CN108810819B - Earth surface positioning method and medium based on network communication - Google Patents
Earth surface positioning method and medium based on network communication Download PDFInfo
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- CN108810819B CN108810819B CN201810518533.7A CN201810518533A CN108810819B CN 108810819 B CN108810819 B CN 108810819B CN 201810518533 A CN201810518533 A CN 201810518533A CN 108810819 B CN108810819 B CN 108810819B
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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
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/22—Traffic simulation tools or models
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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
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a network communication-based earth surface positioning method, which comprises the steps of obtaining a reference positioning and an initial position information value corresponding to the reference positioning, and establishing a first local time correlation between the reference positioning and a first local time; generating a first initial positioning according to the reference positioning; acquiring a moving track and second local time of a positioning target in real time; calculating first positioning information in real time according to the moving track and the initial positioning, calculating a first position information value corresponding to the first positioning information in real time according to the moving track, the second local time and the first local time, and broadcasting the first positioning information and the first position information value in real time; acquiring second positioning information and a second information value through the mobile terminal; judging whether the second confidence value is larger than the first confidence value; if so, calculating a second initial positioning according to the second positioning information and the corresponding first signal receiving strength, and taking the second signal value as the signal value corresponding to the second initial positioning. The method can reduce the dependency of the positioning acquisition mode on hardware deployment and reduce the acquisition cost of the positioning information.
Description
Technical Field
The invention relates to the field of wireless technology, in particular to a surface positioning method and medium based on network communication.
Background
With the rapid development of the internet and smart phones, people's demands for positioning and navigation are more and more common. Currently, for outdoor environments, the Global Positioning System (GPS) has been successfully applied to positioning and navigation, such as vehicle navigation, outdoor rescue search, and the like.
However, in the absence of infrastructure, the data for positioning is mainly obtained by presetting a large number of sensors, such as infrared sensors, ultrasonic sensors, radio frequency identification devices, and the like, for obtaining positioning information. The acquisition mode of the positioning information depends heavily on the deployment of hardware, and the positioning information is difficult to install and has high cost.
Disclosure of Invention
The invention aims to provide a positioning method which can overcome the defects of complex system deployment, difficult installation and high cost in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that:
a surface positioning method based on network communication comprises the following steps:
acquiring a reference positioning and an initial positioning value corresponding to the reference positioning through a mobile terminal, and establishing a first local time association between the reference positioning and the reference positioning; generating a first initial positioning according to the reference positioning;
acquiring a moving track and second local time of a positioning target in real time through a mobile terminal; calculating first positioning information in real time according to the moving track and the initial positioning, calculating a first position information value corresponding to the first positioning information in real time according to the moving track, second local time and first local time, and broadcasting the first positioning information and the first position information value in real time;
acquiring second positioning information and a second information value through the mobile terminal;
judging whether the second confidence value is larger than the first confidence value;
if so, calculating a second initial positioning according to the second positioning information and the corresponding first signal receiving strength, and taking the second signal value as the signal value corresponding to the second initial positioning.
Further, the obtaining of the reference location and the initial bit value corresponding thereto by the mobile terminal further includes, before:
presetting a plurality of acquisition points with wireless communication functions and acquisition IDs (identities) corresponding to the acquisition points one by one, wherein the acquisition points store reference positioning corresponding to installation positions of the acquisition points and initial position information values corresponding to the reference positioning;
and the acquisition point broadcasts the reference positioning and the initial position information value in real time.
Further, generating a first initial positioning according to the reference positioning, specifically:
and calculating a first initial positioning according to the reference positioning and the second signal receiving strength when the mobile terminal acquires the reference positioning.
Further, still include:
and establishing a BIM model according to the building information, and updating the acquisition tool D and the corresponding reference positioning to the BIM model.
Further, still include:
acquiring a GIS electronic map, and acquiring a building area corresponding to the BIM in the GIS electronic map according to the building information;
and adjusting the BIM according to the building information and the GIS electronic map, and superposing the BIM to the building area to generate the BIM positioned by absolute longitude and latitude.
Further, still include:
and displaying the first positioning information in the BIM in real time.
Further, still include:
obtaining wall information according to the building information, wherein the wall information comprises wall material and wall thickness;
calculating signal attenuation coefficients corresponding to all the walls according to the wall information;
the mobile terminal also calculates the first initial positioning according to the signal attenuation coefficient.
Further, the calculating a first location information value corresponding to the first location information in real time according to the moving track, the second local time and the first local time specifically includes:
calculating the moving distance of the positioning target after acquiring the reference positioning according to the moving track;
calculating a moving time length according to the first local time and the second local time;
and calculating a first position information value corresponding to the first positioning information according to the initial position information value, the moving distance and the moving time length.
Correspondingly, the invention also discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the steps of the earth surface positioning method based on the network communication are realized.
The invention has the beneficial effects that: and acquiring reference positioning through the mobile terminal, calculating a bit signal value corresponding to the generated first positioning information according to the movement track and the movement duration, and correcting the positioning information through comparing the bit signal value. Therefore, the dependence of the positioning information obtaining mode on hardware can be reduced, the cost is reduced, and the installation is simple and convenient.
Drawings
Fig. 1 is a schematic flow chart of a method for surface positioning based on network communication according to the present invention;
fig. 2 is a schematic flow chart of an embodiment of the disclosure.
Detailed Description
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for purposes of illustration only and is not intended to limit the invention, its application, or uses.
The most key concept of the invention is as follows: and acquiring reference positioning through the mobile terminal, calculating a bit signal value corresponding to the generated first positioning information according to the movement track and the movement duration, and correcting the positioning information through comparing the bit signal value. Therefore, the dependence of the positioning information obtaining mode on hardware can be reduced, the cost is reduced, and the installation is simple and convenient.
Examples
Referring to fig. 1 and fig. 2, a method for surface positioning based on network communication provided by the present invention includes:
acquiring a reference positioning and an initial positioning value corresponding to the reference positioning through a mobile terminal, and establishing a first local time association between the reference positioning and the reference positioning acquired by the mobile terminal; and generating a first initial position from the reference position. The bit information value can be used as an index for evaluating the reliability of the positioning information. The reference position is acquired by presetting or directly via a navigation system, and the accuracy thereof should be the highest level. Therefore, the reference position is given the highest initial bit value by a preset manner. It should be noted that there are various ways to obtain the reference location by the mobile terminal. For example, positioning information of the mobile terminal is acquired by a GPS system or a beidou satellite navigation system, and the positioning information acquired last time is used as reference positioning.
As a preferred embodiment, the invention presets a plurality of acquisition points with wireless communication function and acquisition IDs corresponding to the acquisition points, wherein the acquisition points store reference positioning corresponding to the installation positions of the acquisition points and initial position information values corresponding to the reference positioning, and the acquisition points broadcast the reference positioning and the initial position information values in real time. Furthermore, the mobile terminal can perform reference positioning and acquisition of an initial bit value by receiving the broadcast of the acquisition point. The wireless communication mode of the acquisition point can be set in the forms of Bluetooth, zigbee or WiFi and the like. Preferably, the collection points can be arranged at the positions of street lamps on two sides of a road, entrance and exit doors of a community, a guide lamp of a safety exit and the like, and the wireless communication module is connected with power supply devices of all electric devices, so that the wireless communication module is simple and convenient to install. Then, after the mobile terminal acquires the reference positioning, the mobile terminal calculates a first initial positioning according to the reference positioning and a second signal reception strength when the mobile terminal acquires the reference positioning. It should be noted that the number of reference positions may be one or more.
And acquiring the moving track and the second local time of the positioning target in real time through the mobile terminal. It is known that many conventional mobile terminals are provided with an inertial sensor. And the inertial sensors include at least an accelerometer, a magnetometer, and a gyroscope. The moving track of the positioning target can be monitored in real time in the moving process of the positioning target through the inertial sensor. And the second local time is the real-time local time of the mobile terminal.
And calculating first positioning information in real time according to the moving track and the initial positioning, namely calculating the relative displacement between the moving track of the positioning target and the first initial positioning according to the moving track, and further calculating the first positioning information according to the first initial positioning and the relative displacement. And calculating a first location information value corresponding to the first location information in real time according to the moving track, the second local time and the first local time, and broadcasting the first location information and the first location information value in real time. The mobile terminal monitors the moving track, and the positioning information can be accurately positioned in a short time in a mode of calculating the positioning information. However, in this method, when the time duration is long or the distance span is long, there is an accumulated error, which has a certain influence on the accuracy of the positioning information. Therefore, the reliability of the positioning information is judged by setting the positioning information value. The first confidence value may be calculated in various ways. For example, the moving time duration is directly calculated according to the time of the first local time and the second local time, and the first confidence value is calculated according to the moving time duration, or the moving distance is calculated according to the moving track, and the first confidence value is calculated according to the moving distance.
As a preferred embodiment, the present invention calculates a moving distance after the positioning target acquires the reference positioning according to the moving track, calculates a moving time length according to the first local time and the second local time, and calculates the first confidence value according to the initial confidence value, the moving distance, and the moving time length. The influence coefficients of the moving duration and the moving distance on the bit rate are obtained through statistical analysis of historical data obtained through testing. And then, calculating a first bit value according to the influence coefficient, the moving distance and the moving time length.
And broadcasting the first positioning information and the first information value in real time. It should be noted that the mobile terminal can switch between the real-time broadcast mode and the broadcast receiving mode by setting the switching frequency. Therefore, the mobile terminal receives the reference positioning of the acquisition point or the positioning information of other mobile terminals to correct the self-positioning information while broadcasting the self-positioning information and the bit information value corresponding to the positioning information for positioning correction of other mobile terminal equipment. Alternatively, the definition of the real-time broadcast may be performed in the form of setting a set message threshold. That is, when the bit signal value is smaller than the preset bit signal threshold value, the real-time broadcast is cancelled.
Acquiring second positioning information and a second confidence value through the mobile terminal, and judging whether the second confidence value is greater than the first confidence value of the mobile terminal; if so, calculating a second initial positioning according to the second positioning information and the corresponding first signal receiving strength, and taking the second signal value as the signal value corresponding to the second initial positioning. It should be noted that the second positioning information and the second location information value may be the reference positioning and the initial location information value broadcasted by the acquisition point, or may be the real-time positioning information broadcasted by other mobile terminals and the corresponding location information values thereof. Therefore, the real-time positioning information of the mobile terminal can be corrected through the comparison of the position information values, and the accumulated error caused by monitoring the positioning information through the inertial sensor for a long time is reduced. For example in a large mall or office building. The position information value corresponding to the mobile terminal positioning information of the personnel who have entered the interior of the building is lower than the position information value corresponding to the mobile terminal positioning information of the personnel who just entered the interior of the building. After the comparison of the bit information values, the in-depth personnel can correct the self-positioning information according to the positioning information broadcast by the mobile terminal with the high bit information value.
As a preferred embodiment, the present invention provides a method for surface location based on network communication, further comprising:
and establishing a BIM (building information modeling) model according to the building information, and updating the acquisition ID and the corresponding reference positioning to the BIM model. The building information includes positioning information, geometric information, building material information, and the like of the building. The acquisition ID and the corresponding reference positioning are updated to the BIM model, so that the acquisition point can be presented in a visual mode. Preferably, a GIS electronic map can be obtained, and a building area corresponding to the BIM model in the GIS electronic map is obtained according to the building positioning information in the building information. The building positioning information is absolute longitude and latitude information and height information of each datum point of the building corresponding to the BIM model. And adjusting the BIM according to the building information and the GIS electronic map, and overlapping the BIM to the building area. Therefore, GIS electronic maps have a certain scaling, and the BIM model also has the same. The proportion and the direction of the BIM model are adjusted through the building information and the GIS electronic map and then are superposed to a building area, and then the BIM model and the GIS electronic map can be combined to obtain the BIM model which is positioned by absolute longitude and latitude. Preferably, the first positioning information is displayed in real time in the BIM model. Furthermore, the user can intuitively know the position of the user through the mobile terminal. Or, the input instruction can be obtained through the mobile terminal of the user, so that the action navigation of the user is realized. Or, each building manager can intuitively acquire the distribution and aggregation condition of the personnel in the building through the display.
As a preferred embodiment, the present invention provides a method for surface location based on network communication, further comprising:
and obtaining wall information according to the building information, wherein the wall information comprises wall material and wall thickness. It can be known that the material of the wall body includes concrete strength, steel bar diameter, steel bar arrangement density, etc. Different wall materials and wall thicknesses can affect the signal strength broadcasted by the acquisition point to different degrees. Therefore, the signal attenuation coefficient is calculated according to the wall information, and when the mobile terminal calculates the first initial positioning, the signal attenuation coefficient is used as one of the influencing factors, so that the accuracy of the first initial positioning can be improved.
Compared with the prior art, the earth surface positioning method based on network communication corrects the positioning information of each mobile terminal by setting the bit value and comparing the bit value. The dependence of a positioning information acquisition mode on hardware deployment is reduced, the implementation cost of the scheme can be reduced, and the implementation feasibility of the scheme is improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (9)
1. A surface positioning method based on network communication is characterized by comprising the following steps:
acquiring a reference positioning and an initial positioning value corresponding to the reference positioning through a mobile terminal, and establishing a first local time association between the reference positioning and the reference positioning; generating a first initial positioning according to the reference positioning;
acquiring a moving track and second local time of a positioning target in real time through a mobile terminal; calculating first positioning information in real time according to the moving track and the initial positioning, calculating a first position information value corresponding to the first positioning information in real time according to the moving track, second local time and first local time, and broadcasting the first positioning information and the first position information value in real time;
acquiring second positioning information and a second information value through the mobile terminal, wherein the second positioning information and the second information value are real-time positioning information and corresponding information values broadcast by other mobile terminals;
judging whether the second confidence value is larger than the first confidence value;
if so, calculating a second initial positioning according to the second positioning information and the corresponding first signal receiving strength, and taking the second signal value as the signal value corresponding to the second initial positioning.
2. The earth's surface positioning method based on network communication as claimed in claim 1, wherein said obtaining the reference positioning and its corresponding initial positioning value by the mobile terminal further comprises:
presetting a plurality of acquisition points with wireless communication functions and acquisition IDs (identities) corresponding to the acquisition points one by one, wherein the acquisition points store reference positioning corresponding to installation positions of the acquisition points and initial position information values corresponding to the reference positioning;
and the acquisition point broadcasts the reference positioning and the initial position information value in real time.
3. The earth's surface positioning method based on network communication as claimed in claim 2, wherein said generating a first initial positioning according to said reference positioning specifically is:
and calculating a first initial positioning according to the reference positioning and the second signal receiving strength when the mobile terminal acquires the reference positioning.
4. The method of claim 2, further comprising:
and establishing a BIM (building information modeling) model according to the building information, and updating the acquisition ID and the corresponding reference positioning to the BIM model.
5. The method of claim 4, further comprising:
acquiring a GIS electronic map, and acquiring a building area corresponding to the BIM in the GIS electronic map according to the building information;
and adjusting the BIM according to the building information and the GIS electronic map, and superposing the BIM to the building area to generate the BIM positioned by absolute longitude and latitude.
6. The method as claimed in claim 4 or 5, further comprising:
and displaying the first positioning information in the BIM in real time.
7. The method as claimed in claim 4 or 5, further comprising:
obtaining wall information according to the building information, wherein the wall information comprises wall material and wall thickness;
calculating signal attenuation coefficients corresponding to all the walls according to the wall information;
the mobile terminal also calculates the first initial positioning according to the signal attenuation coefficient.
8. The earth's surface positioning method based on network communication as claimed in claim 1, wherein the calculating the first location information corresponding to the first location information in real time according to the moving track, the second local time and the first local time specifically comprises:
calculating the moving distance of the positioning target after acquiring the reference positioning according to the moving track;
calculating a moving time length according to the first local time and the second local time;
and calculating a first position information value corresponding to the first positioning information according to the initial position information value, the moving distance and the moving time length.
9. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method for network communication based surface location according to any one of claims 1 to 8.
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| CN110139217B (en) * | 2019-05-30 | 2021-03-19 | 中国农业科学院农业环境与可持续发展研究所 | Farmland robot positioning method and device and storage medium |
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