim 12, it is characterised in that the position determination subelement root
Position and its weight according to each station-keeping mode, synthesis determine the corresponding position in the point to be determined, specifically
For,
For each station-keeping mode, the longitude average value and latitude of the corresponding position of the station-keeping mode are calculated
Average value is spent, and calculates the weight of the longitude average value and latitude average value respectively with the station-keeping mode
Product, obtain the longitude weighted average and latitude weighted average of the station-keeping mode；
The corresponding longitude weighted average of each station-keeping mode and value are defined as the corresponding position in the point to be determined
The longitude put, and, the corresponding latitude weighted average of each station-keeping mode and value are defined as described treat
The latitude of anchor point correspondence position.
15. the device according to claim any one of 9-11, it is characterised in that described second determines
Unit specifically for,
For each station-keeping mode, the longitude average value and latitude of the corresponding position of the station-keeping mode are calculated
Spend average value；
The average value of the corresponding longitude average value of each station-keeping mode is defined as the point to be determined correspondence position
Longitude, and, the average value of the corresponding latitude average value of each station-keeping mode is defined as described to be positioned
The latitude of point correspondence position.
16. the device according to claim any one of 9-15, it is characterised in that the grouped element
Specifically for,
The first location information that the locating module of identical station-keeping mode is sent is divided into one group, and to each group
First location information carries out re-scheduling, and this group of location information after re-scheduling is defined as into corresponding station-keeping mode correspondence
The first location information.
17. a kind of terminal device, it is characterised in that terminal device includes at least two different station-keeping modes
Locating module and processor；
Locating module, during for positioning service in user's opening terminal apparatus, end of scan equipment is current
The first location information or the first location information of surrounding enviroment that the location equipment on position periphery is sent.
Processor, for the first location information of the locating module transmission of identical station-keeping mode to be divided into one group,
Obtain corresponding first location information of each station-keeping mode；For each station-keeping mode, by the positioning mould
It is each that first location information of formula is stored in the location data fingerprint base of station-keeping mode corresponding to preset respectively
Corresponding second location information in position is matched, and determines the corresponding position of the station-keeping mode；And,
According to the corresponding position of each station-keeping mode, the terminal device present position is determined.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610073267.2A CN107027168A (en) | 2016-02-02 | 2016-02-02 | Localization method and device |
| PCT/CN2017/071818 WO2017133480A1 (en) | 2016-02-02 | 2017-01-20 | Positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610073267.2A CN107027168A (en) | 2016-02-02 | 2016-02-02 | Localization method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107027168A true CN107027168A (en) | 2017-08-08 |
Family
ID=59500546
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610073267.2A Pending CN107027168A (en) | 2016-02-02 | 2016-02-02 | Localization method and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107027168A (en) |
| WO (1) | WO2017133480A1 (en) |
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| CN109640253A (en) * | 2018-12-26 | 2019-04-16 | 合肥优控科技有限公司 | A kind of method for positioning mobile robot |
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| CN112312301A (en) * | 2019-08-01 | 2021-02-02 | 中国移动通信集团浙江有限公司 | User terminal positioning method, device, equipment and computer storage medium |
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