CN108632749A - Indoor orientation method and device - Google Patents
Indoor orientation method and device Download PDFInfo
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- CN108632749A CN108632749A CN201810450515.XA CN201810450515A CN108632749A CN 108632749 A CN108632749 A CN 108632749A CN 201810450515 A CN201810450515 A CN 201810450515A CN 108632749 A CN108632749 A CN 108632749A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
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Abstract
A kind of indoor orientation method of present invention offer and device, wherein method include：The distance of each base station in terminal to the group of base stations is obtained according to path loss algorithm；Obtain the coordinate of each base station in the group of base stations indoors in BIM models utilizes trilateration algorithm to obtain coordinate of the terminal in the interior BIM models in conjunction with the distance of each base station in the terminal to the group of base stations；Coordinate of the terminal in the interior BIM models is corrected according to the interior BIM models preset constraints, and the coordinate in BIM models after display terminal correction indoors.The embodiment of the present invention is on the one hand so that the coordinate of terminal also can be in real time reaction to indoor BIM models, enrich the bandwagon effect of indoor BIM models, to BIM models using the completely new thinking of band, and the coordinate in terminal indoors BIM models is corrected using indoor BIM models preset constraints, is capable of the position of more realistically reactive terminal.
Description
Technical field
The present invention relates to field of locating technology, more particularly, to indoor orientation method and device.
Background technology
Indoor positioning refers to the position that positioning object is presently in indoor environments such as interior of building.The technology collection
A set of indoor location locating system is formed at a variety of wireless communication techniques, to realize personnel, object etc. indoors in space
Positioning and monitoring, solve the problems, such as satellite-signal reach ground when it is weaker, building cannot be penetrated.Therefore, different wireless
Mechanics of communication creates different indoor orientation methods, and same wireless communication method just produces under the conditions of different location mechanisms
The numerous indoor orientation methods of pattern are given birth to, especially as the continuous development of internet software and hardware, indoor orientation method is also more next
More show diversity and to denaturation.
According to the wireless communication technique that uses when positioning indoor orientation method can be divided into based on cellular network location technology,
Positioning, based on WLAN positioning, the positioning based on earth magnetism inertial navigation technology, being based on bluetooth based on pseudo satellite technology
The positioning of technology, the positioning based on Radio Frequency Identification Technology are based on ultrasonic wave location technology and are based on ultra wideband location techniques.
Indoor orientation method can be divided into parametrization indoor orientation method and imparametrization indoor positioning according to location mechanism
Method, wherein it is fixed that parametrization indoor orientation method is divided into the interior based on time of arrival (toa) (TOA, Time Of Arrival)
Position method, is based on the indoor orientation method based on signal arrival time difference (TDOA, Time Difference Of Arrival)
The indoor orientation method of direction of arrival (AOA, Angle Of Arrival) and based on received signal strength (RSSI,
Received Signal Strength Indication) indoor orientation method.Imparametrization indoor orientation method is mainly
Fingerprinting localization algorithm.
It can be seen that there are many indoor orientation method of all kinds of document introductions and the method for realization, but the prior art is carrying out
When indoor positioning, it is typically limited to only the position for obtaining positioning object, but subsequently how the position for positioning object is shown
It works rare be related to.Architecture information model (BIM models, Building information modeling) is used as a kind of letter
Cease model, can by engineering project in life cycle management the engineering information of each different phase, process and resources integration one
In a model, easily used by each participant of engineering.That is, existing BIM models are only used for displaying engineering project
Engineering information is not applied adequately.
Invention content
The present invention provide a kind of indoor orientation method for overcoming the above problem or solving the above problems at least partly and
Device.
According to a first aspect of the embodiments of the present invention, a kind of indoor orientation method is provided, including：
The distance of each base station in terminal to group of base stations is obtained according to path loss algorithm, the group of base stations includes at least four
Base station, coordinate of all base stations indoors in BIM models is not arranged on the same straight line in the group of base stations；
The coordinate of each base station in the group of base stations indoors in BIM models is obtained, in conjunction with the terminal to the group of base stations
The distance of interior each base station obtains coordinate of the terminal in the interior BIM models using trilateration algorithm；
Coordinate of the terminal in the interior BIM models is carried out according to the interior BIM models preset constraints
It corrects, and the coordinate in BIM models after display terminal correction indoors.
Indoor orientation method provided in an embodiment of the present invention, can be right in real time with path loss algorithm combination trilateration
Terminal is positioned, when using the process of trilateration positioning, by combining coordinate of the base station indoors in BIM models,
So that the coordinate of terminal also can enrich the bandwagon effect of indoor BIM models in real time reaction to indoor BIM models, BIM is given
The completely new thinking of application band of model, and using interior BIM models preset constraints to terminal BIM models indoors
In coordinate corrected, be capable of the position of more realistically reactive terminal.
According to a second aspect of the embodiments of the present invention, a kind of indoor positioning device is provided, which includes：
Spacing module, the distance for obtaining each base station in terminal to group of base stations according to path loss algorithm, the base station
Group includes at least four base station, and coordinate of all base stations indoors in BIM models is not arranged on the same straight line in the group of base stations；
Locating module, for obtaining the coordinate of each base station in the group of base stations indoors in BIM models, in conjunction with the terminal
The distance of each base station in the group of base stations obtains coordinate of the terminal in the interior BIM models using trilateration algorithm；
Module is corrected, is used for according to the preset constraints of the interior BIM models to terminal in the interior BIM models
In coordinate corrected, and indoors in BIM models display terminal correct after coordinate.
According to a third aspect of the embodiments of the present invention, a kind of indoor positioning device is provided, including：
At least one processor；And
At least one processor being connect with the processor communication, wherein：
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to refer to
Enable the indoor positioning for being able to carry out that any possible realization method is provided in the various possible realization methods of first aspect
Method.
According to the fourth aspect of the invention, a kind of non-transient computer readable storage medium, non-transient computer are provided
Readable storage medium storing program for executing stores computer instruction, and computer instruction makes the various possible realization methods of computer execution first aspect
In the indoor orientation method that is provided of any possible realization method.
It should be understood that above general description and following detailed description is exemplary and explanatory, it can not
Limit the embodiment of the present invention.
Description of the drawings
Fig. 1 is the flow diagram according to the indoor orientation method of the embodiment of the present invention；
Fig. 2 is the distance that each base station in terminal to group of base stations is obtained according to path loss algorithm according to the embodiment of the present invention
Flow diagram；
Fig. 3 is the signal strength values that the signal of each base station in group of base stations is received according to the acquisition terminal of the embodiment of the present invention
Flow diagram；
Fig. 4 is to utilize the coordinate in trilateration algorithm acquisition terminal indoors BIM models according to the embodiment of the present invention
Flow；
Fig. 5 is the functional block diagram according to the indoor positioning device of the embodiment of the present invention；
Fig. 6 is the block diagram according to the indoor positioning device of the embodiment of the present invention.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
The prior art is typically limited to only the position for obtaining positioning object, but subsequently to positioning pair when carrying out indoor positioning
Work that how position of elephant is shown is rare to be related to.BIM, can be by engineering project in the life-cycle as a kind of information model
The engineering information of each different phase, process and resources integration are in a model in period, easily by each participant of engineering
It uses.That is, existing BIM models are only used for the engineering information of displaying engineering project, do not applied adequately.
In order to overcome the above problem of the prior art, the embodiment of the present invention to provide a kind of indoor orientation method, the present invention is real
Apply the position that example mainly uses path loss algorithm combination trilateration algorithm to obtain object to be positioned.As people in the art
Known to member, path loss algorithm is lost according to signal caused by from signal sending end to signal receiving end, knows letter
Number transmitting terminal is to the distance of signal receiving end, and trilateration is two dimensional surface positions common algorithm, is extended to three
The algorithm principle of dimension space is：There are four the coordinates in BIM models indoors to be not arranged on the same straight line signal in three dimensions
A, B, C, D and signal receiving end E of transmitting terminal, passage path loss algorithm calculating can measure four signal sending ends to letter
The distance of number receiving terminal E is respectively d1, d2, d3, d4, then in space respectively using the coordinate of four signal sending ends as the center of circle,
The distance of four signal sending ends to signal receiving end is the sphere that radius can draw four intersections, the coordinate of signal receiving end
The crosspoint of as four spheres.It should be noted that when using trilateration, in order to ensure the crosspoint of all spheres only
One, the center of circle of all spheres must be not arranged on the same straight line.In addition, the tested point in calculating space using trilateration
When coordinate (being equivalent to signal receiving end), it is necessary to assure have the reference point (being equivalent to signal sending end) of at least four known coordinate.
From the cost consideration of practical application, base station is not arranged on the same straight line comprising the coordinate in 4 indoors BIM models in group of base stations
The condition for obtaining terminal location is disclosure satisfy that.
As shown in the above, the executive agent of the indoor orientation method of the embodiment of the present invention is either signal is sent
End, can also be signal receiving end, can also be third party device, the embodiment of the present invention does not limit specifically.When executing master
When body is signal sending end, signal sending end according to itself strength of transmitted signals and receive signal receiving end reception signal it is strong
Degree would know that loss of signal, be further the distance that would know that itself distance signal receiving terminal according to path loss algorithm, it
The signal sending end is surveyed by receiving other (at least three) signal sending ends to the distance of the signal receiving end using three sides afterwards
Quantity algorithm can be obtained the position of signal receiving end.When executive agent is signal receiving end, signal receiving end receives signal hair
The strength of transmitted signals that sending end is sent, in conjunction with the received signal strength of itself, you can loss of signal is known, further according to path
Loss algorithm is that would know that the distance of itself distance signal receiving terminal, later the signal receiving end according to itself with other (at least 4
It is a) distance of signal sending end, the position of itself is can be obtained using trilateration algorithm.When executive agent is third party device
When, the third party device need acquire at least four signal sending end strength of transmitted signals and position, and receive this at least 4
The received signal strength of the signal receiving end for the signal that a signal sending end is sent combines three sides according to above-mentioned path loss algorithm
Measurement Algorithm obtains the position of signal receiving end.
Signal sending end in the embodiment of the present invention is base station, the embodiment of the present invention not to the concrete type of base station into
Row limits, such as the base stations ibeacon, the base stations GSM, NodeB, the base stations 4G, macro base station, micro-base station and remote radio unit (RRU) etc..
The signal receiving end of the embodiment of the present invention is terminal, can be ibeacon terminals, tablet computer, mobile phone etc..Third party device
Can be that tablet computer, mobile phone, laptop, desktop computer etc. have storage element and be equipped with microprocessor and have fortune
The equipment of calculation ability.
Specifically, Fig. 1 shows the flow diagram of the indoor orientation method of the embodiment of the present invention, as shown, the party
Method includes：
101, the distance of each base station in terminal to group of base stations is obtained according to path loss algorithm, group of base stations includes at least four
Base station, coordinate of all base stations indoors in BIM models is not arranged on the same straight line in the group of base stations.
As shown in the above, the embodiment of the present invention carries out terminal using path loss algorithm set trilateration algorithm
Positioning, therefore the requirement according to trilateration algorithm to three dimensions need to be arranged not conllinear at least four base station to terminal hair
The number of delivering letters.The distance that algorithm obtains each base station in terminal to group of base stations is lost in passage path, and trilateration algorithm is carried out to obtain
It prepares.Coordinate of all base stations indoors in BIM models is not arranged on the same straight line in group of base stations, specifically, it is assumed that base
There are n base station in group of standing, even if coordinate of the n-1 base station indoors in BIM models is located on the same line, there is also 1
Not on this line, setting in this way can ensure to obtain by trilateration algorithm the coordinate in BIM models indoors for a base station
The coordinate of the terminal obtained is unique.
102, each base station coordinate in BIM models indoors is obtained in group of base stations, in conjunction with each base station in terminal to group of base stations
Distance, utilize trilateration algorithm to obtain coordinate of the terminal indoors in BIM models.
It should be noted that the indoor BIM models in the embodiment of the present invention are for the BIM moulds constructed by doors structure
Type, that is to say, that the BIM models of structure have recorded the actual parameter of construction project (interior), such as the parameter of beam, the parameter of wall
Etc., the parameter of base station is also recorded in the embodiment of the present invention in BIM models, the parameter of base station has included at least base station indoors
Coordinate in BIM models, the coordinate can also be relative coordinate either true coordinate.So-called true coordinate, that is, base station
GIS coordinates, and relative coordinate is then coordinate of the base station relative to preset datum mark in BIM models.
In one alternate embodiment, trilateration algorithm obtains the specific step of coordinate of the terminal indoors in BIM models
Suddenly include：
Assuming that the coordinate in BIM models is (x indoors for 4 base stationsn,yn,zn), wherein n=1,2,3,4.According to space away from
The distance between terminal position coordinate (x, y, z) and 4 base stations d can be obtained from formulanMeet equation：
Coordinate of the terminal indoors in BIM models can be obtained by calculating the equation：
Wherein,
103, the coordinate in terminal indoors BIM models is corrected according to indoor BIM models preset constraints,
And indoors in BIM models display terminal correct after coordinate.
It should be noted that due to when actual reception signal, calculating receive the signal strength of signal, usually can all deposit
In error, therefore the spherical surface of each base station of correspondence that obtains of using trilateration when can't spatially intersect at 1 point, and
It is the space that will produce one piece of intersection, this allows for calculating coordinate and true coordinate of the terminal obtained indoors in BIM models
There are deviations, therefore the embodiment of the present invention is also provided with constraints to be entangled to the coordinate in terminal indoors BIM models
Just.For example coordinate of the terminal calculated indoors in BIM models is in the range in load bearing wall, it is clear that it is impractical, also
For example coordinate of the terminal calculated indoors in BIM models has had exceeded indoor range and unpractical.To sum up institute
It states, the embodiment of the present invention is indoor by being arranged, the especially constraint in the buildings floor Nei He body, and the coordinate for not meeting constraint is carried out
It corrects, and the coordinate in BIM models after display terminal correction indoors.For example, when in the terminal calculated indoors BIM models
Coordinate is in the range in load bearing wall, then plans the coordinate to other than load bearing wall.
The indoor orientation method of the embodiment of the present invention, can be in real time to terminal with path loss algorithm combination trilateration
It is positioned, when using the process of trilateration positioning, passes through the coordinate in combination base station indoors BIM models so that
The coordinate of terminal also can enrich the bandwagon effect of indoor BIM models in real time reaction to indoor BIM models, give BIM models
The completely new thinking of application band, and using the preset constraints of interior BIM models in terminal indoors BIM models
Coordinate is corrected, and the position of more realistically reactive terminal is capable of.
Fig. 2 shows the embodiment of the present invention to obtain the distance of each base station in terminal to group of base stations according to path loss algorithm
Flow diagram, as shown in Fig. 2, obtaining the distance of each base station in terminal to group of base stations according to path loss algorithm, specially：
201, build path loss model：
Wherein, diIndicate terminal to the distance of i-th of base station, Pd0Expression terminal receives letter to base station when unit length
Number signal strength values, BiIndicate that terminal receives the signal strength values of the signal of i-th of base station, α indicates path loss index.
It should be noted that it will be understood by those skilled in the art that terminal receives the signal strength B of i-th of base stationiIt can
To be expressed as：D in formula0Indicate reference distance (being typically chosen unit length 1m),
Pd0The distance of expression terminal to base station receives the signal strength values of signal, B when being reference distanceiIndicate that terminal receives i-th
The signal strength values of the signal of a base station, α indicate path loss index.By deforming (wherein d to above formula0It takes 1), you can obtain
The path loss model that step 201 is built.
202, pass through the Pd in fitting experimental data path loss model0And α, obtain trained path loss mould
Type.
It should be noted that being needed by end it is found that in order to obtain the distance between terminal and base station by path loss model
Hold to base station be unit length when receive the signal strength values of signal, terminal receive the base station signal signal strength values
Pd0With path loss index α.Existing method is in order to obtain Pd0And α, it usually needs counted by other existing formula
It calculates, but this mode is too high to environmental requirement, obtains Pd0And α belongs to theoretical value and actual deviation is larger, and therefore, this hair
Bright embodiment is proceeded from the reality, and goes out Pd by fitting experimental data0And α.
In specific fitting, an ibeacon label (i.e. base station) is installed indoors first, ibeacon labels are not for
Disconnected to send ibeacon signals, experimenter's carried terminal measures one group of terminal every 1 meter in 10 meters of section and receives ibeacon
The signal strength values of label, 10 signal strength values of every group of measurement.In this way by the way that this 100 signal strength values and correspondence are each
The distance of signal strength values substitutes into path loss model, you can fits Pd0And α.
203, the signal strength values that terminal receives the signal of each base station in group of base stations are obtained；
It should be noted that when receiving the signal strength values of the signal of each base station in group of base stations to reduce acquisition terminal
Accidental error, terminal receives the signal strength values of the signal of some base station in the embodiment of the present invention, refers to terminal in position
In the case of constant, processing acquisition is carried out to receiving the signal strength values corresponding to each data packet of the base station in certain time
Signal strength values.For example, the signal strength corresponding to each data packet to the base station received in certain time may be used
Value is averaged, and can also be selected in the signal strength values corresponding to each data packet from the base station received in certain time at random
A certain number of signal strength values are selected to be averaged, it can also be corresponding to each data packet by the base station received in certain time
Signal strength values in maximum value and minimum value remove, then remaining signal strength values are averaged, the embodiment of the present invention
Specific restriction is not done.
204, the signal strength values of the signal of each base station and trained path in group of base stations is received according to terminal to damage
Model is consumed, the distance of each base station in terminal to group of base stations is obtained.
It should be noted that in order to obtain the distance of any one base station in terminal to group of base stations, terminal need to only be received
The trained path loss model of signal strength values substitution to the signal of the base station can be obtained.
On the basis of the above embodiments, it is each in group of base stations to show that the acquisition terminal of the embodiment of the present invention receives by Fig. 3
The flow diagram of the signal strength values of the signal of base station, as shown in figure 3, obtaining the letter that terminal receives each base station in group of base stations
Number signal strength values, specially：
301, for any one base station in group of base stations, terminal is received the signal strength values of the signal of the base station by
It is ranked up according to sequence from big to small；
302, the signal strength values for deleting sequence both ends respectively according to preset ratio, according to remaining signal strength in sequence
The average value of value receives the signal strength values of the base station as terminal.
It is understood that obtaining the opportunity for the signal strength values that terminal receives some base station in the embodiment of the present invention is
Refer to terminal when not moving, the signal strength values being achieved in that just have the meaning for substituting into trained path loss model.This hair
The thought of normal distribution is utilized in bright embodiment, since the signal strength values that terminal receives the signal of some base station are to exist to become
Change, the especially big and especially small probability very little of signal strength values, therefore by deleting these occurrence probability very littles, using surplus
Remaining signal strength values averaged receives the signal strength values of the base station as terminal, can more accurately obtain terminal
Receive the signal strength values of the signal of each base station in group of base stations.
Due to the propagation characteristic of wireless signal, when signal receiving end distance signal transmitting terminal is remoter, signal receiving end receives
The signal strength sent to signal sending end is smaller, meanwhile, in certain distance (being referred to as gauged distance), signal receiving end connects
The signal strength for receiving signal sending end transmission can have strength retrogression's rule.That is, when distance be above standard away from
From when, signal receiving end receive signal sending end transmission signal strength decaying will no longer conform to received signal strength decaying
Rule, i.e., no longer meet path loss model.
In practical application, it is difficult to ensure that 4 base stations are only arranged indoors allows for any position of terminal indoors all
It can be maintained in gauged distance with base station, therefore just need that multigroup group of base stations is arranged indoors.
On the basis of the above embodiments, in the case of there is multigroup group of base stations indoors, Fig. 4 shows implementation of the present invention
Example obtains the flow diagram of coordinate of the terminal indoors in BIM models using trilateration algorithm, as shown in figure 4, utilizing three
Side Measurement Algorithm obtains the flow of coordinate of the terminal indoors in BIM models, specially：
401, for any one group of group of base stations, according to the coordinate in each base station in the group of base stations indoors BIM models, in conjunction with
The distance of each base station in terminal to the group of base stations obtains coordinate of the terminal under the conditions of group of base stations using trilateration algorithm.
That is, when interior is there are when multigroup group of base stations, passage path loss algorithm and trilateration algorithm obtain first
Take coordinate of terminal under the conditions of each group of base stations group.By coordinate of computing terminal under the conditions of each group of base stations group, can eliminate
Coordinate in terminal indoors BIM models is tentatively limited within the scope of one by a part of accidental error.Divide to base station
It, can be based on the location determination where the distance between base station or base station, for example, will be in a room or same layer when group
At least four base station in building as a group of base stations, or using at least four base station of mutual distance within a preset range as
One group of base stations, the embodiment of the present invention do not do specific restriction to the mode that base station is grouped.
402, is obtained by terminal and extremely should according to the distance of each base station in terminal to the group of base stations for any one group of group of base stations
The average distance of group of base stations.
It should be noted that the distance due to different base station group apart from terminal has differences, terminal is in different base station
There is also differences for the accuracy of coordinate under the conditions of group, in order to subsequently be weighted place to the coordinate under the conditions of different base station group
Reason, average distance of the embodiment of the present invention using terminal to group of base stations is as standard.Specifically obtaining terminal being averaged to group of base stations
Apart from when, average value being averaged as terminal to the group of base stations of the distance of each base station using in terminal to the group of base stations may be used
Distance can also use and be weighted summation to the distance of each base station in terminal to group of base stations, as the flat of terminal to group of base stations
Equal distance can also use the average value conduct for taking longest and shortest distance in from terminal to group of base stations in the distance of each base station
Terminal to group of base stations average distance.The embodiment of the present invention to specifically how according in terminal to the group of base stations each base station away from
From the mode for obtaining terminal to the average distance of the group of base stations does not do specific restriction.
403, according to terminal to the average distance of each group of base stations, coordinate of terminal under the conditions of each group of base stations is weighted
Summation obtains coordinate of the terminal indoors in BIM models.
As shown in the above, the average distance of terminal to group of base stations is remoter, under the conditions of the terminal to group of base stations of acquisition
Error of coordinate is bigger, therefore, by being weighted summation to coordinate of terminal under the conditions of each group of base stations, obtains terminal indoors
Coordinate in BIM models can further decrease accidental error.In the specific implementation, when the average departure of terminal to some group of base stations
From bigger, then the weight corresponding to coordinate of the terminal under the conditions of group of base stations is bigger.For example, there are 3 group of base stations indoors,
The coordinate that terminal obtains under the conditions of group of base stations n is (xn,yn,zn), n=1,2,3, the distance of terminal to group of base stations n is ln, n=
1,2,3, and l1＜ l2＜ l3, therefore it is a that weight of the terminal under the conditions of n of base station, which is arranged,n, meet a1＞ a2＞ a3And a1+a2+a3
=1.Terminal coordinate (the x in BIM models indoorsb,yb,zb), wherein：xb=a1*x1+a2*x2+a3*x3；yb=a1*y1+a2*y2
+a3*y3；zb=a1*z1+a2*z2+a3*z3。
According to another aspect of the present invention, a kind of indoor positioning device is also provided, referring to Fig. 5, which is used for preceding
It states and terminal is positioned in each embodiment and is shown in BIM models indoors.Therefore, the interior in foregoing embodiments is fixed
Description and definition in the method for position, can be used for the understanding of each execution module in the embodiment of the present invention.
As shown, indoor positioning device includes：
Spacing module 501, the distance for obtaining each base station in terminal to group of base stations according to path loss algorithm, group of base stations
Including at least four base station, coordinate of all base stations indoors in BIM models is not arranged on the same straight line in the group of base stations.
Locating module 502, for obtaining the coordinate of each base station in group of base stations indoors in BIM models, in conjunction with terminal to base
The distance of each base station in group of standing utilizes the coordinate in trilateration algorithm acquisition terminal indoors BIM models.
Module 503 is corrected, is used for according to the indoor preset constraints of BIM models in terminal indoors BIM models
Coordinate after coordinate is corrected, and display terminal is corrected in BIM models indoors.
As a kind of alternative embodiment, spacing module specifically includes：
Model construction unit is used for build path loss model：
Wherein, diIndicate terminal to the distance of i-th of base station, Pd0Expression terminal receives letter to base station when unit length
Number signal strength values, BiIndicate that terminal receives the signal strength values of the signal of i-th of base station, α indicates path loss index；
Model training unit, for passing through the Pd in fitting experimental data path loss model0And α, it is trained
Path loss model；
Signal strength acquiring unit receives the signal strength values of the signal of each base station in group of base stations for obtaining terminal；
Metrics calculation unit, signal strength values and instruction for receiving the signal of each base station in group of base stations according to terminal
The path loss model perfected obtains the distance of each base station in terminal to group of base stations.
As a kind of alternative embodiment, signal strength acquiring unit specifically includes：
Sorting subunit, for for any one base station in group of base stations, the signal of the base station to be received to terminal
Signal strength values are ranked up according to sequence from big to small；
Subelement is screened, the signal strength values for deleting sequence both ends respectively according to preset ratio are remained according in sequence
The average value of remaining signal strength values receives the signal strength values of the base station as terminal.
As a kind of alternative embodiment, indoor setting at least two groups group of base stations；
Correspondingly, locating module specifically includes：
Base station location unit, for for any one group of group of base stations, according to the BIM models indoors of each base station in the group of base stations
In coordinate obtain terminal in the group of base stations using trilateration algorithm in conjunction with the distance of each base station in terminal to the group of base stations
Under the conditions of coordinate；
Average distance computing unit is used for for any one group of group of base stations, according to each base station in terminal to the group of base stations
Distance obtains terminal to the average distance of the group of base stations；
Positioning unit is used for according to terminal to the average distance of each group of base stations, to seat of terminal under the conditions of each group of base stations
Mark is weighted summation, the acquisition terminal coordinate in BIM models indoors.
Indoor positioning device provided in an embodiment of the present invention, can be right in real time with path loss algorithm combination trilateration
Terminal is positioned, when using the process of trilateration positioning, by combining coordinate of the base station indoors in BIM models,
So that the coordinate of terminal also can enrich the bandwagon effect of indoor BIM models in real time reaction to indoor BIM models, BIM is given
The completely new thinking of application band of model, and using interior BIM models preset constraints to terminal BIM models indoors
In coordinate corrected, be capable of the position of more realistically reactive terminal.
An embodiment of the present invention provides a kind of indoor positioning devices.Referring to Fig. 6, which includes：Processor
(processor) 601, memory (memory) 602 and bus 603；
Wherein, processor 601 and memory 602 complete mutual communication by bus 603 respectively；Processor 601 is used
In calling the program instruction in memory 602, to execute the indoor orientation method that above-described embodiment is provided, such as including：Root
The distance of each base station in terminal to group of base stations is obtained according to path loss algorithm, group of base stations includes at least four base station, the group of base stations
In coordinate of all base stations indoors in BIM models be not arranged on the same straight line；Obtain each base station BIM moulds indoors in group of base stations
Coordinate in type obtains terminal BIM moulds indoors in conjunction with the distance of each base station in terminal to group of base stations using trilateration algorithm
Coordinate in type；The coordinate in terminal indoors BIM models is corrected according to indoor BIM models preset constraints,
And indoors in BIM models display terminal correct after coordinate.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
Matter stores computer instruction, which makes computer execute the indoor orientation method that above-described embodiment is provided, such as
Including：The distance of each base station in terminal to group of base stations is obtained according to path loss algorithm, group of base stations includes at least four base station, institute
The coordinate of all base stations in group of base stations indoors in BIM models is stated to be not arranged on the same straight line；Each base station in group of base stations is obtained to exist
Coordinate in indoor BIM models obtains terminal using trilateration algorithm and exists in conjunction with the distance of each base station in terminal to group of base stations
Coordinate in indoor BIM models；According to the indoor preset constraints of BIM models to the coordinate in terminal indoors BIM models
It is corrected, and the coordinate in BIM models after display terminal correction indoors.
The apparatus embodiments described above are merely exemplary, wherein can be as the unit that separating component illustrates
Or may not be and be physically separated, the component shown as unit may or may not be physical unit, i.e.,
A place can be located at, or may be distributed over multiple network units.It can select according to the actual needs therein
Some or all of module achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case of dynamic, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
The method of certain parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of indoor orientation method, which is characterized in that including：
The distance of each base station in terminal to group of base stations is obtained according to path loss algorithm, the group of base stations includes at least four base station,
Coordinate of all base stations indoors in BIM models is not arranged on the same straight line in the group of base stations；
The coordinate of each base station in the group of base stations indoors in BIM models is obtained, in conjunction with each in the terminal to the group of base stations
The distance of base station obtains coordinate of the terminal in the interior BIM models using trilateration algorithm；
Coordinate of the terminal in the interior BIM models is corrected according to the interior BIM models preset constraints,
And indoors in BIM models display terminal correct after coordinate.
2. indoor orientation method according to claim 1, which is characterized in that described to obtain terminal according to path loss algorithm
The distance of each base station in the group of base stations, specially：
Build path loss model：
Wherein, diIndicate terminal to the distance of i-th of base station, Pd0Expression terminal receives signal to base station when unit length
Signal strength values, BiIndicate that terminal receives the signal strength values of the signal of i-th of base station, α indicates path loss index；
Pass through the Pd in path loss model described in fitting experimental data0And α, obtain trained path loss model；
Obtain the signal strength values that terminal receives the signal of each base station in the group of base stations；
The signal strength values of the signal of each base station and the trained path damage in the group of base stations are received according to terminal
Model is consumed, the distance of each base station in terminal to the group of base stations is obtained.
3. indoor orientation method according to claim 2, which is characterized in that the acquisition terminal receives the group of base stations
The signal strength values of the signal of interior each base station, specially：
For any one base station in the group of base stations, terminal is received the signal strength values of the signal of the base station according to from
Small sequence is arrived greatly to be ranked up；
The signal strength values of deleting sequence both ends respectively according to preset ratio are averaged according to remaining signal strength values in sequence
Value receives the signal strength values of the base station as terminal.
4. indoor orientation method according to claim 1 or 2 or 3, which is characterized in that indoor setting at least two groups base station
Group；
Correspondingly, described to obtain coordinate of the terminal in the interior BIM models using trilateration algorithm, specially：
For any one group of group of base stations, according to the coordinate in each base station in the group of base stations indoors BIM models, in conjunction with the terminal
The distance of each base station in the group of base stations obtains coordinate of the terminal under the conditions of group of base stations using trilateration algorithm；
Is obtained by the terminal and extremely should according to the distance of each base station in the terminal to the group of base stations for any one group of group of base stations
The average distance of group of base stations；
According to the terminal to the average distance of each group of base stations, coordinate of terminal under the conditions of each group of base stations is weighted
Summation obtains coordinate of the terminal in the interior BIM models.
5. a kind of indoor positioning device, which is characterized in that including：
Spacing module, the distance for obtaining each base station in terminal to group of base stations according to path loss algorithm, the group of base stations packet
Include at least four base station, coordinate of all base stations indoors in BIM models is not arranged on the same straight line in the group of base stations；
Locating module, for obtaining the coordinate of each base station in the group of base stations indoors in BIM models, in conjunction with the terminal to institute
The distance for stating each base station in group of base stations obtains coordinate of the terminal in the interior BIM models using trilateration algorithm；
Module is corrected, is used for according to the preset constraints of the interior BIM models to terminal in the interior BIM models
Coordinate after coordinate is corrected, and display terminal is corrected in BIM models indoors.
6. indoor positioning device according to claim 5, which is characterized in that the spacing module specifically includes：
Model construction unit is used for build path loss model：
Wherein, diIndicate terminal to the distance of i-th of base station, Pd0Expression terminal receives signal to base station when unit length
Signal strength values, BiIndicate that terminal receives the signal strength values of the signal of i-th of base station, α indicates path loss index；
Model training unit, for passing through the Pd in path loss model described in fitting experimental data0And α, it obtains trained
Path loss model；
Signal strength acquiring unit receives the signal strength values of the signal of each base station in the group of base stations for obtaining terminal；
Metrics calculation unit, for receiving the signal strength values of the signal of each base station and institute in the group of base stations according to terminal
Trained path loss model is stated, the distance of each base station in terminal to the group of base stations is obtained.
7. indoor positioning device according to claim 6, which is characterized in that the signal strength acquiring unit is specifically wrapped
It includes：
Sorting subunit, for for any one base station in the group of base stations, the signal of the base station to be received to terminal
Signal strength values are ranked up according to sequence from big to small；
Screen subelement, the signal strength values for deleting sequence both ends respectively according to preset ratio, according to remaining in sequence
The average value of signal strength values receives the signal strength values of the base station as terminal.
8. according to the indoor positioning device described in claim 5 or 6 or 7, which is characterized in that indoor setting at least two groups base station
Group；
Correspondingly, the locating module specifically includes：
Base station location unit is used for for any one group of group of base stations, according in each base station in the group of base stations indoors BIM models
Coordinate obtains terminal in the group of base stations in conjunction with the distance of each base station in the terminal to the group of base stations using trilateration algorithm
Under the conditions of coordinate；
Average distance computing unit is used for for any one group of group of base stations, according to each base station in the terminal to the group of base stations
Distance obtains the terminal to the average distance of the group of base stations；
Positioning unit is used for according to the terminal to the average distance of each group of base stations, to the terminal under the conditions of each group of base stations
Coordinate be weighted summation, obtain coordinate of the terminal in the interior BIM models.
9. a kind of indoor positioning device, which is characterized in that including：
At least one processor；And
At least one processor being connect with the processor communication, wherein：
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough methods executed as described in Claims 1-4 is any.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method as described in Claims 1-4 is any.
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