CN108848464A - A kind of indoor positioning server and indoor orientation method - Google Patents
A kind of indoor positioning server and indoor orientation method Download PDFInfo
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- CN108848464A CN108848464A CN201810878383.0A CN201810878383A CN108848464A CN 108848464 A CN108848464 A CN 108848464A CN 201810878383 A CN201810878383 A CN 201810878383A CN 108848464 A CN108848464 A CN 108848464A
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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
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration 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
- H04W4/30—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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- Mobile Radio Communication Systems (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to wireless location technology fields more particularly to a kind of indoor positioning server and indoor orientation method, the server to include：Moving track calculation module, for calculating the ambiguous location of mobile terminal on the electronic map by motion feature algorithm model according to motion state of mobile terminal parameter, and the ambiguous location is calibrated according to the relevant parameter for the WIFI AP for fixing position in mobile terminal during motion of mobile terminals and movement environment；Motion profile corrects module, for the relevant parameter according to the sensor for fixing position, real time calibration position information of mobile terminal, to obtain mobile terminal accurate motion profile on the electronic map.Server of the invention is corrected the ambiguous location calculated by motion of mobile terminals parameter by the WIFI AP of position fixed during motion of mobile terminals and the sensor of fixed position, improves the problem of complicated indoor moving terminal can not be accurately positioned.
Description
Technical field
The present invention relates to wireless location technology field more particularly to a kind of indoor positioning servers and indoor orientation method.
Background technique
Demand with people to positioning and navigation increasingly increases, especially in complicated indoor environment, such as airport hall, exhibition
In the environment such as the Room, warehouse, supermarket, library, underground parking, mine, it is often necessary to determine mobile terminal or its holder, set
Grant the location information of article indoors.But limited by conditions such as positioning time, positioning accuracy and complex indoor environments,
Cause that accurate indoor positioning can not be obtained always.
Existing indoor wireless locating system mainly uses the short-distance wireless skill such as infrared, ultrasonic wave, bluetooth, WiFi, RFID
Art.
WIFI provides the solution of a high performance-price ratio.Many algorithm arrangements have also been proposed in practical application,
Including measurement received signal to noise ratio (SNR), and use wider received signal strength method (RSSI).
WiFi accuracy needs first in system coverage area to the several of setting about in the range of 1 meter to 15 meters
A AP (ACCESS POINT, access point) fixed point acquires its location information and signal strength forming position database, acquisition
Workload data is big, and in order to reach higher precision, the position measuring and calculating setting of fixed point AP is comparatively laborious.Consolidate if any new
It pinpoints AP to be added, after needing to be acquired its location information and signal strength, could be used to position.
Another WiFi transceiver all can only region within 90 meters of covering radius, and due to the influence of wall and barrier,
A series of problems, such as weak multipath, absorption and masking can be brought, and covering dead angle is had in elevator & stairs etc., to influence
Its precision.
WiFi can only orient a range of mobile device, its motion profile can not be depicted.
The sensors such as infrared sensor, door sensor in smart home are in each room fixed placement, for obtaining data, and
Server is reported to by network.Shielding action due to wall to infrared ray, it is ensured that can only a room infrared sensor
Personnel are detected, door sensor etc. also ensures that in a room.But infrared sensor has coverage area, there are dead angle, will affect and is
The accuracy and real-time of system positioning.
Therefore, it is necessary to indoor positioning servers and indoor orientation method that one kind can obtain complicated indoor accurate position.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the indoor positioning server and indoor orientation method of problem.
One aspect of the present invention provides a kind of indoor positioning server, including：
Choice of parameters module, for real-time reception and by wireless signal and packet including motion state of mobile terminal parameter
Include the wireless signal for fixing the relevant parameter of WIFI AP of position during motion of mobile terminals in mobile terminal and movement environment
It is sent to moving track calculation module, and real-time reception and the relevant parameter of the sensor of fixed position is sent to motion profile
Correct module；
Moving track calculation module is used for motion state of mobile terminal Parameter analysis of electrochemical into mobile terminal initial position and shifting
Dynamic terminal acceleration of motion vector, calculates the fuzzy position of mobile terminal on the electronic map by motion feature algorithm model
It sets, and according to the relevant parameter pair for the WIFI AP for fixing position in mobile terminal during motion of mobile terminals and movement environment
The ambiguous location is calibrated, to obtain the motion profile of mobile terminal on the electronic map；
Motion profile corrects module, for the relevant parameter according to the sensor for fixing position, real time calibration mobile terminal
Location information, to obtain mobile terminal accurate motion profile on the electronic map.
Further, moving track calculation module includes：
Motion state parameters resolution unit is used for motion state of mobile terminal Parameter analysis of electrochemical into mobile terminal initial position
With motion of mobile terminals acceleration；
Ambiguous location computing unit, for whole according to mobile terminal initial position and movement by motion feature algorithm model
End motion acceleration calculates the ambiguous location of mobile terminal on the electronic map；
Location information computing unit, for according to fixed bit in mobile terminal during motion of mobile terminals and movement environment
The relevant parameter of the WIFI AP set calibrates the ambiguous location, to obtain the movement rail of mobile terminal on the electronic map
Mark.
Further, moving track calculation module further includes：WIFI AP information database, for storing the position of WIFI AP
It sets and the coverage area relation information of the signal strength of WIFI AP and WIFI AP.
Further, moving track calculation module further includes：WIFI AP information database real-time update unit, for connecing
The WIFI AP information that mobile terminal detects is received, judges the WIFI AP of WIFI AP information and the storage of moving track calculation module
Whether the WIFI AP information prestored in information database matches, if mismatching, which is added to WIFI AP
Information database, for calibrating ambiguous location.
Further, moving track calculation module further includes：WIFI AP information preferred cell, for selecting with movement eventually
Show that signal strength calibrates the ambiguous location in the WIFI AP of 60dbm or more on end.
Further, above-mentioned indoor positioning server further includes：Motion feature algorithm model correction module is used for basis
The historical data correction motion characteristics algorithm model of motion state of mobile terminal parameter.
Further, motion feature algorithm model correction module includes：
Acceleration parameter extraction unit, the acceleration in historical data for extracting motion state of mobile terminal parameter
Vector parameters；
Motion feature algorithm model taxon, for classifying to acceleration parameter, according to different classes of
Acceleration parameter is established different acceleration model and motion feature algorithm model and is stored, to be directed to different motion
Posture establishes different motion feature algorithm models；
Moving track calculation module further includes：
Acceleration Model Matching unit, for by motion of mobile terminals acceleration and different accelerations
Model is matched；
Motion feature algorithm model transfers unit, for transferring corresponding movement according to the acceleration model matched
Characteristics algorithm model.
Another aspect of the present invention provides a kind of localization method realized based on above-mentioned indoor positioning server, packet
Include following steps：
Using choice of parameters module real-time reception and by wireless signal and packet including motion state of mobile terminal parameter
Include the wireless signal for fixing the relevant parameter of WIFI AP of position during motion of mobile terminals in mobile terminal and movement environment
It is sent to moving track calculation module, and real-time reception and the relevant parameter of the sensor of fixed position is sent to motion profile
Correct module；
Using moving track calculation module by motion state of mobile terminal Parameter analysis of electrochemical at mobile terminal initial position and shifting
Dynamic terminal acceleration of motion vector, calculates the fuzzy position of mobile terminal on the electronic map by motion feature algorithm model
It sets, and according to the relevant parameter pair for the WIFI AP for fixing position in mobile terminal during motion of mobile terminals and movement environment
The ambiguous location is calibrated, to obtain the motion profile of mobile terminal on the electronic map；
Module is corrected according to the relevant parameter of the sensor of fixed position using motion profile, and real time calibration mobile terminal is fixed
Position information, to obtain mobile terminal accurate motion profile on the electronic map.
Further, above-mentioned indoor orientation method further includes：Mobile terminal is transported using motion state parameters resolution unit
Dynamic state parameter is parsed into mobile terminal initial position and motion of mobile terminals acceleration；
It is whole according to mobile terminal initial position and movement by motion feature algorithm model using ambiguous location computing unit
End motion acceleration calculates the ambiguous location of mobile terminal on the electronic map；
Using location information computing unit according to fixed bit in mobile terminal during motion of mobile terminals and movement environment
The relevant parameter of the WIFI AP set calibrates the ambiguous location, to obtain the movement rail of mobile terminal on the electronic map
Mark.
Further, above-mentioned indoor orientation method further includes：
Utilize the position of WIFI AP information database storage WIFI AP and the signal strength and WIFI AP of WIFI AP
Coverage area relation information.
Indoor positioning server and indoor orientation method provided by the invention have following progress compared with prior art：
1. indoor positioning server of the invention and indoor orientation method pass through mobile terminal during motion of mobile terminals
Preliminary correction is carried out to the position of mobile terminal with the relevant parameter for the WIFI AP for fixing position in movement environment, and according to solid
The relevant parameter for positioning the sensor set carries out secondary correction to the position of mobile terminal, and improving complicated indoor moving terminal can not
The problem of accurate positioning；
2. indoor positioning server of the invention and indoor orientation method utilize motion feature algorithm model correction module root
According to the historical data correction motion characteristics algorithm model of motion state of mobile terminal parameter, so that revised motion feature algorithm
Model can more precisely compute out the ambiguous location of mobile terminal on the electronic map；
3. indoor positioning server of the invention and indoor orientation method can be by WIFI AP information databases in real time more
New unit adds the WIFI AP not having in WIFI AP information database automatically, mobile whole during according to motion of mobile terminals
When the relevant parameter for the WIFI AP for fixing position in end and movement environment calibrates the ambiguous location, more choosings are provided
It selects, so that calibration is more accurate.
4. indoor positioning server by utilizing WIFI AP information preferred cell of the invention is selected and shows letter on mobile terminal
Number intensity calibrates the ambiguous location in the WIFI AP of 60dbm or more, and the bigger WIFI AP of signal strength is fuzzy to this
Position correction, so that calibration is more accurate.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
It should be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can be more
It becomes apparent, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the connection block diagram of indoor positioning server in the embodiment of the present invention；
Fig. 2 is indoor orientation method block diagram in the embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Fig. 1 is the connection block diagram of indoor positioning server in the embodiment of the present invention, as shown in Figure 1, room provided by the invention
Interior location-server, including：Choice of parameters module for real-time reception and will include the wireless of motion state of mobile terminal parameter
The relevant parameter of signal and the WIFI AP including fixing position in mobile terminal during motion of mobile terminals and movement environment
Wireless signal be sent to moving track calculation module, and real-time reception and the relevant parameter of sensor of fixed position is sent
Module is corrected to motion profile；Moving track calculation module is used for motion state of mobile terminal Parameter analysis of electrochemical into mobile terminal
Initial position and motion of mobile terminals acceleration calculate mobile terminal in electronic map by motion feature algorithm model
On ambiguous location, and according to the WIFI AP's for fixing position in mobile terminal during motion of mobile terminals and movement environment
Relevant parameter calibrates the ambiguous location, to obtain the motion profile of mobile terminal on the electronic map；Motion profile entangles
Positive module, for the relevant parameter according to the sensor for fixing position, real time calibration position information of mobile terminal, to obtain movement
Terminal accurate motion profile on the electronic map.
Wherein, it is fixed in mobile terminal and movement environment during motion state of mobile terminal parameter, motion of mobile terminals
The relevant parameter of the relevant parameter of the WIFI AP of position and the sensor of fixed position is that the data with time identifier are joined
It counts, the motion of mobile terminals acceleration in motion state of mobile terminal parameter passes through for detecting motion state of mobile terminal
3D acceleration transducer obtain, mobile terminal when the GPS/ Beidou disappearance that mobile terminal initial position store by mobile terminal
Position, the relevant parameter for the WIFI AP for fixing position in mobile terminal and movement environment during motion of mobile terminals includes
The address of WIFI AP and mobile terminal detect the signal strength of the WIFI AP.WIFI AP is WiFi access point, such as can
To be wireless router, wireless exchange board etc..Motion profile indicates that mobile terminal changes over time position on the electronic map
Variation.Fixed in movement environment the sensor of position for example can with when smart home in infrared sensor, door status sensor etc.
Detection signal to mobile terminal carrier is sent to choice of parameters module by the infrared sensor, and door status sensor opens door
Signal is sent to choice of parameters module.Since a WIFI AP can cover multiple rooms, and the infrared sensing in smart home
Device, door status sensor etc. can be identified single room, so as to correct position information of mobile terminal.
Motion feature algorithm model is established using probabilistic method, specifically, probabilistic method carries out movement identification
It is the set for each static posture of movement being defined as a state or a state, by these by way of network
State connects, and the switching between state and state is described using probability, mainly has Hidden Markov Model (HMM), most
Big entropy Markov model (MEMM), condition random field (CRF) etc.；3D acceleration transducer accelerates when obtaining motion of mobile terminals
The frequency and amplitude of degree, acceleration transducer placement location is different, acquires acceleration of the mobile terminal in various attitudes vibrations
Delta data, training Hidden Markov Model (HMM) are final to generate motion feature algorithm model.The number of 3D acceleration transducer
After uploading to indoor positioning server, indoor positioning server obtains motive objects by data in motion feature algorithm model
Athletic posture, for example, turn right, while the Structure Comparison with building, whether have door herein or turn right in the channel it is curved, such as
Have just showed access on map door or turn right it is curved, such as be straight channel herein, then not on map display this time movement appearance
State, but see subsequent athletic posture.
Mobile terminal is fixed with movement environment during indoor positioning server of the invention passes through motion of mobile terminals
The relevant parameter of the WIFI AP of position carries out preliminary correction to the position of mobile terminal, and according to the sensor of fixed position
Relevant parameter carries out secondary correction to the position of mobile terminal, improves the problem of complicated indoor moving terminal can not be accurately positioned.
Referring to Fig. 1, moving track calculation module includes：Motion state parameters resolution unit is used for motion of mobile terminals
State parameter is parsed into mobile terminal initial position and motion of mobile terminals acceleration；Ambiguous location computing unit, is used for
Movement is calculated eventually according to mobile terminal initial position and motion of mobile terminals acceleration by motion feature algorithm model
The ambiguous location of end on the electronic map；Location information computing unit, for according to mobile terminal during motion of mobile terminals
The ambiguous location is calibrated with the relevant parameter for the WIFI AP for fixing position in movement environment, is existed with obtaining mobile terminal
Motion profile on electronic map.
Referring to Fig. 1, moving track calculation module further includes：WIFI AP information database, for storing the position of WIFI AP
It sets and the coverage area relation information of the signal strength of WIFI AP and WIFI AP.
Referring to Fig. 1, moving track calculation module further includes：WIFI AP information database real-time update unit, for receiving
The WIFI AP information that mobile terminal detects judges that WIFI AP information and the WIFI AP of moving track calculation module storage are believed
Whether the WIFI AP information prestored in breath database matches, if mismatching, which is added to WIFI AP letter
Database is ceased, for calibrating ambiguous location.Specifically, if there is new WIFI AP in interior, signal strength can be obtained by mobile terminal,
It is uploaded to indoor positioning server, which is calculated by the position of mobile terminal and the signal strength of new WIFI AP
The position of this WIFI AP can make this after multiple mobile terminals, which for example can be set to 5 mobile terminals, uploads this WIFI AP
The position accuracy of WIFI AP is gradually increased, and becomes fixed point WIFI AP, at this point, mobile terminal can pass through this WIFI AP
Point is calibrated.
Indoor positioning server of the invention can be added automatically by WIFI AP information database real-time update unit
The WIFI AP not having in WIFI AP information database, during according to motion of mobile terminals in mobile terminal and movement environment
When the relevant parameter of the WIFI AP of fixed position calibrates the ambiguous location, more selections are provided, so that calibration is more smart
Really, and artificial addition WIFI AP is saved.
Referring to Fig. 1, moving track calculation module further includes：WIFI AP information preferred cell, for selecting and mobile terminal
Upper display signal strength calibrates the ambiguous location in the WIFI AP of 60dbm or more.Indoor positioning server of the invention
Using WIFI AP information preferred cell select with shown on mobile terminal signal strength 60dbm or more WIFI AP to the mould
Paste position is calibrated, and the bigger WIFI AP of signal strength calibrates the ambiguous location, so that calibration is more accurate.
Referring to Fig. 1, above-mentioned indoor positioning server further includes：Motion feature algorithm model correction module, for according to shifting
The historical data correction motion characteristics algorithm model of dynamic motion state of terminal parameter.Motion feature algorithm model correction module is electrically connected
It is connected to moving track calculation module.Indoor positioning server by utilizing motion feature algorithm model correction module of the invention is according to shifting
The historical data correction motion characteristics algorithm model of dynamic motion state of terminal parameter, so that revised motion feature algorithm model
The ambiguous location of mobile terminal on the electronic map can be more precisely computed out.
Referring to Fig. 1, motion feature algorithm model correction module includes：Acceleration parameter extraction unit is moved for extracting
Acceleration parameter in the historical data of dynamic motion state of terminal parameter；Motion feature algorithm model taxon, is used for
Classify to acceleration parameter, different acceleration models is established according to different classes of acceleration parameter
With motion feature algorithm model and store, to establish different motion feature algorithm models for different motion posture；Specifically,
According to the acceleration delta data of the athletic posture of mobile terminal in historical data, such as movement parallel to the ground and ground
Face vertical movement and ground movement in different angles, correction motion characteristics algorithm model, so that the shifting for different motion posture
Dynamic terminal corresponds to different motion feature algorithm models, so that the calculating of ambiguous location is more accurate.In addition, moving track calculation mould
Block further includes：Acceleration Model Matching unit, for swearing motion of mobile terminals acceleration from different acceleration
Amount model is matched；Motion feature algorithm model transfers unit, for transferring phase according to the acceleration model matched
The motion feature algorithm model answered.
Fig. 2 is indoor orientation method block diagram in the embodiment of the present invention, as shown in Fig. 2, the present invention provides one kind to be based on
The localization method that above-mentioned indoor positioning server is realized, includes the following steps：Using choice of parameters module real-time reception and will wrap
Include the wireless signal of motion state of mobile terminal parameter and including mobile terminal during motion of mobile terminals and movement environment
The wireless signal of the relevant parameter of the WIFI AP of middle fixed position is sent to moving track calculation module, and real-time reception and general
The relevant parameter of the sensor of fixed position is sent to motion profile and corrects module；It will be mobile whole using moving track calculation module
End motion state parameter is parsed into mobile terminal initial position and motion of mobile terminals acceleration, passes through motion feature algorithm
Model calculates the ambiguous location of mobile terminal on the electronic map, and according to mobile terminal during motion of mobile terminals and fortune
The relevant parameter for the WIFI AP that position is fixed in rotating ring border calibrates the ambiguous location, to obtain mobile terminal in electronics
Motion profile on map；Module is corrected according to the relevant parameter of the sensor of fixed position, real time calibration using motion profile
Position information of mobile terminal, to obtain mobile terminal accurate motion profile on the electronic map.Indoor positioning clothes of the invention
Business device and indoor orientation method are by fixing the WIFI AP of position in mobile terminal during motion of mobile terminals and movement environment
Relevant parameter preliminary correction is carried out to the position of mobile terminal, and according to the relevant parameter of the sensor of fixed position to movement
The position of terminal carries out secondary correction, improves the problem of complicated indoor moving terminal can not be accurately positioned.
Above-mentioned indoor orientation method further includes：Using motion state parameters resolution unit by motion state of mobile terminal parameter
It is parsed into mobile terminal initial position and motion of mobile terminals acceleration；
It is whole according to mobile terminal initial position and movement by motion feature algorithm model using ambiguous location computing unit
End motion acceleration calculates the ambiguous location of mobile terminal on the electronic map；
Using location information computing unit according to fixed bit in mobile terminal during motion of mobile terminals and movement environment
The relevant parameter of the WIFI AP set calibrates the ambiguous location, to obtain the movement rail of mobile terminal on the electronic map
Mark.
Above-mentioned indoor orientation method further includes：
Utilize the position of WIFI AP information database storage WIFI AP and the signal strength and WIFI AP of WIFI AP
Coverage area relation information.
Above-mentioned indoor orientation method further includes：Mobile terminal is received using WIFI AP information database real-time update unit
The WIFI AP information detected judges the WIFI AP information database of WIFI AP information and the storage of moving track calculation module
In the WIFI AP information that prestores whether match, if mismatching, which is added to WIFI AP information data
Library, for calibrating ambiguous location.
Above-mentioned indoor orientation method further includes：It is selected using WIFI AP information preferred cell and shows letter on mobile terminal
Number intensity calibrates the ambiguous location in the WIFI AP of 60dbm or more.
Above-mentioned indoor orientation method further includes：Using motion feature algorithm model correction module according to motion of mobile terminals shape
The historical data correction motion characteristics algorithm model of state parameter.
Above-mentioned indoor orientation method further includes：Motion state of mobile terminal is extracted using acceleration parameter extraction unit to join
Acceleration parameter in several historical datas；
Classified using motion feature algorithm model taxon to acceleration parameter, is added according to different classes of
Velocity vector parameter is established different acceleration model and motion feature algorithm model and is stored, to be directed to different motion appearance
State establishes different motion feature algorithm models；
Using acceleration Model Matching unit by motion of mobile terminals acceleration and different accelerations
Model is matched；
Unit is transferred using motion feature algorithm model, and corresponding movement is transferred according to the acceleration model matched
Characteristics algorithm model.
For embodiment of the method, since it is substantially similar to Installation practice, so be described relatively simple, it is related
Place illustrates referring to the part of Installation practice.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
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, those skilled in the art should understand that：It still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of indoor positioning server, which is characterized in that including：
Choice of parameters module, for real-time reception and by the wireless signal including motion state of mobile terminal parameter and including moving
The wireless signal of the relevant parameter for the WIFI AP for fixing position in dynamic terminal motion process in mobile terminal and movement environment is sent
To moving track calculation module, and real-time reception and the relevant parameter of the sensor of fixed position is sent to motion profile corrects
Module；
Moving track calculation module, for motion state of mobile terminal Parameter analysis of electrochemical is whole at mobile terminal initial position and movement
End motion acceleration calculates the ambiguous location of mobile terminal on the electronic map by motion feature algorithm model, and
It is fuzzy to this according to the relevant parameter for the WIFI AP for fixing position in mobile terminal during motion of mobile terminals and movement environment
Position is calibrated, to obtain the motion profile of mobile terminal on the electronic map；
Motion profile corrects module, for the relevant parameter according to the sensor for fixing position, real time calibration mobile terminal location
Information, to obtain mobile terminal accurate motion profile on the electronic map.
2. indoor positioning server according to claim 1, which is characterized in that moving track calculation module includes：
Motion state parameters resolution unit is used for motion state of mobile terminal Parameter analysis of electrochemical into mobile terminal initial position and shifting
Dynamic terminal acceleration of motion vector；
Ambiguous location computing unit, for being transported by motion feature algorithm model according to mobile terminal initial position and mobile terminal
Dynamic acceleration calculates the ambiguous location of mobile terminal on the electronic map；
Location information computing unit, for fixing position according in mobile terminal during motion of mobile terminals and movement environment
The relevant parameter of WIFI AP calibrates the ambiguous location, to obtain the motion profile of mobile terminal on the electronic map.
3. indoor positioning server according to claim 2, which is characterized in that moving track calculation module further includes：
WIFI AP information database, for storing the position of WIFI AP and the signal strength and the covering model of WIFI AP of WIFI AP
Enclose relation information.
4. indoor positioning server according to claim 3, which is characterized in that moving track calculation module further includes：
WIFI AP information database real-time update unit, the WIFI AP information detected for receiving mobile terminal, judges WIFI AP
Whether the WIFI AP information prestored in the WIFI AP information database that information is stored with moving track calculation module matches, if not
Matching, then be added to WIFI AP information database for the WIFI AP information, for calibrating ambiguous location.
5. indoor positioning server according to claim 4, which is characterized in that moving track calculation module further includes：
WIFI AP information preferred cell, for select with shown on mobile terminal signal strength 60dbm or more WIFI AP to this
Ambiguous location is calibrated.
6. indoor positioning server according to claim 1, which is characterized in that further include：Motion feature algorithm model is repaired
Positive module, for the historical data correction motion characteristics algorithm model according to motion state of mobile terminal parameter.
7. indoor positioning server according to claim 6, which is characterized in that
Motion feature algorithm model correction module includes：
Acceleration parameter extraction unit, the acceleration in historical data for extracting motion state of mobile terminal parameter
Parameter；
Motion feature algorithm model taxon, for classifying to acceleration parameter, according to different classes of acceleration
Degree vector parameters are established different acceleration model and motion feature algorithm model and are stored, to be directed to different motion posture
Establish different motion feature algorithm models；
Moving track calculation module further includes：
Acceleration Model Matching unit, for by motion of mobile terminals acceleration and different acceleration models
It is matched；
Motion feature algorithm model transfers unit, for transferring corresponding motion feature according to the acceleration model matched
Algorithm model.
8. a kind of localization method realized based on indoor positioning server described in claim 1, which is characterized in that including following
Step：
Using choice of parameters module real-time reception and by the wireless signal including motion state of mobile terminal parameter and including moving
The wireless signal of the relevant parameter for the WIFI AP for fixing position in dynamic terminal motion process in mobile terminal and movement environment is sent
To moving track calculation module, and real-time reception and the relevant parameter of the sensor of fixed position is sent to motion profile corrects
Module；
It is using moving track calculation module that motion state of mobile terminal Parameter analysis of electrochemical is whole at mobile terminal initial position and movement
End motion acceleration calculates the ambiguous location of mobile terminal on the electronic map by motion feature algorithm model, and
It is fuzzy to this according to the relevant parameter for the WIFI AP for fixing position in mobile terminal during motion of mobile terminals and movement environment
Position is calibrated, to obtain the motion profile of mobile terminal on the electronic map；
Module is corrected according to the relevant parameter of the sensor of fixed position, real time calibration mobile terminal location letter using motion profile
Breath, to obtain mobile terminal accurate motion profile on the electronic map.
9. indoor orientation method according to claim 8, which is characterized in that further include：It is parsed using motion state parameters
Unit is by motion state of mobile terminal Parameter analysis of electrochemical at mobile terminal initial position and motion of mobile terminals acceleration；
It is transported by motion feature algorithm model according to mobile terminal initial position and mobile terminal using ambiguous location computing unit
Dynamic acceleration calculates the ambiguous location of mobile terminal on the electronic map；
Position is fixed according in mobile terminal during motion of mobile terminals and movement environment using location information computing unit
The relevant parameter of WIFI AP calibrates the ambiguous location, to obtain the motion profile of mobile terminal on the electronic map.
10. indoor orientation method according to claim 9, which is characterized in that further include：
Utilize the position of WIFI AP information database storage WIFI AP and the signal strength of WIFI AP and covering for WIFI AP
Lid scale relationships information.
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