CN108318037B

CN108318037B - Indoor positioning method and device and navigation device and system

Info

Publication number: CN108318037B
Application number: CN201810084400.3A
Authority: CN
Inventors: 李伟丹; 胡应添; 罗漫江
Original assignee: Comba Network Systems Co Ltd
Current assignee: Comba Network Systems Co Ltd
Priority date: 2018-01-29
Filing date: 2018-01-29
Publication date: 2021-09-24
Anticipated expiration: 2038-01-29
Also published as: CN108318037A

Abstract

The invention relates to an indoor positioning method and device, a navigation device and a navigation system. The indoor positioning method comprises the following steps: sending a preset distortion rule to a beacon end; when the beacon measurement value is received, reversely analyzing the beacon measurement value based on a preset distortion rule to obtain a reference measurement value for positioning calculation, and sending the reference measurement value to a beacon measurement end; or, sending the preset distortion rule to a beacon measuring end; the beacon management end, the beacon end and the preset distortion rule can be set by a beacon deployment party, the preset distortion rule belongs to private information, the beacon measurement end which is matched with the beacon management end and passes through authentication can acquire the corresponding preset distortion rule, obtain and calculate a reference measurement value, correct indoor positioning information is obtained, and unification of beacon deployment and navigation operation and maintenance right is achieved.

Description

Indoor positioning method and device and navigation device and system

Technical Field

The present invention relates to the field of wireless communication, and in particular, to an indoor positioning method and apparatus, and a navigation apparatus and system.

Background

Currently, a GNSS (Global Navigation Satellite System) cannot provide a good service for indoor positioning, which results in a poor indoor positioning experience. Some manufacturers realize indoor positioning by deploying sound wave sensing equipment, but the scheme is only suitable for the field of private networks and cannot be suitable for common terminals; in order to serve the field of common terminals, the industry is also continuously exploring indoor positioning services based on mobile communication networks, ibeacon, Wi-Fi (Wireless-Fidelity), and other systems. Some manufacturers collect the signals of the existing mobile communication network and Wi-Fi network, and provide indoor positioning service according to the signals; and after some manufacturers deploy Wi-Fi and ibeacon, the manufacturers collect Wi-Fi and ibeacon signals, and accordingly provide indoor positioning service.

However, in the implementation process, the inventor finds that at least the following problems exist in the conventional technology: in a traditional mobile communication network, a Wi-Fi network, an ibeacon network and the like, because information is visible in clear to a collector, except that a manufacturer deploying beacons can use the beacons to develop location services, any third party can also develop the location services based on the beacons deployed by the manufacturer, and the beacon deployment and navigation operation and maintenance rights cannot be unified.

Disclosure of Invention

Therefore, it is necessary to provide an indoor positioning method, an indoor positioning device, an indoor navigation device, and an indoor navigation system for solving the problem that the right of beacon deployment and navigation operation and maintenance cannot be unified.

In order to achieve the above object, in one aspect, an embodiment of the present invention provides an indoor positioning method, including:

sending a preset distortion rule to a beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule;

when a beacon measurement value obtained by a beacon measurement end measuring distortion signal is received, reversely analyzing the beacon measurement value based on a preset distortion rule to obtain a reference measurement value for positioning calculation, and sending the reference measurement value to the beacon measurement end; or the like, or, alternatively,

sending a preset distortion rule to a beacon measuring end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; the beacon measurement value is obtained by measuring a distorted signal by the beacon measurement end.

The embodiment of the invention provides an indoor positioning method, which comprises the following steps:

receiving a preset distortion rule sent by a beacon management end;

and generating and sending a distortion signal to the beacon measuring end according to a preset distortion rule.

The embodiment of the invention also provides an indoor positioning method, which comprises the following steps:

measuring a distortion signal generated and sent by a beacon end according to a preset distortion rule to obtain a beacon measurement value;

sending the beacon measurement value to a beacon management end, and receiving a reference measurement value sent by the beacon management end; or the like, or, alternatively,

receiving a preset distortion rule sent by a beacon management end; and reversely analyzing the beacon measurement value according to a preset distortion rule to obtain a reference measurement value.

In another aspect, an embodiment of the present invention provides an indoor positioning apparatus, including:

the first distortion rule sending module is used for sending a preset distortion rule to the beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule;

the beacon measurement value receiving module is used for reversely analyzing the beacon measurement value based on a preset distortion rule when receiving the beacon measurement value obtained by measuring the distortion signal by the beacon measurement end, obtaining a reference measurement value for positioning calculation and sending the reference measurement value to the beacon measurement end; or the like, or, alternatively,

the second distortion rule sending module is used for sending a preset distortion rule to the beacon measuring end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; the beacon measurement value is obtained by measuring a distorted signal by the beacon measurement end.

An embodiment of the present invention provides an indoor positioning device, including:

the distortion rule receiving module is used for receiving a preset distortion rule sent by the beacon management terminal;

and the distortion signal sending module is used for generating and sending a distortion signal to the beacon measuring end according to a preset distortion rule.

An embodiment of the present invention further provides an indoor positioning apparatus, including:

the distortion signal measuring module is used for measuring a distortion signal generated and sent by the beacon end according to a preset distortion rule to obtain a beacon measured value;

the reference measurement value receiving module is used for sending the beacon measurement value to the beacon management end and receiving the reference measurement value sent by the beacon management end; or the like, or, alternatively,

the beacon measured value analysis module is used for receiving a preset distortion rule sent by a beacon management end; and reversely analyzing the beacon measurement value according to a preset distortion rule to obtain a reference measurement value.

A navigation device comprises the beacon management end and the beacon end;

the beacon management end and the beacon end can execute the indoor positioning method.

A navigation system comprises the beacon management end, the beacon end and the beacon measuring end;

the beacon management terminal, the beacon terminal and the beacon measuring terminal can execute the indoor positioning method.

A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned indoor positioning method when executing the computer program.

A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described indoor positioning method.

One of the above technical solutions has the following advantages and beneficial effects:

the beacon management end sends a preset distortion rule to the beacon end; the beacon end sends a distortion signal to the beacon measuring end according to a preset distortion rule; the beacon measuring end measures the distortion signal to obtain a beacon measuring value, and reversely analyzes the beacon measuring value to obtain a reference measuring value for positioning calculation based on a preset distortion rule; the beacon management terminal, the beacon terminal and the preset distortion rule can be set by a beacon deployment party, the preset distortion rule belongs to private information, and the beacon measurement terminal which is matched with the beacon management terminal and passes through authentication can acquire the corresponding preset distortion rule, obtain and calculate a reference measurement value and acquire correct indoor positioning information; the embodiments of the invention can realize the unification of beacon deployment and navigation operation and maintenance ownership.

Drawings

Fig. 1 is an application environment diagram of an indoor positioning method according to an embodiment of the present invention;

fig. 2 is a first schematic flowchart of a beacon management end according to an embodiment 1 of an indoor positioning method of the present invention;

fig. 3 is a second schematic flowchart of a beacon management end according to an embodiment of the indoor positioning method of the present invention;

fig. 4 is a third schematic flowchart of a beacon manager according to an embodiment of the indoor positioning method of the present invention;

fig. 5 is a fourth schematic flowchart of a beacon manager according to an embodiment of the indoor positioning method of the present invention;

fig. 6 is a first schematic flowchart of a beacon end in an embodiment 2 of an indoor positioning method according to the present invention;

fig. 7 is a second schematic flowchart of a beacon end according to an embodiment of the indoor positioning method of the present invention;

fig. 8 is a first schematic flowchart of a beacon measuring end according to embodiment 3 of the indoor positioning method of the present invention;

fig. 9 is a schematic structural diagram of a beacon management end in an embodiment 1 of an indoor positioning apparatus according to the present invention;

fig. 10 is a schematic structural diagram of a beacon end of an indoor positioning device in accordance with an embodiment 2 of the present invention;

fig. 11 is a schematic structural diagram of a beacon measuring end in embodiment 3 of an indoor positioning apparatus according to the present invention;

fig. 12 is an internal structural diagram of a beacon manager according to an embodiment of the present invention;

fig. 13 is an internal structural view of a beacon measuring terminal according to an embodiment of the present invention;

FIG. 14 is a system topology diagram of a navigation device and system in accordance with one embodiment of the present invention;

FIG. 15 is a first exemplary timing diagram of one embodiment of the present invention;

FIG. 16 is a second exemplary timing diagram of one embodiment of the present invention;

FIG. 17 is a schematic flow chart diagram of one embodiment of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

At present, the positioning technology attracts more and more attention, and the application based on the location service is developed vigorously and permeates into aspects of social life, such as navigation service, location push and association search, big data behaviors and the like.

According to statistics, people move indoors 80% of the time, so that the demand of people for indoor positioning is more vigorous, however, the current GNSS system cannot provide good service for indoor positioning due to limitation of coverage, and the indoor positioning experience is seriously poor; for the field of serving common terminals, the industry continues to explore indoor positioning services based on systems such as mobile communication networks, ibeacon, Wi-Fi and the like; however, in the conventional mobile communication network, Wi-Fi network, and ibeacon network, since information is visible in clear for the acquiring party, a manufacturer deploying a beacon may apply the beacon to perform location services, and any third party may also perform location services based on the deployed beacon, so that return on investment for deploying the beacon cannot be guaranteed, which further strikes deployment enthusiasm of the beacon deploying party, affects popularization and deployment processes of the beacon network, and causes that indoor positioning services cannot be advanced in time and later, and therefore, how to establish a navigation network with unified beacon deployment and navigation operation and maintenance rights is a problem to be solved in the current industry.

Therefore, the embodiment of the invention provides an indoor positioning method, which can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The terminal 102 includes a beacon measuring end, which is matched with the server 104 and passes authentication, and can measure a distortion signal sent by the beacon end deployed on the server side, and obtain a corresponding distortion rule from the server 104, so as to obtain a reference measurement value and solve indoor positioning information; alternatively, the terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices; the server 104 includes a beacon management end, configured to generate a distortion rule according to a reference configuration parameter of a deployed beacon end, and send the distortion rule to the beacon end, so that the beacon end sends a distortion signal to the terminal 102; alternatively, the server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.

In an embodiment, an indoor positioning method is provided, in this embodiment, a processing procedure of a beacon management end is taken as an example for description, referring to fig. 2, fig. 2 is a first schematic flowchart of a beacon management end in an embodiment 1 of the indoor positioning method of the present invention, and includes:

step S210, sending a preset distortion rule to a beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule;

specifically, the beacon management end sends a preset distortion rule to the beacon end, so that the beacon end transmits a distortion signal according to the preset distortion rule, for example, the distortion signal is sent to the beacon measurement end; the beacon management terminal can generate a preset distortion rule according to a set condition or acquire the set preset distortion rule;

step S220, when a beacon measurement value obtained by a beacon measurement end measuring a distortion signal is received, reversely analyzing the beacon measurement value based on a preset distortion rule to obtain a reference measurement value for positioning calculation, and sending the reference measurement value to the beacon measurement end; or the like, or, alternatively,

step S230, sending a preset distortion rule to a beacon measuring end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; the beacon measurement value is obtained by measuring a distorted signal by the beacon measurement end.

Specifically, the beacon management end can receive a beacon measurement value obtained by measuring a distortion signal by the beacon measurement end, and then reversely analyze the beacon measurement value according to a preset distortion rule to obtain a reference measurement value for positioning calculation;

or, the beacon measuring end measures the distorted signal to obtain a beacon measuring value; the beacon management end can send a preset distortion rule to the beacon measurement end, so that the beacon measurement end carries out reverse analysis on the beacon measurement value according to the preset distortion rule to obtain a reference measurement value which can be used for positioning calculation;

it should be noted that the beacon management end mentioned in the embodiment of the present invention may configure distortion rules (which belong to the preset distortion rules mentioned in the embodiment of the present invention) to each beacon in the beacon end, and at the same time, is responsible for sending the distortion rules to the beacon measurement end or obtaining the reference measurement value according to the preset distortion rules through reverse analysis; optionally, the beacon management end may configure configuration parameters of the beacon end; further, the beacon management end can also generate a distortion rule according to the reference configuration parameters of the beacon end;

the beacon end can contain more than one beacon and can generate and send a distortion signal according to the distortion rule configured by the beacon management end; optionally, a distorted signal can be sent to the beacon measuring end;

the beacon measuring end can be used for measuring the distorted signals sent by the beacons to obtain a beacon measured value, and meanwhile, the beacon measured value can be sent to the beacon management end to obtain a reference measured value obtained by reverse analysis according to a distortion rule; or reversely analyzing the beacon measurement value based on a distortion rule acquired from the beacon management end to obtain a reference measurement value; further, the beacon measuring end can output the reference measured value to third-party application software to realize position calculation; specifically, the beacon measuring end may be a software program running on the terminal, and may call the bottom hardware of the terminal to perform signal measurement (e.g., bluetooth, Wi-Fi, infrared, and other hardware devices); the method can also communicate with a beacon management terminal to obtain a reference measurement value obtained by reversely analyzing the beacon measurement value according to a distortion rule; further, the reference measurement values may be sent to a positioning application (the positioning application performs position calculations based on the measurement values);

the preset distortion rule can be used for indicating a beacon of the beacon end to emit a distortion signal different from a reference signal, and can also be used for indicating the beacon measuring end to reversely analyze a beacon measuring value to obtain a reference measuring value; it should be understood that the above description is illustrative of the function of the preset distortion rule, and not restrictive; the preset distortion rule can be set according to actual needs, an external beacon measurement terminal which is not matched or cannot pass authentication cannot obtain the distortion rule, and even if a distortion signal is obtained, correct position information cannot be calculated, so that unification of beacon deployment and navigation operation and maintenance ownership can be realized; specifically, the beacon end can adjust the reference configuration parameter according to the distortion rule based on the distortion rule generated by the reference configuration parameter of the beacon end, and then sends the distortion signal;

the distorted signal may be a beacon signal containing an offset; the type and the size of the offset can be determined by a preset distortion rule;

the beacon measurement value can be a measurement value obtained by a beacon measurement end measuring a beacon signal (including a distorted signal); since the distorted signal contains an offset, the beacon measurement value obtained by measuring the distorted signal cannot be used for calculating correct position information;

the reference measurement value can be a measurement value obtained by reversely analyzing the beacon measurement value according to a preset distortion rule; based on the reference measurement value, correct position information can be calculated; optionally, the reference measurement value may be obtained by reverse analysis of the beacon management end, or may be obtained by reverse analysis of the beacon measurement end;

the reverse analysis may be a method of analyzing a beacon measurement value obtained by measuring a distorted signal according to a preset distortion rule, and further obtaining a reference measurement value.

In the embodiment of the invention, a beacon management end, a beacon end and a preset distortion rule are set by a beacon deployment party, the preset distortion rule belongs to private information, and the beacon measurement end which is matched with the beacon management end and passes through authentication can obtain the corresponding preset distortion rule, obtain and calculate a reference measurement value and obtain correct positioning information; the beacon measurement end provides a reference measurement value obtained by reversely analyzing a distorted signal sent by a beacon in a navigation network for a third party, so that the unification of beacon deployment and navigation operation and maintenance ownership can be realized, the rights and interests of a beacon deployment party are effectively protected, the deployment enthusiasm of the beacon deployment party can be further promoted, and the development process of indoor positioning service is promoted. The preset distortion rule can be set according to actual needs, and various distortion rules are obtained.

Specifically, in an embodiment, before the step of sending the preset distortion rule to the beacon end, the method further includes:

step S204, generating a preset distortion rule based on the reference configuration parameters of the beacon end; the reference configuration parameters include any one or a combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code.

Specifically, the beacon management end can generate a preset distortion rule according to the reference configuration parameters of the beacon end; the reference configuration parameters of different types of beacons may be different; the reference configuration parameters comprise at least one of beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spread spectrum code when the beacon signals are transmitted;

it should be noted that the reference configuration parameter mentioned in the embodiment of the present invention may be an initial configuration parameter after the beacon terminal is powered on; the configuration parameter can be a parameter configured when the beacon end leaves a factory;

the beacon identification can be an identification number, a unique code or identification of a beacon in a beacon end;

the sending power can be the signal strength of the beacon signal transmitted by the beacon end;

the sending delay can be the reference time of transmitting the beacon signal by the beacon end;

the sending angle can be a direction angle of a beacon end for transmitting a beacon signal;

the working frequency point can be the working frequency of the beacon end for sending the beacon signal;

the spread spectrum code can be used for distinguishing different users on the same working frequency point;

the diversity combination of the reference configuration parameters enriches the preset distortion rule, so that the distortion signal sent by the embodiment of the invention is difficult to crack, and the unification of beacon deployment and navigation operation and maintenance right is further consolidated. Based on the reference configuration parameters, a variety of preset distortion rules may be generated.

Optionally, in an embodiment, as shown in fig. 3, fig. 3 is a second schematic flowchart of a beacon management end according to an embodiment of the indoor positioning method of the present invention, where the preset distortion rule includes a bias rule for adjusting the reference configuration parameter according to the reference argument, and a distortion configuration parameter generated according to the reference argument and the reference configuration parameter;

the step of transmitting the preset distortion rule to the beacon end comprises the following steps:

step S340, when the reference configuration parameter contains a reference independent variable, the bias rule is sent to the beacon end;

and step S350, when the reference configuration parameter does not contain the reference independent variable, transmitting the distortion configuration parameter to the beacon end according to a preset period.

Specifically, the beacon management end is provided with a reference independent variable, and the preset distortion rule can be generated according to the reference independent variable and the reference configuration parameter and can comprise an offset rule and a distortion configuration parameter; specifically, when the reference configuration parameter of the beacon end includes the reference independent variable, the beacon management end may send an offset rule for adjusting the reference configuration parameter according to the reference independent variable to the beacon end, and the beacon end transmits the distorted signal according to the offset rule; when the reference configuration parameters of the beacon end do not contain the reference independent variable, the beacon management end can send distortion configuration parameters generated according to the reference independent variable and the reference configuration parameters to the beacon end according to a preset period, and the beacon end transmits distortion signals according to the distortion configuration parameters;

it should be noted that, the reference independent variable mentioned in the embodiment of the present invention may be an objectively existing physical quantity, which may be used as a basis for adjusting distortion rules, and the values of the reference independent variable are consistent at the beacon management end and the beacon end;

the bias rule can be a rule for adjusting a reference configuration parameter according to a reference independent variable;

the distortion configuration parameter can be a configuration parameter with offset, is different from a reference configuration parameter, and can be used for sending a distortion signal;

the preset period can be set according to the type, the change period and the like of the reference independent variable; when the beacon end does not contain the reference independent variable, the beacon end cannot adjust and transmit the corresponding distortion signal in real time, so that the beacon management end needs to send the generated distortion configuration parameters to the beacon end according to a certain period, and the beacon end can update the distortion rule in real time;

the preset distortion rule is generated according to the reference independent variable and the reference configuration parameter, so that the distortion rule is enriched, and a distortion signal transmitted by the embodiment of the invention is difficult to crack; even if the unauthorized third party collects the distorted signals, the correct position information cannot be calculated due to the lack of the preset distortion rule, so that the unification of the beacon deployment and the navigation operation and maintenance ownership can be further consolidated.

Preferably, in one embodiment, the reference argument is a reference time.

Specifically, the preset distortion rule may be generated according to a change of a reference time, which may be world time, for example, the distortion rule may be adjusted according to beijing time, and different distortion signals may be transmitted in different time periods.

Further, the reference independent variable may be a reference temperature value, a reference current, or the like.

In an embodiment, referring to fig. 4, fig. 4 is a third schematic flowchart of a beacon management end according to an embodiment of the indoor positioning method of the present invention, before the step of generating the preset distortion rule based on the reference configuration parameter of the beacon end, the method may further include the steps of:

step S402 is to receive the reference configuration parameters transmitted by the beacon when the registration of the beacon is accepted.

Specifically, before generating the preset distortion rule, the beacon management end can acquire the reference configuration parameters of the beacon end by receiving the registration of the beacon end, so that the beacon end is controlled; after the beacon end is successfully registered on the beacon management end, the reference configuration parameters are transmitted to the beacon management end, and the beacon management end and the beacon end can be matched.

It should be noted that, in addition to the beacon end registering on the beacon management end, the beacon management end may also actively obtain the reference configuration parameters and the control authority from the beacon end, or obtain the reference configuration parameters through manually inputting the reference configuration parameters of the beacon end and through the beacon end control database.

In an embodiment, as shown in fig. 5, fig. 5 is a fourth schematic flowchart of a beacon management end according to an embodiment of the indoor positioning method of the present invention, where a preset distortion rule may refer to a policy that at least one parameter of a beacon identifier, a transmission power, a transmission delay, a transmission angle, a working frequency point, and a spreading code is adjusted during a beacon signal transmission process based on a change of a reference time when a beacon transmits a signal; the preset distortion rule may be as shown in formula (1), where id _0 (beacon id), power _0 (transmission power), delay _0 (transmission delay), angle _0 (transmission angle), freq _0 (working frequency point), ovsf _0 (spreading code) are reference configuration parameters, id _ t (beacon id), power _ t (transmission power), delay _ t (transmission delay), angle _ t (transmission angle), freq _ t (working frequency point), and ovsf _ t (spreading code) are values distorted according to the preset distortion rule based on time t.

For the condition that the beacon end has the reference time, the beacon management end configures distortion rules to each beacon in the beacon end, the beacon generates the change of at least one parameter of id _ t, power _ t, delay _ t, angle _ t, freq _ t and ovsf _ t based on the reference time, and generates a distortion signal based on the changed parameter for transmission;

for the condition that the beacon end does not have the reference time, the beacon management end generates distortion configuration parameters of the beacons based on the reference time and after the beacons are converted based on the reference time, sends the corresponding distortion configuration parameters to the beacons, and generates distortion signals based on the latest distortion configuration parameters for sending; further, the beacon management end can adjust the configuration parameters of the beacons in batches;

in one embodiment, the beacon end may include a beacon; beacons include any one or combination of the following: bluetooth, Wi-Fi (Wireless Fidelity), UWB (Ultra wide band), mobile communication, ibeacon, FSK (Frequency-shift keying), infrared, sound, zigbee (violet), TBS (terrestrial base SIGNAL), and TC-OFDM (Time & Code Division-Orthogonal Frequency Division Multiplexing).

Specifically, the beacon side includes at least one beacon, and various types of beacons may be employed for indoor positioning, not limited to the above-mentioned beacon types.

In an embodiment, an indoor positioning method is provided, in this embodiment, a processing procedure of a beacon end is taken as an example for explanation, as shown in fig. 6, fig. 6 is a first schematic flowchart of a beacon end in an embodiment 2 of the indoor positioning method of the present invention, and includes:

step S510, receiving a preset distortion rule sent by a beacon management end;

and step S520, generating and sending a distortion signal to the beacon measuring end according to a preset distortion rule.

Specifically, a beacon end receives a preset distortion rule sent by a beacon management end and transmits a distortion signal according to the preset distortion rule; specifically, the distortion signal can be sent to the beacon measuring end, so that the beacon measuring end measures the distortion signal to obtain a beacon measured value; further, the beacon measuring end can reversely analyze the beacon measuring value according to a preset distortion rule to obtain a reference measuring value for positioning calculation;

it should be noted that the beacon end can receive the control of the beacon management end and send a distortion signal according to the distortion rule; even if the external beacon management end which is not matched or fails to pass the authentication acquires the distorted signal, correct positioning information cannot be calculated due to the lack of the distortion rule;

the beacon end, the beacon management end and the preset distortion rule of the embodiment of the invention are set by a beacon deployment party, the preset distortion rule belongs to private information, the beacon measurement end which is matched with the beacon management end and passes through authentication can obtain the corresponding preset distortion rule, and a reference measurement value is calculated to obtain correct positioning information; the beacon measurement end provides a reference measurement value obtained by reversely analyzing a distorted signal sent by a beacon in a navigation network for a third party, so that the unification of beacon deployment and navigation operation and maintenance ownership can be realized, the rights and interests of a beacon deployment party are effectively protected, the deployment enthusiasm of the beacon deployment party can be further promoted, and the development process of indoor positioning service is promoted.

In an embodiment, referring to fig. 7, fig. 7 is a second schematic flowchart of a beacon end according to an embodiment of the indoor positioning method of the present invention, before the step of receiving the preset distortion rule sent by the beacon management end, the method further includes the steps of:

step S602, when the registration on the beacon management side is successful, sending the reference configuration parameter to the beacon management side.

Specifically, the beacon end may register on the beacon management end, receive the control of the beacon management end, and send the reference configuration parameter to the beacon management end, so that the beacon management end generates the preset distortion rule according to the reference configuration parameter;

it should be noted that the beacon end may also directly send the reference configuration parameter to the beacon management end.

In an embodiment, an indoor positioning method is provided, in this embodiment, a processing procedure of a beacon measuring end is taken as an example for description, as shown in fig. 8, fig. 8 is a first schematic flowchart of a beacon measuring end in embodiment 3 of the indoor positioning method of the present invention, and includes:

step S710, measuring a distortion signal generated and sent by a beacon end according to a preset distortion rule to obtain a beacon measurement value;

step S720, sending the beacon measurement value to a beacon management end, and receiving a reference measurement value sent by the beacon management end; or the like, or, alternatively,

step 730, receiving a preset distortion rule sent by a beacon management end; and reversely analyzing the beacon measurement value according to a preset distortion rule to obtain a reference measurement value.

Specifically, a beacon measuring end measures a distorted signal sent by the beacon end to obtain a beacon measuring value; further, the beacon measurement end can process the beacon measurement value based on a preset distortion rule to obtain a reference measurement value;

optionally, a preset distortion rule may be obtained from the beacon management end, and then the beacon measurement value is reversely analyzed according to the preset distortion rule to obtain a reference measurement value; or the beacon measurement value is sent to the beacon management end, and then a reference measurement value obtained by analyzing the beacon measurement value is obtained from the beacon management end;

it should be noted that the beacon measurement end may be a software program running on the terminal, and may call the bottom hardware of the terminal to perform signal measurement (such as bluetooth, Wi-Fi, infrared and other hardware devices); the method can also communicate with a beacon management terminal to obtain a reference measurement value obtained by reversely analyzing the beacon measurement value according to a distortion rule; further, the reference measurement values may be sent to a positioning application (the positioning application performs position calculations based on the measurement values);

in the embodiment of the invention, the beacon measuring end can be matched with the beacon management end and can communicate with the beacon management end through authentication to obtain a corresponding preset distortion rule and solve a reference measured value to obtain correct positioning information; the beacon management end, the beacon end and the preset distortion rule are set by a beacon deployment party, and the preset distortion rule belongs to private information; the beacon measurement end provides a reference measurement value obtained by reversely analyzing a distorted signal sent by a beacon in a navigation network for a third party, so that the unification of beacon deployment and navigation operation and maintenance ownership can be realized, the rights and interests of a beacon deployment party are effectively protected, the deployment enthusiasm of the beacon deployment party can be further promoted, and the development process of indoor positioning service is promoted.

It should be noted that each unit module in the embodiments of the present invention can correspondingly implement the method steps in each embodiment of the indoor positioning method, and the explanations of each noun in each embodiment of the corresponding indoor positioning method are also applicable to this embodiment, and are not repeated herein.

In an embodiment, an indoor positioning device is provided, referring to fig. 9, fig. 9 is a schematic structural diagram of a beacon management end in an embodiment 1 of the indoor positioning device of the present invention, including:

a distortion rule first sending module 810, configured to send a preset distortion rule to a beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule;

a beacon measurement value receiving module 820, configured to reversely analyze a beacon measurement value based on a preset distortion rule when receiving the beacon measurement value obtained by the beacon measurement end measuring the distortion signal, to obtain a reference measurement value for positioning calculation, and send the reference measurement value to the beacon measurement end; or the like, or, alternatively,

a distortion rule second sending module 830, configured to send a preset distortion rule to the beacon measuring end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; the beacon measurement value is obtained by measuring a distorted signal by the beacon measurement end.

In one embodiment, the indoor positioning apparatus further includes a distortion rule generating module, configured to generate a preset distortion rule based on a reference configuration parameter of the beacon end; the reference configuration parameters include any one or a combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code.

In one embodiment, the preset distortion rule of the indoor positioning device may include a bias rule for adjusting the reference configuration parameter according to the reference independent variable, and a distortion configuration parameter generated according to the reference independent variable and the reference configuration parameter; the distortion rule generation module includes: the bias rule sending unit is used for sending the bias rule to the beacon end when the reference configuration parameter contains the reference independent variable; and the distortion configuration parameter sending unit is used for sending the distortion configuration parameters to the beacon end according to a preset period when the reference configuration parameters do not contain the reference independent variable.

In one embodiment, the reference independent variable in the indoor positioning device may be a reference time.

In one embodiment, the indoor positioning device further includes: and the reference configuration parameter receiving module is used for receiving the reference configuration parameters sent by the beacon end when the registration of the beacon end is received.

In one embodiment, the beacon end in the indoor positioning device comprises a beacon; beacons include any one or combination of the following: bluetooth, Wi-Fi, UWB, mobile communication, ibeacon, FSK, infrared, acoustic, zigbee, TBS, and TC-OFDM.

In an embodiment, there is provided an indoor positioning device, as shown in fig. 10, fig. 10 is a schematic structural diagram of a beacon end in an indoor positioning device embodiment 2 of the present invention, including:

a distortion rule receiving module 840, configured to receive a preset distortion rule sent by a beacon management end;

and a distorted signal sending module 850, configured to generate and send the distorted signal to the beacon measuring end according to a preset distortion rule.

In an embodiment, the indoor positioning apparatus further includes a reference configuration parameter sending module, configured to send the reference configuration parameter to the beacon management end when the registration on the beacon management end is successful.

In an embodiment, an indoor positioning device is provided, referring to fig. 11, fig. 11 is a schematic structural diagram of a beacon measuring end in embodiment 3 of the indoor positioning device of the present invention, including:

the distorted signal measuring module 860 is used for measuring a distorted signal generated and sent by the beacon end according to a preset distortion rule to obtain a beacon measured value;

the reference measurement value receiving module 870 is configured to send the beacon measurement value to the beacon management end, and receive the reference measurement value sent by the beacon management end; or the like, or, alternatively,

a beacon measurement value analysis module 880, configured to receive a preset distortion rule sent by a beacon management end; and reversely analyzing the beacon measurement value according to a preset distortion rule to obtain a reference measurement value.

In one embodiment, a navigation device is provided, as shown in fig. 12-14, fig. 12 is an internal structure diagram of a beacon management end in one embodiment of the present invention, fig. 13 is an internal structure diagram of a beacon measurement end in one embodiment of the present invention, fig. 14 is a system topology diagram of a navigation device and a system in one embodiment of the present invention, including the beacon management end and the beacon end;

Specifically, the beacon management end sends a preset distortion rule to the beacon end; the beacon end generates and transmits a distorted signal according to a preset distortion rule; the beacon management end, the beacon end and the preset distortion rule are set by a beacon deployment party, the preset distortion rule belongs to private information, and only the beacon measurement end which is matched with the beacon management end and passes authentication can acquire the corresponding preset distortion rule and analyze the beacon measurement value to acquire a reference measurement value so as to acquire correct indoor positioning information; and a beacon measuring end provides a reference measured value obtained by reversely analyzing a distorted signal sent by a beacon in the navigation network for a third party, so that the unification of beacon deployment and navigation operation and maintenance ownership is realized.

In an embodiment, a navigation system is further provided, referring to fig. 14 to 17, fig. 15 is a first schematic timing chart of an embodiment of the present invention, fig. 16 is a second schematic timing chart of an embodiment of the present invention, and fig. 17 is a flowchart of an embodiment of the present invention, including the beacon management end, the beacon end, and the beacon measurement end;

Specifically, the beacon management end sends a preset distortion rule to the beacon end; the beacon end generates and sends a distortion signal to the beacon measuring end according to a preset distortion rule; the beacon measuring end measures the distortion signal to obtain a beacon measuring value, and reversely analyzes the beacon measuring value to obtain a reference measuring value for positioning calculation based on a preset distortion rule; the beacon management end, the beacon end and the preset distortion rule are set by a beacon deployment party, the preset distortion rule belongs to private information, and only the beacon measurement end which is matched with the beacon management end and passes authentication can acquire the corresponding preset distortion rule and obtain and calculate a reference measurement value to obtain correct indoor positioning information; the beacon measurement end provides a reference measurement value obtained by reversely analyzing a distorted signal sent by a beacon in the navigation network for a third party, so that the unification of beacon deployment and navigation operation and maintenance ownership can be realized.

Specific implementations of embodiments of the present invention are described below with reference to specific examples:

example 1, this example is explained by taking a bluetooth navigation network as an example, in this example, the bluetooth navigation network locates by using a power fingerprint method, as shown in fig. 14, the navigation system is composed of a beacon management end, a beacon end, and a beacon measurement end; the beacon end deploys three beacons, namely beacon 0, beacon 1 and beacon 2; in the present example, beacon signals are transmitted by using a rule of performing distortion based on power, a beacon management end generates a transmission power offset amount of each beacon based on time information, and transmits the transmission power offset amount to three beacons, and the three beacons control their own signal transmission power according to the latest offset amount;

a fingerprint may refer to the sum of measurements at different locations; for example, a hall with 10 meters by 10 meters is provided with three beacons, a line is drawn every 1 meter in the transverse direction, a line is drawn every 1 meter in the longitudinal direction, the transverse direction and the longitudinal line have 100 intersection points, the measured values of the three beacons at different intersection points are not completely the same, the points are different, and the measured values at all the position points form fingerprint information; fingerprint positioning methods can generally be divided into two phases: the first stage is an off-line fingerprint acquisition stage, namely, measured values at different positions are stored to form a fingerprint library, namely, a reference library is established in time; the second stage is an online matching stage, namely, the field terminal can measure the beacon in real time to obtain a measured value, then the measured value is matched with the fingerprint database, and due to the fact that the fingerprint information of different positions is different, the information measured by the position where the terminal is located can be matched with the position, matched with the current actual position of the terminal, in the fingerprint database. And calculating which reference positions the current measurement value is similar to, and matching the reference measurement value with the fingerprint database to obtain a position result.

Optionally, the distortion rule of this example may be: based on Beijing time, the beacon mark is odd beacon, the transmitting power of the beacon is increased by 5db (decibel) compared with the reference power in odd hours for transmitting, and the generating power of the beacon is reduced by 5db compared with the reference power in even hours for transmitting; the beacon is identified as an even beacon, and is transmitted with the transmission power reduced by 5db from the reference power in odd hours and increased by 5db from the reference power in even hours. At the time of T0, the terminal opens navigation application software, correspondingly, the navigation application software calls a beacon measuring end, authenticates the beacon management end and obtains a distortion rule, then the beacon measuring end measures beacon measurement values of distortion signals sent by a beacon 0, a beacon 1 and a beacon 2 in real time, reversely analyzes the beacon measurement values based on the distortion rule to obtain a reference measurement value, and then outputs the reference measurement value to the navigation application software; the navigation application software can establish fingerprints according to the reference measurement value, or carry out calculation based on the established fingerprints, and obtain the position information of the terminal through the matching of the reference measurement value and the fingerprint library, so as to complete the indoor positioning function of the navigation application. In this example, the distortion rule sent by each beacon signal in the navigation network is set by the beacon deployment party, belongs to private information, and only the beacon measurement end which is matched with the navigation network and passes the authentication can obtain the corresponding rule, and any third party wants to use the navigation network and can correctly solve the reference measurement value only based on the authenticated beacon measurement end; only if the reference measurement value is correctly calculated, the reference fingerprint database can correspond to the beacon measurement value acquired in the real-time positioning process, otherwise, due to an unknown distortion rule, the transmission state of the beacon at the fingerprint acquisition time does not correspond to the transmission state of the beacon in the real-time positioning process, and the position information cannot be correctly calculated.

Example 2, in the present example, a Wi-Fi navigation network is taken as an example for explanation, in the example, the Wi-Fi navigation network uses a Time Difference of Arrival (TDOA) method for positioning, as shown in fig. 14, the navigation system is composed of a beacon management end, a beacon end, and a beacon measurement end, and in the example, three beacons, that are beacon 0, beacon 1, and beacon 2, are deployed; in the example, Wi-Fi navigation network beacon signals are transmitted by adopting a rule of carrying out distortion based on time delay, a beacon management end generates transmission time delay offset of each beacon based on reference time and transmits the transmission time delay offset to three beacons, and the three beacons control self signal transmission time delay according to the latest offset;

optionally, the distortion rule of this example is: based on Beijing time, the beacon mark is odd number beacon, the time delay value filled in the beacon signal transmission of odd number hour is increased by 20ns (nanosecond) compared with the actual transmission time, the time delay value filled in the beacon signal transmission of even number hour is decreased by 20ns compared with the actual transmission time; the beacon mark is an even beacon, the time delay value filled in the beacon signal transmission of the odd hour is reduced by 20ns compared with the actual transmission time, and the time delay value filled in the beacon signal transmission of the even hour is increased by 20ns compared with the actual transmission time. At the time of T0, the terminal opens navigation application software, correspondingly, the navigation application software calls a beacon measuring end, the beacon measuring end authenticates the beacon management end and obtains a distortion rule, then the beacon measuring end measures in real time to obtain beacon measuring values of beacon 0, beacon 1 and beacon 2, the beacon measuring values are reversely analyzed based on the distortion rule to obtain a reference measuring value, the reference measuring value is output to the navigation application software, and the navigation application software can calculate and obtain position information according to the reference measuring value. In this example, the transmission distortion rule of each beacon end signal in the navigation network is set by the beacon deployment party, belongs to private information, and only the beacon measuring end which is matched with the navigation network and passes the authentication can obtain the corresponding rule, and any third party wants to use the navigation network and can correctly solve the reference measured value only based on the authenticated beacon measuring end; the accurate measurement result can be obtained only by correctly calculating the reference measurement value, otherwise, the position information cannot be correctly calculated due to the existence of the unknown time-varying delay offset.

The method of the embodiment of the invention is adopted in the above example, and only the authenticated beacon measurement end is adopted, the beacon measurement value can be correctly solved; the beacon measurement end provides a reference measurement value obtained by reversely analyzing a distorted signal sent by a beacon in a navigation network for a third party, so that the goal of unifying beacon deployment and navigation operation and maintenance rights is realized, the rights and interests of the beacon deployment party are effectively protected, the deployment enthusiasm of the beacon deployment party can be further promoted, and the development process of indoor positioning service is promoted.

Referring to fig. 12 and 13, the computer apparatus includes a processor, a nonvolatile storage medium, an internal memory, and a network interface connected through a system bus. Wherein the non-volatile storage medium of the computer device may store an operating system and a computer program implementing the indoor positioning apparatus, which when executed, may cause the processor to perform an indoor positioning method. The processor of the computer device is used for providing calculation and control capability and supporting the operation of the whole computer device. The internal memory may have stored therein a computer program that, when executed by the processor, causes the processor to perform an indoor positioning method. The network interface of the computer device is used for network communication. The computer device may further comprise a display screen and an input device; the display screen is used for displaying an application interface and the like, for example, an instant messaging chat interface or an operation interface for text correction and the like. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch screen covered on the display screen, a key, a track ball or a touch pad of the equipment on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like. The touch layer and the display screen form a touch screen.

It will be appreciated by those skilled in the art that the configurations shown in fig. 12 and 13 are only block diagrams of some configurations relevant to the inventive arrangements, and do not constitute a limitation of the terminals to which the inventive arrangements are applied, and a particular terminal may include more or less components than those shown in the figures, or may combine certain components, or have a different arrangement of components.

In one embodiment, the processor, when executing the computer program, comprises the steps of: sending a preset distortion rule to a beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule;

when the beacon measurement value is received, reversely analyzing the beacon measurement value based on a preset distortion rule to obtain a reference measurement value for positioning calculation, and sending the reference measurement value to a beacon measurement end; or, sending the preset distortion rule to a beacon measuring end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; the beacon measurement value is obtained by measuring a distorted signal by the beacon measurement end.

In another embodiment, the processor, when executing the computer program, comprises the steps of: measuring a distortion signal generated and sent by a beacon end according to a preset distortion rule to obtain a beacon measurement value; sending the beacon measurement value to a beacon management end, and receiving a reference measurement value sent by the beacon management end; or receiving a preset distortion rule sent by a beacon management end; and reversely analyzing the beacon measurement value according to a preset distortion rule to obtain a reference measurement value.

When the processor of the computer device executes the program, the indoor positioning method in the embodiments is realized, so that the beacon measurement end can provide a reference measurement value obtained by reversely analyzing a distorted signal sent by a beacon in a navigation network to a third party, the unification of beacon deployment and navigation operation and maintenance ownership can be realized, the interest of the beacon deployment party is effectively protected, the deployment enthusiasm of the beacon deployment party can be further promoted, and the development process of indoor positioning service is promoted.

Furthermore, it can be understood by those skilled in the art that all or part of the processes in the methods of the embodiments described above can be implemented by instructing the relevant hardware through a computer program, where the program can be stored in a non-volatile computer-readable storage medium, and in the embodiments of the present invention, the program can be stored in the storage medium of a computer system and executed by at least one processor in the computer system, so as to implement the processes including the embodiments of the indoor positioning methods described above.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: sending a preset distortion rule to a beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule;

In one embodiment, before the step of sending the preset distortion rule to the beacon end is executed by the processor, the method further comprises the steps of: generating a preset distortion rule based on the reference configuration parameters of the beacon end; the reference configuration parameters include any one or a combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code.

In one embodiment, the preset distortion rules include a bias rule for adjusting the reference configuration parameters according to the reference independent variables, and distortion configuration parameters generated according to the reference independent variables and the reference configuration parameters; the computer program is executed by a processor based on the reference configuration parameters of the beacon end, generates a preset distortion rule and sends the preset distortion rule to the beacon end, and the method comprises the following steps: when the reference configuration parameter contains a reference independent variable, the bias rule is sent to the beacon end; and when the reference configuration parameter does not contain the reference independent variable, sending the distortion configuration parameter to the beacon end according to a preset period.

In one embodiment, the reference argument is a reference time when the computer program is executed by the processor.

In one embodiment, the computer program executed by the processor before the step of generating the preset distortion rule based on the reference configuration parameters of the beacon end further comprises the steps of: and when the registration of the beacon end is received, the reference configuration parameters sent by the beacon end are received.

In one embodiment, the beacon includes a beacon when the computer program is executed by the processor; beacons include any one or combination of the following: bluetooth, Wi-Fi, UWB, mobile communication, ibeacon, FSK, infrared, acoustic, zigbee, TBS, and TC-OFDM.

In one embodiment, there is also provided a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of: measuring a distortion signal sent by a beacon end according to a preset distortion rule to obtain a beacon measurement value; sending the beacon measurement value to a beacon management end, and receiving a reference measurement value sent by the beacon management end; or receiving a preset distortion rule sent by a beacon management end; and reversely analyzing the beacon measurement value according to a preset distortion rule to obtain a reference measurement value.

The computer storage medium and the stored computer program realize the flow including the embodiments of the indoor positioning method, so that the beacon measuring end can provide the third party with the reference measurement value obtained by reversely analyzing the distorted signal transmitted by the beacon in the navigation network, the unification of the beacon deployment and the navigation operation and maintenance ownership can be realized, the interest of the beacon deployment party can be effectively protected, the deployment enthusiasm of the beacon deployment party can be further promoted, and the development process of the indoor positioning service can be promoted.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the indoor positioning methods described above when executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An indoor positioning method, comprising:

the beacon management end generates a preset distortion rule based on the reference configuration parameters of the beacon end; the reference configuration parameters comprise any one or any combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code; the preset distortion rule comprises a bias rule used for adjusting the reference configuration parameter according to a reference independent variable, a distortion configuration parameter generated according to the reference independent variable and the reference configuration parameter, and a distortion signal used for indicating the beacon end to generate and send the distortion signal to the beacon measuring end according to the preset distortion rule;

the beacon management end sends the bias rule to the beacon end when the reference configuration parameter contains the reference independent variable;

when the reference configuration parameter does not contain the reference independent variable, the beacon management end sends the distortion configuration parameter to the beacon end according to a preset period; wherein the beacon end comprises more than one beacon; the beacon is used for generating and sending a distortion signal to a beacon measuring end according to the preset distortion rule; the beacon measuring end is matched with the beacon management end and passes authentication;

when receiving a beacon measurement value obtained by measuring the distortion signal by the beacon measurement end, the beacon management end reversely analyzes the beacon measurement value based on the preset distortion rule to obtain a reference measurement value for positioning calculation and sends the reference measurement value to the beacon measurement end; or the like, or, alternatively,

the beacon management end sends the preset distortion rule to the beacon measurement end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; wherein the beacon measurement value is obtained by the beacon measurement end measuring the distorted signal.

2. The indoor positioning method according to claim 1, wherein the beacon measurement end is configured to output the reference measurement value to a third party application software.

3. The indoor positioning method according to claim 1, wherein the beacon manager adjusts the reference configuration parameters of the beacon in batches.

4. The indoor positioning method according to claim 3, wherein the reference argument is a reference time.

5. The indoor positioning method according to any one of claims 1 to 4, wherein the signal format of the beacon comprises at least one of Bluetooth, Wi-Fi, UWB, mobile communication, ibeacon, FSK, infrared, acoustic, zigbee, TBS and TC-OFDM.

6. An indoor positioning method, comprising:

the beacon end receives a preset distortion rule sent by a beacon management end; the beacon end comprises more than one beacon; the beacon management terminal is used for generating the preset distortion rule based on the reference configuration parameters of the beacon terminal; the reference configuration parameters comprise any one or any combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code;

the beacon end indicates each beacon to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule; the beacon measuring end is matched with the beacon management end and passes authentication;

the preset distortion rule comprises a bias rule used for adjusting the reference configuration parameter according to a reference independent variable and a distortion configuration parameter generated according to the reference independent variable and the reference configuration parameter;

the step that the beacon end receives the preset distortion rule sent by the beacon management end comprises the following steps:

when the reference configuration parameter contains the reference independent variable, the beacon end receives the bias rule sent by the beacon management end;

and when the reference configuration parameter does not contain the reference independent variable, the beacon end receives the distortion configuration parameter sent by the beacon management end according to a preset period.

7. An indoor positioning method, comprising:

the beacon measuring end measures a distortion signal generated and sent by the beacon end according to a preset distortion rule to obtain a beacon measuring value; wherein the beacon end comprises more than one beacon; the beacon is used for generating and sending a distortion signal according to the preset distortion rule; the beacon measuring end is matched with the beacon management end and passes authentication; the preset distortion rule is a rule generated by the beacon management end based on the reference configuration parameters of the beacon end; the reference configuration parameters comprise any one or any combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code;

when the reference configuration parameter contains the reference independent variable, the preset distortion rule refers to the bias rule sent to the beacon end by the beacon management end;

when the reference configuration parameter does not contain the reference independent variable, the preset distortion rule refers to the distortion configuration parameter which is sent to the beacon end by the beacon management end according to a preset period;

the beacon measuring end sends the beacon measuring value to a beacon management end and receives a reference measuring value sent by the beacon management end; or the like, or, alternatively,

the beacon measuring end receives the preset distortion rule sent by the beacon management end; and reversely analyzing the beacon measurement value according to the preset distortion rule to obtain a reference measurement value.

8. An indoor positioning device, which is applied to a beacon management end, includes:

the distortion rule generating module is used for generating a preset distortion rule based on the reference configuration parameters of the beacon end; the reference configuration parameters comprise any one or a combination of the following items: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code; the preset distortion rule comprises a bias rule used for adjusting a reference configuration parameter according to a reference independent variable and a distortion configuration parameter generated according to the reference independent variable and the reference configuration parameter;

the first distortion rule sending module is used for sending the preset distortion rule to a beacon end; the preset distortion rule is used for indicating the beacon end to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule; wherein the beacon end comprises more than one beacon; the beacon is used for generating and sending a distortion signal to a beacon measuring end according to the preset distortion rule; the beacon measuring end is matched with the beacon management end and passes authentication;

the distortion rule first sending module is further configured to send the bias rule to the beacon end when the reference configuration parameter includes the reference argument; the base station is used for sending the distortion configuration parameters to the beacon end according to a preset period when the reference configuration parameters do not contain the reference independent variable;

the beacon measurement value receiving module is used for reversely analyzing the beacon measurement value based on the preset distortion rule to obtain a reference measurement value for positioning calculation when receiving the beacon measurement value obtained by measuring the distortion signal by the beacon measurement end, and sending the reference measurement value to the beacon measurement end; or the like, or, alternatively,

a distortion rule second sending module, configured to send the preset distortion rule to the beacon measurement end; the preset distortion rule is used for indicating the beacon measuring end to reversely analyze the beacon measuring value to obtain a reference measuring value for positioning calculation; wherein the beacon measurement value is obtained by the beacon measurement end measuring the distorted signal.

9. An indoor positioning device, applied to a beacon end, comprising:

the distortion rule receiving module is used for receiving a preset distortion rule sent by the beacon management terminal; the beacon end comprises more than one beacon; the beacon management terminal is used for generating the preset distortion rule based on the reference configuration parameters of the beacon terminal; the reference configuration parameters comprise any one or any combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code;

the distortion signal sending module is used for indicating each beacon to generate and send a distortion signal to the beacon measuring end according to the preset distortion rule; the beacon measuring end is matched with the beacon management end and passes authentication;

the distortion rule receiving module is configured to receive the bias rule sent by the beacon management end when the reference configuration parameter includes the reference argument; and the distortion configuration parameter receiving module is further configured to receive the distortion configuration parameter sent by the beacon management terminal according to a preset period when the reference configuration parameter does not include the reference argument.

10. An indoor positioning device, characterized in that, be applied to beacon measurement end, include:

the distortion signal measuring module is used for measuring a distortion signal generated and sent by the beacon end according to a preset distortion rule to obtain a beacon measured value; wherein the beacon end comprises more than one beacon; the beacon is used for generating and sending a distortion signal according to the preset distortion rule; the beacon measuring end is matched with the beacon management end and passes authentication; the preset distortion rule is a rule generated by the beacon management end based on the reference configuration parameters of the beacon end; the reference configuration parameters comprise any one or any combination of the following: beacon identification, transmission power, transmission time delay, transmission angle, working frequency point and spreading code;

the beacon measured value analysis module is used for receiving the preset distortion rule sent by the beacon management terminal; and reversely analyzing the beacon measurement value according to the preset distortion rule to obtain a reference measurement value.

11. A navigation device, comprising: a beacon management end and a beacon end;

the beacon management end is used for executing the indoor positioning method of any one of claims 1 to 5;

the beacon end is used for executing the indoor positioning method of claim 6.

12. A navigation system, comprising: the system comprises a beacon management end, a beacon end and a beacon measurement end;

the beacon end is used for executing the indoor positioning method of claim 6;

the beacon measuring terminal is used for executing the indoor positioning method of claim 7.

13. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the indoor positioning method according to any of claims 1 to 7 when executing the computer program.

14. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the indoor positioning method of any one of claims 1 to 7.