CN108759836B - Positioning method and device based on indoor positioning system - Google Patents
Positioning method and device based on indoor positioning system Download PDFInfo
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- CN108759836B CN108759836B CN201810486150.6A CN201810486150A CN108759836B CN 108759836 B CN108759836 B CN 108759836B CN 201810486150 A CN201810486150 A CN 201810486150A CN 108759836 B CN108759836 B CN 108759836B
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a positioning method and a positioning device based on an indoor positioning system, wherein the method comprises the following steps: after receiving the first positioning signal, storing the first positioning signal in a positioning signal sequence; acquiring a first role identifier, a first identity identifier and a first floor identifier carried in a first positioning signal; determining whether the second floor identification stored by the user is the same as the first floor identification; if the floor corresponding to the second floor identification is lower than the floor corresponding to the first floor identification, replacing the second floor identification with the first floor identification, and sending the first identity identification to the server; and if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification and the second floor identification is required to be replaced, replacing the second floor identification with the first floor identification, and sending the first identity identification to the server. The scheme can ensure that the object to be positioned is accurately positioned.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to a positioning method and a positioning device based on an indoor positioning system.
Background
With the wide application of indoor positioning technology in the fields of medical treatment, traffic and the like, various researches based on the indoor positioning technology, intelligent position service engines and real-time positioning are more and more common, and the behaviors of objects can be effectively analyzed by utilizing an indoor positioning system, so that scientific and reasonable monitoring, scheduling and management are realized. For example, in a hospital scenario, the hospital may be assisted in device inquiry, inventory, and management by locating mobile devices or mobile devices within the hospital indoors.
The indoor positioning system generally comprises a plurality of positioners, a plurality of positioning tags and a server, wherein the positioners are fixed in each room of each floor, the positioning tags are arranged on an object to be positioned, each positioner broadcasts a positioning signal at regular time, each positioning tag reports an identity carried in the positioning signal to the server after receiving the positioning signal, and the server determines the room where the positioning tag is located according to the received identity, so that the room where the object to be positioned is located can be determined.
In the above positioning method, the positioner is usually disposed on the ceiling, and the positioning signal broadcast by the positioner can be transmitted not only on the floor, but also through the ceiling to the high floor above the ceiling.
Disclosure of Invention
The embodiment of the invention provides a positioning method and a positioning device based on an indoor positioning system, which are used for solving the problems that the positioning of an object to be positioned is deviated due to the positioning of an interference positioning label in the prior art, and the management and the use of the object to be positioned are further influenced.
According to an embodiment of the present invention, there is provided a positioning method based on an indoor positioning system, where the indoor positioning system includes a plurality of positioners, a plurality of positioning tags, and a server, and the method is applied to each of the positioning tags, and the method includes:
after receiving a first positioning signal, storing the first positioning signal in a positioning signal sequence;
acquiring a first role identifier, a first identity identifier and a first floor identifier carried in the first positioning signal;
determining whether a second floor identification stored by the user is the same as the first floor identification;
if the floor corresponding to the second floor identification is lower than the floor corresponding to the first floor identification, replacing the second floor identification with the first floor identification, and sending the first identity identification to the server;
if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, acquiring a second identification and a third floor identification carried in a second positioning signal which is located before the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence, determining whether the second floor identification needs to be replaced according to the first role identification, the second floor identification, the third floor identification and the first floor identification, replacing the second floor identification with the first floor identification if the second floor identification needs to be replaced, and sending the first identification to the server.
Optionally, the method further includes:
acquiring the signal type of the first positioning signal;
determining whether the signal type is a set signal type;
if the signal type is determined to be the set signal type, executing the step of storing the first positioning signal in a positioning signal sequence;
and if the signal type is determined not to be the set signal type, discarding the first positioning signal.
Specifically, determining whether the second floor identifier needs to be replaced according to the first role identifier, the second identity identifier, the second floor identifier, the third floor identifier and the first floor identifier specifically includes:
determining whether the first angular identification is a boundary point;
if the first corner identifier is determined to be a boundary point, determining whether a floor corresponding to the third floor identifier is lower than a floor corresponding to the first floor identifier, and if the floor corresponding to the third floor identifier is determined to be lower than the floor corresponding to the first floor identifier, determining that the second floor identifier needs to be replaced;
if the first corner identifier is determined to be a non-boundary point, determining whether a floor corresponding to the third floor identifier is the same as a floor corresponding to the first floor identifier and whether the second identity identifier is the same as the first identity identifier, and if the floor corresponding to the third floor identifier is determined to be the same as a floor corresponding to the first floor identifier and the second identity identifier is different from the first identity identifier, determining that the second floor identifier needs to be replaced.
Optionally, when determining whether the floor corresponding to the third floor identifier is the same as the floor corresponding to the first floor identifier and whether the second identity identifier is the same as the first identity identifier, the method further includes:
and if the floor corresponding to the third floor identification is different from the floor corresponding to the first floor identification or the second identity identification is the same as the first identity identification, determining that the second floor identification does not need to be replaced.
Optionally, the method further includes:
setting up a storage period for positioning signals in the positioning signal sequence;
monitoring whether the storage duration of the positioning signals in the positioning signal sequence exceeds the storage period;
and deleting the positioning signals with the storage duration exceeding the storage period from the positioning signal sequence.
According to an embodiment of the present invention, there is also provided a positioning apparatus based on an indoor positioning system, where the indoor positioning system includes a plurality of positioners, a plurality of positioning tags, and a server, and the apparatus is applied to each of the positioning tags, and the apparatus includes:
the storage module is used for storing the first positioning signal in a positioning signal sequence after receiving the first positioning signal;
the first acquisition module is used for acquiring a first role identifier, a first identity identifier and a first floor identifier carried in the first positioning signal;
the first determining module is used for determining whether the second floor identification stored by the first determining module is the same as the first floor identification;
a sending module, configured to replace the second floor identifier with the first floor identifier and send the first identity identifier to the server if it is determined that the floor corresponding to the second floor identifier is lower than the floor corresponding to the first floor identifier; if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, acquiring a second identification and a third floor identification carried in a second positioning signal which is located before the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence, determining whether the second floor identification needs to be replaced according to the first role identification, the second floor identification, the third floor identification and the first floor identification, replacing the second floor identification with the first floor identification if the second floor identification needs to be replaced, and sending the first identification to the server.
Optionally, the method further includes:
the second acquisition module is used for acquiring the signal type of the first positioning signal;
a second determination module for determining whether the signal type is a set signal type; if the signal type is determined to be the set signal type, turning to the storage module;
a discarding module, configured to discard the first positioning signal if it is determined that the signal type is not the set signal type.
Specifically, the sending module is configured to determine whether the second floor identifier needs to be replaced according to the first role identifier, the second identity identifier, the second floor identifier, the third floor identifier, and the first floor identifier, and specifically configured to:
determining whether the first angular identification is a boundary point;
if the first corner identifier is determined to be a boundary point, determining whether a floor corresponding to the third floor identifier is lower than a floor corresponding to the first floor identifier, and if the floor corresponding to the third floor identifier is determined to be lower than the floor corresponding to the first floor identifier, determining that the second floor identifier needs to be replaced;
if the first corner identifier is determined to be a non-boundary point, determining whether a floor corresponding to the third floor identifier is the same as a floor corresponding to the first floor identifier and whether the second identity identifier is the same as the first identity identifier, and if the floor corresponding to the third floor identifier is determined to be the same as a floor corresponding to the first floor identifier and the second identity identifier is different from the first identity identifier, determining that the second floor identifier needs to be replaced.
Optionally, the sending module is further configured to:
when determining whether the floor corresponding to the third floor identification is the same as the floor corresponding to the first floor identification and whether the second identity identification is the same as the first identity identification, if determining that the floor corresponding to the third floor identification is different from the floor corresponding to the first floor identification or that the second identity identification is the same as the first identity identification, determining that the second floor identification does not need to be replaced.
Optionally, the method further includes:
a setting module, configured to set a storage period for a positioning signal in the positioning signal sequence;
the monitoring module is used for monitoring whether the storage duration of the positioning signals in the positioning signal sequence exceeds the storage period;
and the deleting module is used for deleting the positioning signals of which the storage duration exceeds the storage period from the positioning signal sequence.
The invention has the following beneficial effects:
the embodiment of the invention provides a positioning method and a positioning device based on an indoor positioning system, wherein a first positioning signal is stored in a positioning signal sequence after being received; acquiring a first role identifier, a first identity identifier and a first floor identifier carried in the first positioning signal; determining whether a second floor identification stored by the user is the same as the first floor identification; if the floor corresponding to the second floor identification is lower than the floor corresponding to the first floor identification, replacing the second floor identification with the first floor identification, and sending the first identity identification to the server; if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, acquiring a second identification and a third floor identification carried in a second positioning signal which is located before the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence, determining whether the second floor identification needs to be replaced according to the first role identification, the second floor identification, the third floor identification and the first floor identification, replacing the second floor identification with the first floor identification if the second floor identification needs to be replaced, and sending the first identification to the server. Because the locator is usually set up on the ceiling, the locating signal generally can be broadcast to this floor and high floor, therefore, can directly fix a position according to the locating signal that comes from the locator of high floor in this scheme, to the locating signal that comes from the low floor, still need reference other locating signals in the locating signal sequence and fix a position, for prior art, the location label can be fixed a position more accurately to can ensure accurate positioning to the object to be fixed a position, do not influence the management and the use of object to be fixed a position.
Drawings
Fig. 1 is a flowchart of a positioning method based on an indoor positioning system according to an embodiment of the present invention;
FIG. 2 is a flowchart of S16 in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning apparatus based on an indoor positioning system in an embodiment of the present invention.
Detailed Description
Aiming at the problems that the positioning of an interference positioning tag in the prior art causes deviation in the positioning of an object to be positioned, and further influences the management and use of the object to be positioned, the embodiment of the invention provides a positioning method based on an indoor positioning system, wherein the indoor positioning system comprises a plurality of positioners, a plurality of positioning tags and a server, the positioners are usually arranged on the ceilings of rooms of all floors, the positioning tags are arranged on the object to be positioned, the server determines the room where the object to be positioned is located according to an identity reported by the positioning tags, and the objects to be positioned are different according to different application scenes, for example, in a hospital, the object to be positioned can be medical equipment, in a warehouse, the object to be positioned can be a vehicle, and the like, the method is applied to each positioning tag, and the flow of the method is shown in figure 1, the specific execution steps are as follows:
s11: and after receiving the first positioning signal, storing the first positioning signal in a positioning signal sequence.
Since each locator sends a positioning signal periodically, a positioning signal sequence can be established in the positioning tag, and the received positioning signal is stored in the positioning sequence.
S12: and acquiring a first role identifier, a first identity identifier and a first floor identifier carried in the first positioning signal.
In each floor, some locators are arranged at the entrance and exit, the roles of the locators are marked as boundary points, some locators are arranged at each position of the floor, and the roles of the locators are marked as non-boundary points; in order to distinguish between the various locators, each locator will typically have an identification; since each floor will have locators, each locator will also have a floor identification. For the first positioning signal, the carried role identifier, identity identifier and floor identifier may be defined as a first role identifier, a first identity identifier and a first floor identifier.
S13: determining whether the second floor identification stored in the self-storage device is the same as the first floor identification, and if the floor corresponding to the second floor identification is lower than the floor corresponding to the first floor identification, executing S14; if it is determined that the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, S15 is performed.
The positioning tag also stores a floor identifier which represents the floor where the positioning tag is located, and the floor identifier is defined as a second floor identifier.
S14: and replacing the second floor identification with the first floor identification, and sending the first identity identification to the server.
Because the locator is set up on the ceiling, the locating signal usually is to the high floor and pass through, can not pass through to the low floor, if the floor that the second floor sign corresponds is less than the floor that the first floor sign corresponds, explain that the location label is located the floor that the first floor sign corresponds, therefore, can replace the second floor sign for first floor sign, then send the first identity sign to the server and save, the room sign that keeps each locator setting on the server, the room that the server can confirm the location label according to the first identity sign, thereby confirm the room that the object to be positioned belongs to.
S15: and acquiring a second identity identifier and a third floor identifier carried in a second positioning signal which is positioned in front of the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence.
Because the locator sets up on the ceiling, positioning signal usually passes through to the high floor, can not pass through to the low floor, if the floor that second floor sign corresponds is higher than the floor that first floor sign corresponds, the floor that can't directly confirm the location label place, still need confirm with the help of the second positioning signal in the positioning signal sequence, positioning signal that is located before first positioning signal and adjacent with first positioning signal defines as second positioning signal, the role sign that second positioning signal carried, identification sign and floor sign define respectively as second role sign, second identification sign and third floor sign.
S16: and determining whether the second floor identification needs to be replaced according to the first role identification, the second identity identification, the second floor identification, the third floor identification and the first floor identification, and executing S14 if the second floor identification needs to be replaced.
After the fact that the second floor identification needs to be replaced is determined according to the first role identification, the second identity identification, the second floor identification, the third floor identification and the first floor identification, the second floor identification is replaced by the first floor identification, the first identity identification is sent to the server, room identifications set by all the locators are stored on the server, and the server can determine a room where the positioning tag is located according to the first identity identification, so that the room where the object to be positioned is determined.
Because the locator is usually set up on the ceiling, the locating signal generally can be broadcast to this floor and high floor, therefore, can directly fix a position according to the locating signal that comes from the locator of high floor in this scheme, to the locating signal that comes from the low floor, still need reference other locating signals in the locating signal sequence and fix a position, for prior art, the location label can be fixed a position more accurately to can ensure accurate positioning to the object to be fixed a position, do not influence the management and the use of object to be fixed a position.
Optionally, before storing the first positioning signal in the positioning signal sequence in S11, the method further includes: acquiring a signal type of a first positioning signal; determining whether the signal type is a set signal type; if the signal type is determined to be the set signal type, storing the first positioning signal in a positioning signal sequence; and if the signal type is determined not to be the set signal type, discarding the first positioning signal.
Because various signals may exist when the environment of the building is complex, the signals are not necessarily all positioning signals broadcasted by the positioner, in order to avoid the positioning tag from processing other signals, whether the type of the first positioning signal is the set signal type or not can be determined, the first positioning signal of the set signal type is stored in the positioning signal sequence, and the first positioning signal of the non-set signal type can be directly discarded.
Specifically, in the above S16, determining whether the second floor identifier needs to be replaced according to the first role identifier, the second identity identifier, the second floor identifier, the third floor identifier and the first floor identifier, and the implementation process is as shown in fig. 2, and specifically includes:
s161: the process begins.
S162: determining whether the first angular color identifier is a boundary point, and if it is determined that the first angular color identifier is a boundary point, performing S163; if it is determined that the first angular identification is a non-boundary point, S164 is performed.
Boundary points and non-boundary points have already been introduced in S12 and will not be described here.
S163: and determining whether the floor corresponding to the third floor identification is lower than the floor corresponding to the first floor identification, and if determining that the floor corresponding to the third floor identification is lower than the floor corresponding to the first floor identification, determining that the second floor identification needs to be replaced.
If the first corner identifier carried in the first positioning signal is a boundary point, and the floor corresponding to the third floor identifier carried in the previously received second positioning signal is lower than the floor corresponding to the first floor, that is, the positioning tag is moved from the lower floor to the floor corresponding to the first floor identifier, and the positioning tag is currently located at the floor corresponding to the first floor identifier, the second floor identifier in the positioning tag needs to be replaced.
S164: and determining whether the floor corresponding to the third floor identification is the same as the floor corresponding to the first floor identification and whether the second identity identification is the same as the first identity identification, and if the floor corresponding to the third floor identification is determined to be the same as the floor corresponding to the first floor identification and the second identity identification is different from the first identity identification, determining that the second floor identification needs to be replaced.
If the first role identifier carried in the first positioning signal is a non-boundary point, and the first positioning signal and the second positioning signal are sent by different locators on the same floor, that is, the positioning tag always moves on the floor, the second floor identifier in the positioning tag needs to be replaced.
And if the floor corresponding to the third floor identification is different from the floor corresponding to the first floor identification or the second identity identification is the same as the first identity identification, determining that the second floor identification does not need to be replaced.
Optionally, the method further includes: setting a storage period for a positioning signal in a positioning signal sequence; monitoring whether the storage duration of the positioning signals in the positioning signal sequence exceeds a storage period or not; and deleting the positioning signals with the storage duration exceeding the storage period from the positioning signal sequence.
Since the locator broadcasts the locating signal at regular time, if the storage capacity of the locating tag is limited, when the storage capacity reaches the upper limit, the new locating signal cannot be stored, which means that the locating signal in the locating signal sequence needs to be cleaned up at regular time. When the storage time of the positioning signal is too long, the positioning signal is generally not referred to any more, so that a storage period can be set for each positioning signal in the positioning signal sequence, and then the positioning signal with the storage time exceeding the storage period in the positioning signal sequence is deleted.
Based on the same inventive concept, an embodiment of the present invention provides a positioning apparatus based on an indoor positioning system, where the indoor positioning system includes a plurality of positioners, a plurality of positioning tags, and a server, and the apparatus is applied to each positioning tag, and a structure of the apparatus is shown in fig. 3, and includes:
the storing module 31 is configured to store the first positioning signal in the positioning signal sequence after receiving the first positioning signal;
a first obtaining module 32, configured to obtain a first role identifier, a first identity identifier, and a first floor identifier that are carried in the first positioning signal;
a first determining module 33, configured to determine whether the second floor identifier stored in the first determining module is the same as the first floor identifier;
a sending module 34, configured to replace the second floor identifier with the first floor identifier and send the first identity identifier to the server if it is determined that the floor corresponding to the second floor identifier is lower than the floor corresponding to the first floor identifier; if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, acquiring a second positioning signal which is located before the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence and carries the second identity identification and the third floor identification, determining whether the second floor identification needs to be replaced according to the first role identification, the second identity identification, the second floor identification, the third floor identification and the first floor identification, if the second floor identification needs to be replaced, replacing the second floor identification with the first floor identification, and sending the first identity identification to the server.
Because the locator is usually set up on the ceiling, the locating signal generally can be broadcast to this floor and high floor, therefore, can directly fix a position according to the locating signal that comes from the locator of high floor in this scheme, to the locating signal that comes from the low floor, still need reference other locating signals in the locating signal sequence and fix a position, for prior art, the location label can be fixed a position more accurately to can ensure accurate positioning to the object to be fixed a position, do not influence the management and the use of object to be fixed a position.
Optionally, the method further includes:
the second acquisition module is used for acquiring the signal type of the first positioning signal;
a second determination module for determining whether the signal type is a set signal type; if the signal type is determined to be the set signal type, turning to a storage module;
and the discarding module is used for discarding the first positioning signal if the signal type is determined not to be the set signal type.
Specifically, the sending module 34 is configured to determine whether the second floor identifier needs to be replaced according to the first role identifier, the second identity identifier, the second floor identifier, the third floor identifier, and the first floor identifier, and specifically configured to:
determining whether the first angular identification is a boundary point;
if the first corner identifier is determined to be a boundary point, determining whether a floor corresponding to the third floor identifier is lower than a floor corresponding to the first floor identifier, and if the floor corresponding to the third floor identifier is determined to be lower than the floor corresponding to the first floor identifier, determining that the second floor identifier needs to be replaced;
if the first corner mark is determined to be a non-boundary point, determining whether a floor corresponding to the third floor mark is the same as a floor corresponding to the first floor mark and whether the second identity mark is the same as the first identity mark, and if the floor corresponding to the third floor mark is determined to be the same as a floor corresponding to the first floor mark and the second identity mark is different from the first identity mark, determining that the second floor mark needs to be replaced.
Optionally, the sending module 34 is further configured to:
when determining whether the floor corresponding to the third floor identification is the same as the floor corresponding to the first floor identification and whether the second identity identification is the same as the first identity identification, if determining that the floor corresponding to the third floor identification is different from the floor corresponding to the first floor identification or that the second identity identification is the same as the first identity identification, determining that the second floor identification does not need to be replaced.
Optionally, the method further includes:
the setting module is used for setting a storage period for the positioning signals in the positioning signal sequence;
the monitoring module is used for monitoring whether the storage time length of the positioning signals in the positioning signal sequence exceeds a storage period;
and the deleting module is used for deleting the positioning signals of which the storage duration exceeds the storage period from the positioning signal sequence.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While alternative embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Claims (10)
1. A positioning method based on an indoor positioning system, wherein the indoor positioning system comprises a plurality of positioners, a plurality of positioning tags and a server, and the method is applied to each positioning tag, and is characterized in that the method comprises the following steps:
after receiving a first positioning signal, storing the first positioning signal in a positioning signal sequence;
acquiring a first role identifier, a first identity identifier and a first floor identifier carried in the first positioning signal;
determining whether a second floor identification stored by the user is the same as the first floor identification;
if the floor corresponding to the second floor identification is lower than the floor corresponding to the first floor identification, replacing the second floor identification with the first floor identification, and sending the first identity identification to the server;
if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, acquiring a second identification and a third floor identification carried in a second positioning signal which is located before the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence, determining whether the second floor identification needs to be replaced according to the first role identification, the second floor identification, the third floor identification and the first floor identification, replacing the second floor identification with the first floor identification if the second floor identification needs to be replaced, and sending the first identification to the server.
2. The method of claim 1, further comprising:
acquiring the signal type of the first positioning signal;
determining whether the signal type is a set signal type;
if the signal type is determined to be the set signal type, executing the step of storing the first positioning signal in a positioning signal sequence;
and if the signal type is determined not to be the set signal type, discarding the first positioning signal.
3. The method according to claim 1, wherein determining whether the second floor id needs to be replaced according to the first role id, the second floor id, the third floor id, and the first floor id specifically comprises:
determining whether the first angular identification is a boundary point;
if the first corner identifier is determined to be a boundary point, determining whether a floor corresponding to the third floor identifier is lower than a floor corresponding to the first floor identifier, and if the floor corresponding to the third floor identifier is determined to be lower than the floor corresponding to the first floor identifier, determining that the second floor identifier needs to be replaced;
if the first corner identifier is determined to be a non-boundary point, determining whether a floor corresponding to the third floor identifier is the same as a floor corresponding to the first floor identifier and whether the second identity identifier is the same as the first identity identifier, and if the floor corresponding to the third floor identifier is determined to be the same as a floor corresponding to the first floor identifier and the second identity identifier is different from the first identity identifier, determining that the second floor identifier needs to be replaced.
4. The method of claim 3, wherein in determining whether the floor to which the third floor identification corresponds is the same as the floor to which the first floor identification corresponds and whether the second identification is the same as the first identification, further comprising:
and if the floor corresponding to the third floor identification is different from the floor corresponding to the first floor identification or the second identity identification is the same as the first identity identification, determining that the second floor identification does not need to be replaced.
5. The method of any of claims 1-4, further comprising:
setting up a storage period for positioning signals in the positioning signal sequence;
monitoring whether the storage duration of the positioning signals in the positioning signal sequence exceeds the storage period;
and deleting the positioning signals with the storage duration exceeding the storage period from the positioning signal sequence.
6. A positioning apparatus based on an indoor positioning system, the indoor positioning system comprising a plurality of positioners, a plurality of positioning tags and a server, the apparatus being applied in each of the positioning tags, the apparatus comprising:
the storage module is used for storing the first positioning signal in a positioning signal sequence after receiving the first positioning signal;
the first acquisition module is used for acquiring a first role identifier, a first identity identifier and a first floor identifier carried in the first positioning signal;
the first determining module is used for determining whether the second floor identification stored by the first determining module is the same as the first floor identification;
a sending module, configured to replace the second floor identifier with the first floor identifier and send the first identity identifier to the server if it is determined that the floor corresponding to the second floor identifier is lower than the floor corresponding to the first floor identifier; if the floor corresponding to the second floor identification is higher than the floor corresponding to the first floor identification, acquiring a second identification and a third floor identification carried in a second positioning signal which is located before the first positioning signal and adjacent to the first positioning signal from the positioning signal sequence, determining whether the second floor identification needs to be replaced according to the first role identification, the second floor identification, the third floor identification and the first floor identification, replacing the second floor identification with the first floor identification if the second floor identification needs to be replaced, and sending the first identification to the server.
7. The apparatus of claim 6, further comprising:
the second acquisition module is used for acquiring the signal type of the first positioning signal;
a second determination module for determining whether the signal type is a set signal type; if the signal type is determined to be the set signal type, turning to the storage module;
a discarding module, configured to discard the first positioning signal if it is determined that the signal type is not the set signal type.
8. The apparatus of claim 6, wherein the sending module is configured to determine whether the second floor identity needs to be replaced according to the first role identity, the second floor identity, the third floor identity, and the first floor identity, and is specifically configured to:
determining whether the first angular identification is a boundary point;
if the first corner identifier is determined to be a boundary point, determining whether a floor corresponding to the third floor identifier is lower than a floor corresponding to the first floor identifier, and if the floor corresponding to the third floor identifier is determined to be lower than the floor corresponding to the first floor identifier, determining that the second floor identifier needs to be replaced;
if the first corner identifier is determined to be a non-boundary point, determining whether a floor corresponding to the third floor identifier is the same as a floor corresponding to the first floor identifier and whether the second identity identifier is the same as the first identity identifier, and if the floor corresponding to the third floor identifier is determined to be the same as a floor corresponding to the first floor identifier and the second identity identifier is different from the first identity identifier, determining that the second floor identifier needs to be replaced.
9. The apparatus of claim 8, wherein the sending module is further configured to:
when determining whether the floor corresponding to the third floor identification is the same as the floor corresponding to the first floor identification and whether the second identity identification is the same as the first identity identification, if determining that the floor corresponding to the third floor identification is different from the floor corresponding to the first floor identification or that the second identity identification is the same as the first identity identification, determining that the second floor identification does not need to be replaced.
10. The apparatus of any of claims 6-9, further comprising:
a setting module, configured to set a storage period for a positioning signal in the positioning signal sequence;
the monitoring module is used for monitoring whether the storage duration of the positioning signals in the positioning signal sequence exceeds the storage period;
and the deleting module is used for deleting the positioning signals of which the storage duration exceeds the storage period from the positioning signal sequence.
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