CN107302594B

CN107302594B - Method and system for positioning position in building

Info

Publication number: CN107302594B
Application number: CN201710661149.8A
Authority: CN
Inventors: 谢文静
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-08-04
Filing date: 2017-08-04
Publication date: 2023-12-19
Anticipated expiration: 2037-08-04
Also published as: CN107302594A

Abstract

The invention discloses a positioning system and a positioning method for a building. The system comprises: the positioning data acquisition equipment is used for acquiring WiFi blind guess positioning values of sampling points in a building so as to obtain single-layer sampling data; the cloud sampling database is used for storing single-layer sampling data; the cloud sampling data management unit is used for receiving single-layer sampling data, storing the single-layer sampling data into the cloud sampling database and calling the single-layer sampling data; the cloud indoor positioning service unit is used for providing positioning and data service for the client positioning program; the client positioning program unit is used for calling the data of the cloud indoor positioning service unit to finish positioning; the positioning data acquisition device is connected with the cloud sampling data management unit, the cloud sampling data management unit is connected with the cloud sampling database, and the cloud indoor positioning service unit is connected with the client positioning program unit. The system has low cost and high positioning precision.

Description

Method and system for positioning position in building

Technical Field

The invention relates to the technical field of navigation positioning, in particular to a positioning method and a positioning system for a position in a building.

Background

In the case where the GPS signal is weak or disturbed in a building (indoor), the GPS positioning accuracy is too low, and the error is usually 65 m or more. The prior art comprises the following steps: firstly, a plurality of positioning base stations are deployed indoors, and the base stations can communicate with client equipment based on Bluetooth or WiFi technology; according to the scheme, base station equipment is required to be deployed in each target building at a higher density, periodic maintenance is required, and the cost is too high; the other is a positioning scheme adopting environment WiFi signal fingerprint matching; this solution requires that the client device must be able to collect WiFi signal data through the API, which is not feasible on iOS platforms.

Therefore, there is an urgent need in the art to develop new in-building position locating methods and locating systems that are low in cost and have high locating accuracy.

Disclosure of Invention

The invention aims to provide a positioning method and a system in a building, which are low in cost and accurate in positioning.

In a first aspect of the invention, the invention provides a positioning system in a building. The system comprises:

the positioning data acquisition equipment is used for acquiring WiFi blind guess positioning values of sampling points in a building so as to obtain single-layer sampling data;

the cloud sampling database is used for storing the single-layer sampling data;

the cloud sampling data management unit is used for receiving the single-layer sampling data, storing the single-layer sampling data into the cloud sampling database and calling the single-layer sampling data;

the cloud indoor positioning service unit is used for providing positioning and data service for the client positioning program; and

the client positioning program unit is used for calling the data of the cloud indoor positioning service unit to finish positioning;

the positioning data acquisition device is connected with the cloud sampling data management unit, the cloud sampling data management unit is connected with the cloud sampling database, and the cloud indoor positioning service unit is connected with the client positioning program unit.

In another preferred embodiment, the positioning data acquisition device is an intelligent electronic device.

In another preferred embodiment, the positioning data acquisition device is a smart phone.

In another preferred embodiment, the system further comprises a building map providing unit.

In another preferred embodiment, the system further comprises a sampling point selection unit.

In another preferred embodiment, the positioning data acquisition device is provided with a sampling APP program.

In another preferred embodiment, an AGPS module is configured in the positioning data acquisition device.

In another preferred embodiment, the building map providing unit is connected with the cloud sampling data management unit.

In another preferred embodiment, the sampling point selection unit is connected to the positioning data acquisition device.

In another preferred embodiment, the cloud indoor positioning service unit includes a positioning interface, configured to receive a positioning request of the client positioning program unit.

In a second aspect of the invention, the invention provides a method of positioning within a building. The method comprises the following steps:

(a) Providing a positioning and sampling database in a building, wherein the database stores WiFi blind guess positioning values corresponding to n foundation sites in the building one by one;

(b) Acquiring a WiFi blind guess positioning value of target equipment: for target equipment to be positioned, acquiring a WiFi blind guess positioning value of the target equipment through an API of AGPS of the target equipment; and

(c) And comparing and/or operating the WiFi blind guess positioning value of the target equipment with data in the positioning sampling database so as to obtain a positioning result of the target equipment in the building.

In another preferred embodiment, in step (C), the coordinate value Q (x, y, z) of the blind-guess coordinate system C1 corresponding to the target device is obtained first, and then the coordinate P (x, y) of the target device in the world longitude and latitude coordinate system C0 is calculated by a mapping matching algorithm.

Preferably, the data of the database is collected by:

determining AGPS service used by the target equipment according to a positioning API deployed on the target equipment; for each AGPS service, each floor of each target building corresponds to one single-layer sampling data, and all single-layer sampling data form a sampling database.

In another preferred embodiment, in step (c), the building is a multi-story building.

In another preferred embodiment, in step (c), the building is a single-story building having a building area of 500-50000 square meters.

In another preferred embodiment, the target device is a mobile phone.

In another preferred embodiment, the target device is a mobile phone configured with an AGPS module.

In another preferred embodiment, the AGPS service includes WiFi assisted positioning functionality.

Preferably, the sampling database is stored in the cloud, and a service interface is provided in cloud management; the service interface receives a location request of a client.

Preferably, the blind guess location values include longitude, latitude, longitude accuracy, altitude accuracy, and location source.

Preferably, the mapping matching algorithm selects the nearest sampling point Qm (x, y, z) from Q (x, y, z) for traversing all single-layer mapping data of the target building in the C1 coordinate system.

Preferably, the target device is an IOS device.

Preferably, the sampling method of all single-layer sampling data is as follows: setting n sampling points P1 to Pn as data points on a coordinate system C0 based on the requirement of a floor map of a target building on positioning precision in an application scene;

the staff carries sampling equipment to traverse sampling points P1 to Pn, and at each sampling point Pk, wiFi blind guess positioning values are collected to be used as Qk on a coordinate system C1 and used as a group of (Pk- > Qk) corresponding relations to form single-layer sampling data.

Preferably, the target device obtains the AGPS service type and the WiFi blind guess positioning value through an API, obtains the building and the floor, invokes a cloud interface, obtains a positioning value P (x, y) with higher precision, and completes positioning.

It is understood that within the scope of the present invention, the above-described technical features of the present invention and technical features specifically described below (e.g., in the examples) may be combined with each other to constitute new or preferred technical solutions. And are limited to a space, and are not described in detail herein.

Drawings

FIG. 1 is a schematic diagram of the mapping relationship between the blind guess coordinate system and the world longitude and latitude coordinate system;

FIG. 2 is a schematic diagram of a mapping matching algorithm according to the present invention;

FIG. 3 is a schematic diagram of a sample database storing sample data according to the present invention;

FIG. 4 is a schematic illustration of a positioning method in a building according to the present invention;

FIG. 5 is a map of a certain layer of a mall in an embodiment of the present invention;

fig. 6 is a schematic view of a typical construction of the positioning system in a building according to the present invention.

Detailed Description

The present inventors have made extensive and intensive studies and have developed, for the first time, a positioning method and a positioning system in a building that are low in cost and greatly improve positioning accuracy. The WiFi wireless network is popular today, and the WiFi signals are rich in various layers of most buildings, especially in places with high people flow. Provides a better foundation for WiFi assisted positioning of an AGPS positioning system. And the AGPS positioning server starts a WiFi auxiliary positioning module under the condition that GPS satellite signals are weak, performs blind guess calculation according to WiFi signal information around the client target positioning equipment, and finally returns the calculated result to the client. In the invention, the WiFi assisted positioning blind-guess calculation of AGPS is called WiFi blind-guess positioning calculation, the WiFi blind-guess positioning calculation result is called WiFi blind-guess positioning value, and the WiFi blind-guess positioning value at least comprises six data items of longitude, latitude, longitude and latitude accuracy, altitude accuracy, positioning source and the like. Wherein in the results returned by some servers, one of the positioning sources may be determined by a range of values for warp and weft accuracy. While the system of the present invention has a multi-floor map of the target building. The system can judge the building where the target positioning equipment is located, and the system can judge the floor where the target positioning equipment is located.

The present invention has been completed on the basis of this finding.

Terminology

As used herein, the term "AGPS" refers to assisted global satellite positioning system (english: assisted Global Positioning System, abbreviated:) which is a mode of operation of GPS. The method can use the information of the mobile phone base station to match with the traditional GPS satellite, so that the positioning speed is higher. Meanwhile, the positioning accuracy can be improved by utilizing the environment Wifi signal, and positioning information is also provided under the condition that the GPS signal is weak.

The main advantages of the invention include:

(a) The method has high positioning precision, and the positioning precision of the method can reach 5 meters under the condition of weaker indoor GPS signals.

(b) The method of the invention does not need to be arranged in a building for a plurality of positioning base stations, and has low investment cost.

(c) The system and the method of the invention support a wide range of devices, not only smart phones, but also devices comprising AGPS auxiliary positioning capability support positioning by using the method.

(d) The method is easy to deploy, and the hardware conditions and the infrastructure relied on by the method are widely existing in intelligent equipment mainly comprising intelligent mobile phones.

In the method of the present invention, a sample database is first prepared. The AGPS service it uses is determined from a location API deployed on the target device. For each AGPS service, each floor of each target building corresponds to one single-layer sampling data, and all single-layer sampling data form a sampling database.

And constructing a mapping relation between a WiFi blind guess result and a world longitude and latitude coordinate system C0 of each floor of the target building and a blind guess coordinate system C1 of the WiFi blind guess result. As shown in fig. 1. Wherein, C1 is a three-dimensional coordinate system with longitude as X axis, latitude as Y axis and altitude as Z axis, and C0 is a two-dimensional coordinate system with longitude as X axis and latitude as Y axis. The mapping relationship is expressed as a mapping (P- > Q) of a point Q (x, y, z) of the C1 coordinate system to a point P (x, y) of the C0 coordinate system.

This mapping is established by measuring the samples in the field. Setting n sampling points P1 to Pn as data points on C0 based on the positioning accuracy requirement of the floor map in the application scene. The staff carries sampling equipment to traverse sampling points P1 to Pn, and at each sampling point Pk, WIFI blind guess positioning values are collected to be used as Qk on a coordinate system C1 and used as a group of (Pk- > Qk) corresponding relations. The floors have a common (P1- > Q1) to (Pn- > Qn) common n pair mapping relation as single-layer mapping data, and a plurality of single-layer mapping data together form single-layer sampling data. The advantage of adopting a plurality of single-layer mapping data is that the WIFI blind guess positioning value corresponding to one position can be dealt with under different conditions.

As shown in fig. 3, the sampling database is stored in the cloud and managed in the cloud to provide a service interface. A smart phone device is used as the sampling device. A sampling app program needs to be deployed on the sampling device, and the program can download a map of each floor of each building defining a sampling point from the cloud and provide the acquisition capability of the WiFi blind guess positioning value. The data may be uploaded to the cloud after the single-layer sampling of the data is completed or partially completed.

And secondly, performing target equipment positioning calculation. AGPS service is determined according to the API deployed on the target positioning device, and the target building and the target floor are determined according to the preconditions 1, 2 and 3. And according to the information, single-layer sampling data are called from a sampling database, wherein the single-layer sampling data comprise a plurality of single-layer mapping data.

And acquiring the WIFI blind guess positioning value on the target equipment through the API of AGPS. The coordinates Q (x, y, z) of the blind-guessed coordinate system C1 are obtained, and the coordinates P (x, y) corresponding to the blind-guessed coordinate system C0 are calculated through a mapping matching algorithm. Wherein the map matching algorithm, as shown in fig. 2, traverses all single-layer map data of the floor in a C1 coordinate system, selects a sampling point Qm (x, y, z) nearest to Q (x, y, z), and designates a Pm (x, y) bit target anchor point P (x, y) of the Qm map.

As shown in fig. 4, the cloud provides a positioning interface, and receives a positioning request of the client, such as the data request a in fig. 4, which requires the following data: AGPS service, WIFI blind guesses the location value, the building and the floor. And after the cloud end is applied to the mapping matching algorithm, returning the calculation result P (x, y) to the client.

In a positioning program segment of the mobile phone client, acquiring AGPS service type and WIFI blind guess positioning values through an API, acquiring a building and a floor according to the premise 1, 2 and 3, calling a cloud interface, acquiring a positioning value P (x, y) with higher precision, and finishing positioning.

If the altitude data in the WIFI blind guess positioning value returned by the AGPS service does not have the referential property (taking comparison between actual measured data as a reference), the altitude data is ignored, and Q (x, y, z) in the C1 coordinate system is changed into Q (x, y) or Q (x, y, 0).

The map-matching algorithm may also be placed in the locator fragment of the client. In this way, the cloud provides a download interface for the sampled data, and according to the AGPS service, two input parameters of the building where the cloud is located are retrieved and returned to the client. The client downloads the sampled data from the cloud and caches it locally, as in data request B in fig. 4. And then acquiring a WIFI blind guess positioning value, and calculating the current position P (x, y) by applying a mapping matching algorithm. The method has the advantages that the client can greatly reduce the number of requests of the server, and the client caches the sampling database locally, so that the client only needs to send out the requests when the corresponding sampling data are updated.

The map matching algorithm is not limited to one manner described in the second section. Multiple single-layer mapping data of the floor can be traversed, multiple groups of points adjacent to Q (x, y, z) can be found, and P (x, y) is calculated by combining the mapping relation of Q- > P.

The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention.

It should be noted that in the claims and the description of this patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Examples

In the embodiment, the method and the system solve the problem that the AGPS positioning accuracy of the iOS client user in the market is too low. The error is 65 meters, and the final positioning accuracy reaches 5 meters through the application of the scheme.

As shown in fig. 6, the system of the present embodiment includes:

the positioning data acquisition equipment is used for acquiring WiFi blind guess positioning values of sampling points in a building so as to obtain single-layer sampling data; in the embodiment, an APP (application) for indoor positioning data acquisition is deployed on an acquisition device, and after a worker traverses the sampling points of each layer, single-layer sampling data are uploaded to a cloud sampling data management unit;

the cloud sampling database is used for storing the single-layer sampling data;

the cloud indoor positioning service unit is used for positioning calculation and providing positioning and data service for the client positioning program; and

and the client positioning program unit is used for calling the data of the cloud indoor positioning service unit to finish positioning, and in the embodiment, the client positioning program unit is a mall positioning and navigation APP.

Premise 1 of this embodiment is a building and each floor map provided by the system's own map system.

In premise 2, in the usage scenario of the client positioning program unit, the user selects the mall and the range of GPS data returned by the iOS platform device API to determine which mall the building is currently located in.

And 3, judging the scheme of the floor where the user is located through the system.

In this embodiment, the AGPS service is an AGPS service provided by apple corporation for iOS users, and the service is called by a CoreLocation module API of the apple iOS system, where the value of horizontalaccouracy is between 20 and 80, and is determined as a range of collectable WiFi blind guessing locations. The sampling device was iPhone6. Because the elevation data in the WIFI blind guess positioning value is ignored, z in the acquired Q (x, y, z) is 0;

the sampling point for collecting data is determined during map making, and is 3 to 5 meters in the public area in the market. The single layer acquisition data for each floor of each building contains two sets of single layer mapping data.

In this embodiment, map data of each layer of a certain market is collected, wherein a map of one layer is shown in fig. 5, circles are sampling points, and band-shaped areas around the circles are disclosure areas.

Sample point data for this layer, a first set of single layer mapping data is as follows:

table 1 first set of single layer mapping data

	x (longitude)	y (latitude)	z	Warp and weft accuracy
					Sampling point 1	121.4118657	31.2200711	0	65
Sampling Point 2	121.4115619	31.2202440	0	65
					Sampling point 3	121.4116097	31.2201720	0	65
…	…	…	…	…

The second set of single layer mapping data is as follows:

table 2 second set of single layer mapping data

	x (longitude)	y (latitude)	z	Warp and weft accuracy
					Sampling point 1	121.4117537	31.2201635	0	65
Sampling point2	121.4116191	31.2202211	0	65
					Sampling point 3	121.4115823	31.2202282	0	65
…	…	…	…	…

The mapping matching algorithm is put in the client positioning program unit. The client requests sampling data of each layer of a target building in the cloud and caches the sampling data in the client, and the WiFi blind guess positioning value obtained by combining a client program is input into a mapping matching algorithm to obtain the current accurate positioning.

All documents mentioned in this application are incorporated by reference as if each were individually incorporated by reference. Further, it will be appreciated that various changes and modifications may be made by those skilled in the art after reading the above teachings, and such equivalents are intended to fall within the scope of the claims appended hereto.

Claims

1. A positioning system in a building, the system comprising:

the cloud sampling database is used for storing the single-layer sampling data;

the cloud indoor positioning service unit is connected with the client positioning program unit;

the WiFi assisted positioning blind guess calculation of AGPS is referred to as WiFi blind guess positioning calculation, and the result of the WiFi blind guess positioning calculation is referred to as WiFi blind guess positioning value, where the WiFi blind guess positioning value at least includes longitude, latitude, longitude and latitude accuracy, altitude accuracy, and positioning source, and the positioning source can be determined by a value range of the longitude and latitude accuracy.

2. The system of claim 1, wherein the cloud indoor location service unit comprises a location interface for receiving a location request of the client location program unit.

3. The system of claim 1, wherein the positioning data acquisition device is an intelligent electronic device.

4. The system of claim 1, wherein the positioning data collection device is a smart phone.

5. The system of claim 1, further comprising a building map providing unit.

6. The system of claim 1, further comprising a sampling point selection unit.

7. The system of claim 1, wherein the positioning data acquisition device has a sampling APP program disposed therein.

8. The system of claim 1, wherein the positioning data acquisition device has an AGPS module configured therein.

9. The system of claim 1, wherein the building map providing unit is connected with the cloud sample data management unit.

10. The system of claim 1, wherein the sampling point selection unit is coupled to the positioning data acquisition device.

11. A method of locating a position within a building, the method comprising the steps of:

(c) Comparing and/or operating the WiFi blind guess positioning value of the target equipment with data in the positioning sampling database, so as to obtain a positioning result of the target equipment in the building;

in the step (C), coordinate values Q (x, y, z) of a blind-guess coordinate system C1 corresponding to the target device are obtained first, and then coordinates P (x, y) of the target device in a coordinate system C0 corresponding to the world longitude and latitude are calculated through a mapping matching algorithm;

12. The method of claim 11, wherein the database data is collected by:

13. The method of claim 11, wherein the sample database is stored in the cloud and provides a service interface in cloud management; the service interface receives a location request of a client.

14. The method of claim 11, wherein the blind guess location values comprise longitude, latitude, longitude accuracy, altitude accuracy, and location source.

15. The method of claim 11, wherein the map-matching algorithm selects the closest sample point Qm (x, y, z) to the distance Q (x, y, z) for traversing all single-level map data of the target building in the C1 coordinate system.

16. The method of claim 11, wherein the target device is an IOS device.

17. The method of claim 12, wherein the sampling method of all single-layer sampled data is: setting n sampling points P1 to Pn as data points on a coordinate system C0 based on the requirement of a floor map of a target building on positioning precision in an application scene;

18. The method of claim 11, wherein the target device obtains an AGPS service type and a WiFi blind guess positioning value through an API, obtains a building and a floor, invokes a cloud interface, obtains a positioning value P (x, y) with higher accuracy, and completes positioning.

19. The method of claim 11, wherein in step (c), the building is a multi-story building.

20. The method of claim 11, wherein in step (c), the building is a single-story building having a building area of 500 to 50000 square meters.

21. The method of claim 11, wherein the target device is a cell phone.

22. The method of claim 11 wherein the target device is a mobile phone configured with an AGPS module.

23. The method of claim 11, wherein the AGPS service comprises a WiFi assisted positioning function.