CN107949053A - Localization method, terminal and computer-readable recording medium - Google Patents
Localization method, terminal and computer-readable recording medium Download PDFInfo
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- CN107949053A CN107949053A CN201710935937.1A CN201710935937A CN107949053A CN 107949053 A CN107949053 A CN 107949053A CN 201710935937 A CN201710935937 A CN 201710935937A CN 107949053 A CN107949053 A CN 107949053A
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- terminal
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- signal frame
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- 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
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
-
- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Telephone Function (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of localization method, the method looks for car method for a kind of signal based on wireless signal, the described method includes：The signal frame that terminal is broadcasted in different terminals towards received signal transmitting terminal is obtained, each signal frame is formed into the location information group of corresponding number with the signal frame counterpart terminal towards associating；Determine that signal strength meets the echo signal frame of preset condition, the corresponding terminal direction of the echo signal frame is obtained according to the location information group where the echo signal frame；The position of the signal transmitting terminal is determined according to the corresponding terminal direction of the echo signal frame.The invention also discloses a kind of terminal and computer-readable recording medium.The present invention need not be laid with extra wireless device, can realize positioning at lower cost, be easier to realize, application easy to spread.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of localization method, terminal and computer-readable recording medium.
Background technology
As the popularization and development of mobile computing device, wireless location technology are of increasing concern.Location requirement spreads all over people
The every aspect lived.By taking automobile industry as an example, with the arriving of auto age, it is more and more to possess the family of automobile, when
When automobile is parked in large parking lot, people are difficult often to find oneself automobile, therefore, how to find car in parking lot rapidly
Into the common demand of many people.
In existing localization method, the location technology based on technologies such as Wi-Fi, ZigBee, RFID, bluetooth, ultra wide bands is past
Toward needing, laying wireless device, arrangement great deal of nodes, signal covering cost are higher, it is difficult to promote and apply.
The content of the invention
It is a primary object of the present invention to provide a kind of localization method, it is intended to realize be accurately positioned at lower cost.
To achieve the above object, the present invention provides a kind of localization method, the described method includes：
The signal frame that terminal is broadcasted in different terminals towards received signal transmitting terminal is obtained, by each signal frame and the signal
Frame counterpart terminal forms the location information group for corresponding to number towards association；
Determine that signal strength meets the echo signal frame of preset condition, according to the location information where the echo signal frame
Group obtains the corresponding terminal direction of the echo signal frame；
The position of the signal transmitting terminal is determined according to the corresponding terminal direction of the echo signal frame.
Alternatively, the definite signal strength meets that the step of echo signal frame of preset condition includes：
The peak signal frame of acquisition signal strength maximum and its first direction and signal of the corresponding terminal direction are strong
Spend the second direction of minimum most weak signal frame and its corresponding terminal direction；
The first signal strength of the corresponding signal frame of opposite direction of the first direction is obtained, it is strong to obtain first signal
First deviation of the signal strength of degree and the most weak signal frame；
The secondary signal intensity of the corresponding signal frame of opposite direction of the second direction is obtained, it is strong to obtain the secondary signal
Second deviation of the signal strength of degree and the peak signal frame；
Compare the size of first deviation and second deviation；
If first deviation is larger, the most weak signal frame is echo signal frame；
If second deviation is larger, the peak signal frame is echo signal frame.
Alternatively, it is described according to the corresponding terminal of the echo signal frame towards the position for determining the signal transmitting terminal
Step includes：
According to the signal strength of all signal frames of reception, signal strength average is determined；
The distance of signal transmitting terminal and terminal is determined according to the signal strength average, is believed according to the distance and the target
The corresponding terminal of number frame is towards the position for determining the signal transmitting terminal.
Alternatively, it is described to be sent out according to the corresponding terminal of the distance and the echo signal frame towards the definite signal
Include after the step of penetrating the position at end：
Export position of the signal transmitting terminal relative to terminal；
The acquisition terminal is performed the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of.
Alternatively, it is described according to the signal strength average determine signal transmitting terminal and terminal apart from the step of after wrap
Include：
Judge whether the distance of the signal transmitting terminal and terminal is less than pre-determined distance；
If the distance of the signal transmitting terminal and terminal is less than pre-determined distance, output positions successful prompting message；
If the distance of the signal transmitting terminal and terminal is more than pre-determined distance, perform described according to the distance and the mesh
Mark the step of corresponding terminal of signal frame is towards the position for determining the signal transmitting terminal.
Alternatively, the localization method further includes：
When detecting that terminal received signal frame signal intensity constantly weakens, the prompting of output direction of advance mistake disappears
Breath；
The acquisition terminal is performed the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of.
Alternatively, the acquisition terminal the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of it
After include：
When the number for receiving the identical signal frame of signal strength is more than default quantity, output adjustment rotating manner carries
Show message.
Alternatively, the acquisition terminal the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of it
Before include：
The identification information of the wireless signal of detection is obtained, verifies the wireless signal whether from eventually according to the identification information
Hold associated signal transmitting terminal；
If the wireless signal derives from the signal transmitting terminal of terminal association, the acquisition terminal is performed in different terminals court
To received signal transmitting terminal broadcast signal frame the step of.
In addition, to achieve the above object, the present invention also provides a kind of terminal, the terminal includes：Memory, processor and
The finder that can be run on the memory and on the processor is stored in, the finder is held by the processor
The step as described in above-mentioned localization method is realized during row.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer-readable recording medium
Finder is stored with storage medium, is realized when the finder is performed by the processor as described in above-mentioned localization method
The step of.
The embodiment of the present invention is by determining that terminal is presently in terminal existing for position towards strong with received signal frame
The correspondence of degree so that terminal can connect the signal strength of signal frame and terminal direction, and then determine signal transmitting
Hold the direction residing for relative termination, it is only necessary to which the embodiment of the present invention, which can be achieved, in terminal and terminal configuration wireless module to solve
Orientation problem, without increasing additional hardware cost, such as be laid with wireless device, arrangement great deal of nodes, positioning cost can be reduced, and
With the development of mobile communication technology, existing terminal or signal transmitting terminal common configuration wireless module, the embodiment of the present invention
Positioning can be achieved based on the existing module of equipment, compared to original localization method that need to be laid with a large amount of wireless devices, the present invention
Embodiment cost is relatively low, and is easier to realize, thus application easy to spread.
Brief description of the drawings
Fig. 1 is the terminal structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of localization method first embodiment of the present invention；
Fig. 3 is the schematic diagram of location information group in localization method first embodiment of the present invention；
Fig. 4 is the flow diagram of localization method second embodiment of the present invention；
Fig. 5 is the schematic diagram of a scenario that echo signal frame is determined in localization method second embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In follow-up description, the suffix using such as " module ", " component " or " unit " for representing element is only
Be conducive to the explanation of the present invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Terminal of the embodiment of the present invention can be implemented in a variety of manners, including PC, mobile phone, tablet computer, laptop,
Palm PC, personal digital assistant (Personal Digital Assistant, PDA), portable media player
(Portable Media Player, PMP), guider, wearable kind equipment, AR/VR equipment, intelligence such as with network savvy
Energy bracelet, pedometer etc., the mobile terminal such as intelligent sound box, autonomous driving vehicle, may also comprise internet of things equipment (such as band networking work(
Can intelligent air condition, intelligent electric lamp, intelligent power) etc. fixed terminal.
As shown in Figure 1, Fig. 1 is the hardware architecture diagram for the terminal for realizing each embodiment of the present invention.
The terminal can include：Processor 1001, such as CPU, network interface 1004, user interface 1003, memory
1005, communication bus 1002.Wherein, communication bus 1002 is used for realization the connection communication between these components.User interface
1003 can include display screen (Display), input unit such as keyboard (Keyboard), touch-screen, camera (including AR/
VR equipment), optional user interface 1003 can also include standard wireline interface and wireless interface.Network interface 1004 is optional
Can including standard wireline interface and wireless interface, (such as WI-FI interfaces, blue tooth interface, probe interface, 3G/4G/5G networkings are logical
Believe interface etc.).Memory 1005 can be high-speed RAM memory or the memory (non-volatile of stabilization
), such as magnetic disk storage memory.Memory 1005 optionally can also be the storage dress independently of aforementioned processor 1001
Put.
Alternatively, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, wireless communication module (such as WiFi module, bluetooth module) etc..Wherein, wireless communication module is used to receive signal transmitting
Hold the signal frame sent.Sensor ratio such as electronic compass sensor (magnetometer sensor), motion sensor and other sensings
Device.As one kind of motion sensor, gravity accelerometer can detect in all directions (generally three axis) acceleration
Size, can detect that size and the direction of gravity when static, available for the application of identification mobile terminal posture, (for example horizontal/vertical screen is cut
Change, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared ray sensor are can also configure, details are not described herein.
It will be understood by those skilled in the art that the restriction of the terminal structure shown in Fig. 1 not structure paired terminal, can wrap
Include than illustrating more or fewer components, either combine some components or different components arrangement.
As shown in Figure 1, as being stored with finder, processor in a kind of memory 1005 of computer-readable storage medium
1001 can call the finder in memory 1005 to perform following steps：
The signal frame that terminal is broadcasted in different terminals towards received signal transmitting terminal is obtained, by each signal frame and the signal
Frame counterpart terminal forms the location information group for corresponding to number towards association；
Determine that signal strength meets the echo signal frame of preset condition, according to the location information where the echo signal frame
Group obtains the corresponding terminal direction of the echo signal frame；
The position of the signal transmitting terminal is determined according to the corresponding terminal direction of the echo signal frame.
The definite signal strength meets that the step of echo signal frame of preset condition includes：
The peak signal frame of acquisition signal strength maximum and its first direction and signal of the corresponding terminal direction are strong
Spend the second direction of minimum most weak signal frame and its corresponding terminal direction；
The first signal strength of the corresponding signal frame of opposite direction of the first direction is obtained, it is strong to obtain first signal
First deviation of the signal strength of degree and the most weak signal frame；
The secondary signal intensity of the corresponding signal frame of opposite direction of the second direction is obtained, it is strong to obtain the secondary signal
Second deviation of the signal strength of degree and the peak signal frame；
Compare the size of first deviation and second deviation；
If first deviation is larger, the most weak signal frame is echo signal frame；
If second deviation is larger, the peak signal frame is echo signal frame.
Described the step of determining the position of the signal transmitting terminal according to the corresponding terminal direction of the echo signal frame, wraps
Include：
According to the signal strength of all signal frames of reception, signal strength average is determined；
The distance of signal transmitting terminal and terminal is determined according to the signal strength average, is believed according to the distance and the target
The corresponding terminal of number frame is towards the position for determining the signal transmitting terminal.
It is described that the signal transmitting terminal is determined according to the corresponding terminal direction of the distance and the echo signal frame
Include after the step of position：
Export position of the signal transmitting terminal relative to terminal；
The acquisition terminal is performed the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of.
It is described according to the signal strength average determine signal transmitting terminal and terminal apart from the step of after include：
Judge whether the distance of the signal transmitting terminal and terminal is less than pre-determined distance；
If the distance of the signal transmitting terminal and terminal is less than pre-determined distance, output positions successful prompting message；
If the distance of the signal transmitting terminal and terminal is more than pre-determined distance, perform described according to the distance and the mesh
Mark the step of corresponding terminal of signal frame is towards the position for determining the signal transmitting terminal.
The localization method further includes：
When detecting that terminal received signal frame signal intensity constantly weakens, the prompting of output direction of advance mistake disappears
Breath；
The acquisition terminal is performed the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of.
The acquisition terminal includes after the step of signal frame that different terminals are broadcasted towards received signal transmitting terminal：
When the number for receiving the identical signal frame of signal strength is more than default quantity, output adjustment rotating manner carries
Show message.
The acquisition terminal includes before the step of signal frame that different terminals are broadcasted towards received signal transmitting terminal：
The identification information of the wireless signal of detection is obtained, verifies the wireless signal whether from eventually according to the identification information
Hold associated signal transmitting terminal；
If the wireless signal derives from the signal transmitting terminal of terminal association, the acquisition terminal is performed in different terminals court
To received signal transmitting terminal broadcast signal frame the step of.
With reference to Fig. 2, in localization method first embodiment of the present invention, the localization method includes：
Step S10, obtains the signal frame that terminal is broadcasted in different terminals towards received signal transmitting terminal, by each signal frame
With the signal frame counterpart terminal towards associating, the location information group of corresponding number is formed；
Localization method specific bit signal transmitting terminal described in the embodiment of the present invention, that is, determine signal transmitting terminal relative to terminal
Position.
Signal transmitting terminal can also be implemented in a variety of manners, including PC, mobile phone, tablet computer, laptop, palm
Computer, personal digital assistant (Personal Digital Assistant, PDA), portable media player (Portable
Media Player, PMP), guider, wearable kind equipment, AR/VR equipment, Intelligent bracelet such as with network savvy, meter step
The mobile terminal such as device etc., intelligent sound box, autonomous driving vehicle, onboard system, may also comprise internet of things equipment (such as band network savvy
Intelligent air condition, intelligent electric lamp, intelligent power) etc. fixed terminal.No matter signal transmitting terminal is implemented in what manner, it is both needed to be equipped with
Signal emission module, exemplified by looking in car to the positioning of vehicle, when signal transmitting terminal is vehicle, needs to configure wireless mould on vehicle
Block carries out transmitting/broadcast of signal frame, can be sent by the wireless module on onboard system, nothing can also be separately configured on vehicle
Wire module.In addition, the signal transmitting terminal also can refer to independent wireless signal transmitting module, the nothing as signal transmitting terminal
Line signal emission module can be only fitted on various forms of mobile terminals or fixed terminal, to realize to signal transmitting terminal or
The positioning of terminal where signal transmitting terminal.
The signal frame can be Bluetooth signal, WIFI signal, ZigBee, RFID etc., or can be according to localizing environment
(or signal transmitting terminal and terminal local environment) switches between a variety of wireless signals, to adapt to the positioning under a variety of environment.Institute
State wireless signal can independently to be selected according to parking environment by user, also confession can be provided by the terminal (lower abbreviation terminal) as terminal
The pattern (such as spacious pattern, hinder pattern, hinder pattern, indoor mode, outdoor pattern more less) of user's selection, according to user
The corresponding wireless signal of each pattern of model selection of selection.
Signal transmitting terminal broadcast singal frame, can ceaselessly broadcast always or intermittence is broadcasted, also can be long-range by user
Manipulation signal transmitting terminal starts or closes wireless transmitter module, and specifically, the setting of above-mentioned broadcast time can be autonomous by user
Set, or signal transmitting terminal manufacturer default setting.
Further, include before step S10：
Step S13, obtains the identification information of the wireless signal detected, verifies that the wireless signal is according to the identification information
The no signal transmitting terminal from terminal association；
Step S14, if the wireless signal derives from the signal transmitting terminal of terminal association, performs the acquisition terminal not
The step of signal frame broadcasted towards received signal transmitting terminal with terminal.
Terminal may detect that the wireless signal of many broadcast source transmittings, it is necessary to from the multiple wireless signals detected really
Determine the signal frame of signal transmitting terminal transmitting.
The signal frame of the signal transmitting terminal transmitting can set unique identification, can such as set user name, user can basis
The user name of signal frame judges whether received signal frame is broadcasted by oneself signal transmitting terminal, can exclude other wireless transmitting devices
Interference, so as to being smoothed out for positioning.Also detection can be determined by terminal according to the identification information to prestore, such as SSID information
To wireless signal in signal transmitting terminal launch signal frame.Password can also be set to signal transmitting terminal by user, it is only defeated
Enter proper password, can just receive the signal frame of signal transmitting terminal broadcast.
The present embodiment determines letter by verifying whether the identification information of the wireless signal detected meets preset condition
The signal frame of number transmitting terminal broadcast, and then perform and the step of signal launches end position is subsequently determined according to the signal frame, prevent
The interference of other wireless signals, ensures that positioning is smoothed out.
There are a rule for wireless signal transmission：Sender unit is nearer apart from the distance of receiver, what receiver measured
Signal strength is stronger；Transmitter is more remote apart from the distance of receiver, and the signal strength that receiver measures is weaker.
Because terminal posture is different, wireless module direction therein is also different, the position of its wireless module relative signal transmitting terminal
Put also different (i.e. distance is different), the intensity of the signal frame that the signal transmitting terminal that terminal wireless module receives is launched is not yet
Together.In the present embodiment, for ease of follow-up positioning, it is necessary to obtain terminal towards it is different when, the signal of terminal received signal frame is strong
Degree, that is, obtain signal strength and the correspondence in terminal direction, forms location information group.For ease of understanding, reference can be made to Fig. 3's determines
Position information group schematic diagram.A, B, C are three location information groups, are respectively A (R1, r1), B (R2, r2), C (R3, r3), by taking A as an example
The location information group is explained, R1 id signals intensity is the signal frame of R1, and r1 refers to the counterpart terminal direction of R1,
R1 refers to and the associated counterpart terminal directions of R1 in other words.Those of skill in the art would appreciate that the example that Fig. 3 is provided is not formed pair
The restriction of the location information group content and number.
The signal frame of terminal direction and corresponding signal strength is obtained, the information being collected into can be stored in specifically
The signal frame of the terminal direction and corresponding signal strength, can be established one-to-one storage relation, subsequently to search by location
Call.
Alternatively, receive signal transmitting terminal broadcast signal frame before or after or at the same time, the terminal as terminal can
The prompting message of " rotation terminal " is exported, the specific way of output can be word output or audio output, and output " rotates eventually
The prompting message at end " can be detailed, using the terminal as mobile phone example, prompting message can for " please by mobile phone small slide around " or
" please mobile phone level is turn-taked " etc., prompting message also can be simple, such as " please rotate mobile phone ".It is of course also possible to do not provide rotation eventually
The prompting message at end.
Further, include after the step S10：
Step S15, when the number for receiving the identical signal frame of signal strength is more than default quantity, output adjustment rotates
The prompting message of mode.
When terminal receives the identical signal frame of signal strength, of the identical signal frame of the signal strength is counted
Number, judges whether the number of the identical signal frame of the signal strength reaches certain proportion or quantity, that is, judges signal strength
Whether the number of identical signal frame is more than default quantity, if so, the original that then the identical signal frame of detectable signal intensity occurs
Cause.The reason for according to detecting, export corresponding prompting message.
Such as, when the magnetometer sensor in terminal or motion sensor etc. detect that terminal rotating speed is too fast so that believing
During the identical signal frame of number intensity, the exportable prompting message for slowing down rotating speed.
It is exportable when the magnetometer sensor in terminal or motion sensor are when detecting that terminal never rotates
Request rotates the prompting message of terminal.
It can also be detected when receiving the identical signal frame of signal strength without reason, directly output slows down rotation
Speed either ask to rotate terminal or ask small slide around or request the prompting message of adjustment rotating manner such as turn-take.
Wherein, output can be exported with speech form, can also picture or word output, or at the same time with voice or picture and text shape
Formula exports.
With in the present embodiment, when the number for detecting the identical signal frame of signal strength is more than predetermined number, output is adjusted
The prompting message of turn over flowing mode, and then when user is with wrong way using terminal, provides correct instruction, facilitate user smooth
Using terminal is positioned, while, it can be achieved that the collection of terminal-pair all directions signal frame, determines signal strength and terminal direction
Correspondence, so that subsequent positioning step is smoothed out, successfully to position.
Step S11, determines that signal strength meets the echo signal frame of preset condition, according to where the echo signal frame
Location information group obtains the corresponding terminal direction of the echo signal frame；
According to understanding above, the signal frame of unlike signal intensity correspond to different terminal directions, thus signal strength with
Terminal direction has a correspondence.According to the difference of preset condition, meet the corresponding terminal of echo signal frame of preset condition
Direction has the characteristics of different.
(signal frame refers both to the signal of signal transmitting terminal broadcast in the embodiment of the present invention in all signal frames that terminal receives
Frame), signal strength it is maximum with minimum signal frame most can reaction signal transmitting terminal relative termination position.
When terminal (wireless module in terminal) is towards direction where signal transmitting terminal, terminal (the wireless mould in terminal
Block), signal frame maximum intensity that terminal in this direction receive closest with signal transmitting terminal；When terminal is (in terminal
Wireless module) direction where offset signal transmitting terminal or in the opposite direction in direction where signal transmitting terminal, terminal (terminal
In wireless module) it is farthest with signal transmitting terminal distance, the signal frame intensity that terminal receives in this direction is minimum.
In one embodiment, the preset condition is maximum for signal strength, at this time, the corresponding terminal of echo signal frame
The direction being oriented where signal transmitting terminal.
In one embodiment, the preset condition is minimum for signal strength, at this time, the corresponding terminal court of echo signal frame
To the opposite direction for the direction where signal transmitting terminal.
In another embodiment, the preset condition can be that signal strength meets a certain special algorithm, algorithm choosing
The corresponding terminal of the signal frame of the signal strength gone out towards most can reaction signal transmitting terminal position (direction).As one kind judges letter
The signal frame of number maximum intensity and the terminal of the signal frame whichever reaction of signal strength minimum are towards more accurately algorithm.
Step S12, the position of the signal transmitting terminal is determined according to the corresponding terminal direction of the echo signal frame.
After definite echo signal frame, with reference to direction of the terminal towards where substantially can determine signal transmitting terminal.Further according to
Signal target signal frame intensity or other signal frame intensity can determine that signal transmitting terminal away from terminal apart from size, according to
Behind direction where obtained signal transmitting terminal and distance, you can determine the relative position residing for signal transmitting terminal.
The present embodiment is by determining that terminal is presently in terminal direction existing for position and the intensity of received signal frame
Correspondence so that terminal can connect the signal strength of signal frame and terminal direction, and then determine signal transmitting terminal phase
To the direction residing for terminal, it is only necessary to determine what terminal and the i.e. achievable embodiment of the present invention of terminal configuration wireless module to be solved
Position problem, without increasing additional hardware cost, is such as laid with wireless device, arrangement great deal of nodes, can reduce positioning cost, and with
The development of mobile communication technology, existing terminal or signal transmitting terminal common configuration wireless module, the embodiment of the present invention are based on
Positioning can be achieved in the existing module of equipment, and compared to original localization method that need to be laid with a large amount of wireless devices, the present invention is implemented
Example cost is relatively low, and is easier to realize, thus application easy to spread.
Further, step is included after the step S12：
Step S16, exports position of the signal transmitting terminal relative to terminal；
Step S17, performs the signal frame for obtaining terminal and being broadcasted in different terminals towards received signal transmitting terminal
Step.
After definite signal transmitting terminal is relative to the position of terminal, its position is exported, can be exported with speech form, can also
Picture or word output, or exported at the same time in the form of voice or picture and text, output content for direction where signal transmitting terminal and
Distance away from terminal.
Behind the position of output signal transmitting terminal, the position of signal transmitting terminal after preset duration, can be redefined, again
The signal frame that terminal is broadcasted in different terminals towards received signal transmitting terminal is obtained, that is, performs step S10.Preset duration can be by
User setting, also can be by terminal default setting.When performing step S10 arrival step S12, step S16, S17 are continued to execute, into
And make it that terminal can the frequent more position of new signal transmitting terminal so that terminal can obtain signal transmitting terminal relative to the current of terminal
Position, the position of continuous revise signal transmitting terminal so that user is timely according to the position of the signal transmitting terminal of terminal continuous updating
Adjust the moving direction of oneself so that user finds signal transmitting terminal as early as possible.
Further, based on first embodiment, in the second embodiment of localization method of the present invention, in the step S11
Determine that the step for signal strength meets the echo signal frame of preset condition includes：
Step S20, obtains the peak signal frame of signal strength maximum and its first direction of the corresponding terminal direction
With the most weak signal frame of signal strength minimum and its second direction of the corresponding terminal direction；
The present embodiment proposes a kind of a kind of embodiment party of the method, the in other words preset condition of definite echo signal frame
Formula, specifically, to be a kind of in the most strong method for selecting echo signal frame with two most weak signal interframe of signal strength.
Peak signal frame in the present embodiment refer to step S10 obtain collect, terminal towards it is different when, terminal receive
In the signal frame of corresponding different terminals direction, the signal frame of signal strength maximum, first direction is that the peak signal frame corresponds to
Terminal direction.Most weak signal frame refer to step S10 obtain collect, terminal towards it is different when, terminal receives corresponding different
In the signal frame of terminal direction, the signal frame of signal strength minimum, second direction is the corresponding terminal court of most weak signal frame
To.
Step S21, obtains the first signal strength of the corresponding signal frame of opposite direction of the first direction, obtain this
First deviation of one signal strength and the signal strength of the most weak signal frame；
Step S22, obtains the secondary signal intensity of the corresponding signal frame of opposite direction of the second direction, obtain this
Second deviation of binary signal intensity and the signal strength of the peak signal frame；
As shown in figure 3, for ease of describing and understanding, first direction is denoted as X1, the opposite direction of first direction is denoted as X2,
The signal strength of peak signal frame is denoted as Max (RSSI), and the first signal strength is denoted as min (rssi), and the first deviation is denoted as △
MIN；Second direction is denoted as Y1, the opposite direction of second direction is denoted as Y2, and the signal strength of most weak signal frame is denoted as Min
(RSSI), secondary signal intensity is denoted as max (rssi), and the second deviation is denoted as △ MAX.
The corresponding terminal of the most strong signal frame of signal strength (being denoted as peak signal frame) is sent out towards can substantially be determined as signal
Penetrate the direction where end, the opposite direction of the corresponding terminal direction of the most weak signal frame of signal strength (being denoted as most weak signal frame)
The direction that can be substantially determined as where signal transmitting terminal, but may be because between terminal and signal transmitting terminal there are many obstructions,
Cause signal to be cut down, formed measurement error, and then cause according to the direction where the signal transmitting terminal that peak signal frame determines with
Direction where the signal transmitting terminal determined according to most weak signal frame is inconsistent, to reduce error, in peak signal frame and most weak
Signal interframe need to determine an echo signal frame, and then determine the direction where signal transmitting terminal.
The opposite direction that X2 in the present embodiment is X1, X1 is the corresponding terminal direction of peak signal frame, if signal is launched
End on X1 directions, then as X1 opposite direction X2, when terminal is oriented X2, terminal received signal frame intensity (min
(rssi)) should be the signal frame of signal strength minimum, by the min (rssi) and the signal strength Min of most weak signal frame
(RSSI) it is compared, obtaining deviation △ MIN, △ MIN can be | Min (RSSI)-min (rssi) |.
Similarly, Y1 is the corresponding terminal direction of most weak signal frame, then the corresponding terminal directions of Y2 as Y1 opposite directions
Should be the direction where signal transmitting terminal, when terminal is oriented Y2, terminal received signal frame intensity max (rssi) should
For the signal frame of signal strength maximum, the signal strength Max (RSSI) of the max (rssi) and actual peak signal frame are carried out
Compare, obtaining deviation △ MAX, △ MAX can be | Max (RSSI)-max (rssi) |.
The size of step S23, first deviation and second deviation；
Step S24, if first deviation is larger, the most weak signal frame is echo signal frame；
Step S25, if second deviation is larger, the peak signal frame is echo signal frame.
If first deviation, i.e. △ MIN are larger, i.e. the opposite direction and reality of the corresponding terminal direction of peak signal frame
The most corresponding terminal of weak signal frame is larger towards gap, and mistake most probably occurs in the measurement of peak signal frame, thus use is most weak
Signal frame is echo signal frame；
If first deviation is smaller, i.e., the second deviation is larger, then the phase negative side of the corresponding terminal direction of most weak signal frame
Larger towards gap to terminal corresponding with actual peak signal frame, most probably there is mistake in the measurement of most weak signal frame, thus
Peak signal frame is used as echo signal frame.
If first deviation and the second deviation are equally big, peak signal frame and most weak signal frame can be used as target to believe
Number frame.
The present embodiment is by obtaining the corresponding minimum signal strength of peak signal frame theory and the letter of actual most weak signal frame
First deviation of number intensity, the most corresponding maximum signal of weak signal frame theory and the signal strength of actual peak signal frame
Second deviation, compares the first deviation and the second deviation, so exclude from actual peak signal frame and most weak signal frame error compared with
Big signal frame, using the less signal frame of error as echo signal frame, and then ensures to be ultimately used to the target letter for determining terminal
The accuracy of number frame.
Further, based on first embodiment or second embodiment, in the 3rd embodiment of localization method of the present invention, step
Rapid S12 includes：
Step S30, according to the signal strength of all signal frames of reception, determines signal strength average；
Step S31, the distance of signal transmitting terminal and terminal is determined according to the signal strength average, according to the distance and institute
The corresponding terminal of echo signal frame is stated towards the position for determining the signal transmitting terminal.
All signal frames refer to the signal frame of all directions of terminal reception in the present embodiment, and each direction only has a signal
Frame intensity, when terminal moves, its received signal frame intensity can also change, because positioning carries out in real time, appoint in terminal
When the signal frame intensity in meaning direction changes, terminal is required for determining that signal is strong according to currently received all signal frames again
Spend average.
Signal strength average in the present embodiment refers to the corresponding signal strength in terminal present position, because of terminal size not
Together, maximum signal is also different from minimum signal strength gap in terminal received signal frame, and by taking mobile phone as an example, mobile phone compares
Small, maximum signal may be smaller with minimum signal strength gap in its received signal frame, in other words, what mobile phone received
The signal strength gap of all signal frames is all smaller, and all signal frames received according to mobile phone determine that signal strength average can be with
The average value of the signal strength of all signal frames is directly calculated, but there may be certain measurement error, thus be averaged
Before, the thick value in all signal frames can be first removed, i.e., differs larger with signal strength values universal in received signal frame
Signal frame (specifically can be by each value compared with the average signal strength of all signal frames), the institute to eliminating thick value
There is signal frame to be averaged.
After signal strength average is determined, distance of the signal transmitting terminal away from terminal can be determined according to signal attenuation model,
Wherein, signal attenuation model need to determine that related realization is known to those skilled in the art according to practical application scene, because without
Repeat again.
The direction residing for distance and relative termination of the signal transmitting terminal away from terminal is determined, you can determine signal transmitting terminal
Position.
The present embodiment is determined signal strength average, is reduced by the signal strength of all signal frames received according to terminal
Measurement error to terminal signaling intensity band come deviation, according to the signal strength average determine signal transmitting terminal away from terminal away from
From, and the direction with reference to residing for the corresponding terminal of the echo signal frame towards definite signal transmitting terminal, finally determine signal hair
Penetrate the position of end relative termination.
Further, in step S31 according to the signal strength average determine signal transmitting terminal and terminal apart from this
Include after step:
Step S32, judges whether the distance of the signal transmitting terminal and terminal is less than pre-determined distance；
Step S33, if the distance of the signal transmitting terminal and terminal is less than pre-determined distance, output positioning successfully prompting
Message；
Step S34, if the distance of the signal transmitting terminal and terminal is more than pre-determined distance, performs described according to the distance
The step of terminal corresponding with the echo signal frame is towards the position for determining the signal transmitting terminal.
After the distance of signal transmitting terminal and terminal is determined according to the signal strength average, judge whether the distance is less than
Pre-determined distance, because when the distance is less than certain value, user can directly determine the position of signal transmitting terminal with naked eyes, without end
Electric energy or memory source etc. are expended in end, i.e., signal transmitting terminal are positioned again without terminal, can directly export positioning at this time
Successful prompting message, can be exported with speech form, can also picture or word output, or at the same time in the form of voice or picture and text
Output, and terminate the positioning to the signal transmitting terminal.If the distance is more than certain value (i.e. pre-determined distance), need terminal after
The position of continuous positioning signal transmitting terminal, performs described true according to the corresponding terminal direction of the distance and the echo signal frame
The step of position of the fixed signal transmitting terminal.
In a kind of optional embodiment, described according to the distance and the corresponding terminal of the echo signal frame
The step of position for determining the signal transmitting terminal after, step S16, S17 is also performed.
The pre-determined distance can be set by terminal default factory, can also be selected or set according to practical application scene by user
Put.
The present embodiment is determined eventually by judging whether the distance of the signal transmitting terminal and terminal is less than pre-determined distance
End stops the opportunity being positioned to signal transmitting terminal, if the distance of the signal transmitting terminal and terminal is less than pre-determined distance,
The prompting message that exportable success positions, stops the positioning to the signal transmitting terminal, because working as the signal transmitting terminal and terminal
Distance when being less than pre-determined distance, user completely can be fixed without continuing detection by terminal with visually seeing signal transmitting terminal
Position, can save the resources such as terminal operating memory.
Further, based on first embodiment either second embodiment or 3rd embodiment, in localization method of the present invention
Fourth embodiment in, the localization method further includes：
Step S40, when detecting that terminal received signal frame signal intensity constantly weakens, output direction of advance mistake
Prompting message；
Step S41, performs step S10.
After the direction of signal transmitting terminal relative termination and distance is determined, terminal still constantly obtains signal strength letter
Breath.By taking the terminal is mobile phone, signal transmitting terminal is automobile as an example, when user indicates to move toward automobile steering according to terminal,
Terminal continues to receive the signal frame that automobile is sent, and the signal strength information of the signal frame is still obtained, according to lasting acquisition
Signal strength information judge whether the moving direction of user correct.
Specifically, when the user is mobile, terminal judges that currently received signal strength is to continue enhanced situation or continue
Decrease state, terminal be used for the signal strength that judges can as currently received all signal frames signal strength average value or
It is the average value for eliminating the signal frame after thick value.
When terminal detects that received signal frame signal intensity constantly weakens, illustrate that user or terminal are launched away from signal
More and more remote, the direction of advance mistake of user is held, at this time, the prompting message of exportable direction of advance mistake, is used with timely remind
Family, prevents it from the more walking the more remote in wrong direction, and the time for reducing user wastes, with into finding car soon；After user is reminded, terminal
Need to redefine terminal towards and signal strength correspondence, perform step S10, because the step is as detailed above, no
Repeat again.
When terminal detects that received signal frame signal intensity constantly strengthens, it may be determined that user/terminal is launched away from signal
End is more and more nearer, and user/terminal moves in the right direction, can obtain distance of the signal transmitting terminal away from user at regular intervals,
And it is shown in terminal.
The present embodiment receives the change in signal strength situation of signal frame by lasting detection terminal, and then before judging terminal
Whether it is direction where signal transmitting terminal into direction, in terminal moving direction mistake, to provide prompting message, reminds user
Change moving direction, and redefine the correspondence of the terminal direction and signal strength of current location residing for terminal, so it is right
Signal transmitting terminal is repositioned, and the time for reducing user wastes, and lifts user experience.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with finder, step as described in above-described embodiment is realized when the finder is executed by processor, because of correlation
Step is described in detail in the above-described embodiments, repeats no more.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those key elements, and
And other elements that are not explicitly listed are further included, or further include as this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical element in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal equipment (can be fixed whole
End, such as Internet of Things smart machine, including the smart home such as intelligent air condition, intelligent electric lamp, intelligent power, intelligent router；Also may be used
To be mobile terminal, including smart mobile phone, wearable networking AR/VR devices, intelligent sound box, autonomous driving vehicle etc. are all multi-joint
Net equipment) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made, is directly or indirectly used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of localization method, it is characterised in that the localization method comprises the following steps：
The signal frame that terminal is broadcasted in different terminals towards received signal transmitting terminal is obtained, by each signal frame and the signal frame pair
Terminal is answered to form the location information group for corresponding to number towards association；
Determine that signal strength meets the echo signal frame of preset condition, obtained according to the location information group where the echo signal frame
Take the corresponding terminal direction of the echo signal frame；
The position of the signal transmitting terminal is determined according to the corresponding terminal direction of the echo signal frame.
2. localization method as claimed in claim 1, it is characterised in that the definite signal strength meets the target of preset condition
The step of signal frame, includes：
The peak signal frame of acquisition signal strength maximum and its first direction and signal strength of the corresponding terminal direction are most
Small most weak signal frame and its second direction of the corresponding terminal direction；
Obtain the first signal strength of the corresponding signal frame of opposite direction of the first direction, obtain first signal strength with
First deviation of the signal strength of the most weak signal frame；
Obtain the secondary signal intensity of the corresponding signal frame of opposite direction of the second direction, obtain the secondary signal intensity with
Second deviation of the signal strength of the peak signal frame；
Compare the size of first deviation and second deviation；
If first deviation is larger, the most weak signal frame is echo signal frame；
If second deviation is larger, the peak signal frame is echo signal frame.
3. localization method as claimed in claim 1, it is characterised in that described according to the corresponding terminal court of the echo signal frame
Include to the step of position for determining the signal transmitting terminal：
According to the signal strength of all signal frames of reception, signal strength average is determined；
The distance of signal transmitting terminal and terminal is determined according to the signal strength average, according to the distance and the echo signal frame
The corresponding terminal direction determines the position of the signal transmitting terminal.
4. localization method as claimed in claim 3, it is characterised in that described to be corresponded to according to the distance and the echo signal frame
The terminal towards determine the signal transmitting terminal position the step of after include：
Export position of the signal transmitting terminal relative to terminal；
The acquisition terminal is performed the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of.
5. localization method as claimed in claim 4, it is characterised in that described to determine that signal is sent out according to the signal strength average
Penetrate end and terminal apart from the step of after include：
Judge whether the distance of the signal transmitting terminal and terminal is less than pre-determined distance；
If the distance of the signal transmitting terminal and terminal is less than pre-determined distance, output positions successful prompting message；
If the distance of the signal transmitting terminal and terminal is more than pre-determined distance, perform described according to the distance and target letter
The step of corresponding terminal of number frame is towards the position for determining the signal transmitting terminal.
6. localization method as claimed in claim 1, it is characterised in that the localization method further includes：
When detecting that terminal received signal frame signal intensity constantly weakens, the prompting message of direction of advance mistake is exported；
The acquisition terminal is performed the signal frame that different terminals are broadcasted towards received signal transmitting terminal the step of.
7. localization method as claimed in claim 1, it is characterised in that the acquisition terminal receives letter in different terminals direction
Include after the step of signal frame of number transmitting terminal broadcast：
When the number for receiving the identical signal frame of signal strength is more than default quantity, the prompting of output adjustment rotating manner disappears
Breath.
8. localization method as claimed in claim 1, it is characterised in that the acquisition terminal receives letter in different terminals direction
Include before the step of signal frame of number transmitting terminal broadcast：
The identification information of the wireless signal of detection is obtained, verifies the wireless signal whether from terminal pass according to the identification information
The signal transmitting terminal of connection；
If the wireless signal derives from the signal transmitting terminal of terminal association, the acquisition terminal is performed in different terminals towards institute
The step of receiving the signal frame of signal transmitting terminal broadcast.
9. a kind of terminal, it is characterised in that the terminal includes：Memory, processor and it is stored on the memory and can
The finder run on the processor, realizes such as claim 1 to 8 when the finder is performed by the processor
Any one of method the step of.
10. a kind of computer-readable recording medium, it is characterised in that positioning journey is stored with the computer-readable recording medium
Sequence, is realized such as the step of localization method described in any item of the claim 1 to 8 when the finder is executed by processor.
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