CN108848464B - Indoor positioning server and indoor positioning method - Google Patents
Indoor positioning server and indoor positioning method Download PDFInfo
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- CN108848464B CN108848464B CN201810878383.0A CN201810878383A CN108848464B CN 108848464 B CN108848464 B CN 108848464B CN 201810878383 A CN201810878383 A CN 201810878383A CN 108848464 B CN108848464 B CN 108848464B
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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
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- 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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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention relates to the technical field of wireless positioning, in particular to an indoor positioning server and an indoor positioning method, wherein the server comprises: the motion trail calculation module is used for calculating a fuzzy position of the mobile terminal on the electronic map through a motion characteristic algorithm model according to the motion state parameters of the mobile terminal and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal; and the motion track correction module is used for calibrating the positioning information of the mobile terminal in real time according to the related parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map. According to the invention, the server corrects the fuzzy position calculated by the motion parameters of the mobile terminal through the WIFI AP at the fixed position and the sensor at the fixed position in the motion process of the mobile terminal, so that the problem that the complex indoor mobile terminal cannot be accurately positioned is solved.
Description
Technical Field
The invention relates to the technical field of wireless positioning, in particular to an indoor positioning server and an indoor positioning method.
Background
With the increasing demands for positioning and navigation, especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines and other environments, it is often necessary to determine the indoor position information of the mobile terminal or its holder, facilities and articles. However, due to the limitations of positioning time, positioning accuracy, and complex indoor environments, accurate indoor positioning cannot be obtained.
The existing indoor wireless positioning system mainly adopts short-distance wireless technologies such as infrared, ultrasonic, Bluetooth, WiFi and RFID.
WIFI provides a cost effective solution. Many algorithmic approaches have also been proposed in practical applications, including measuring the received signal-to-noise ratio (SNR), and using the more extensive received signal strength method (RSSI).
WiFi accuracy is about 1 meter to 15 meters, but it needs to collect its location information and signal strength to several AP (ACCESS POINT) fixed POINTs set in the system coverage area to form a location database, and the workload of collecting data is large, and in order to achieve higher accuracy, the location measurement and calculation of the fixed POINT AP are set more complicated. If a new fixed point AP is added, the position information and the signal strength of the new fixed point AP need to be collected and then can be used for positioning.
In addition, the WiFi transceivers can only cover areas within 90 meters of radius, a series of problems of multipath weakening, absorption, shielding and the like can be caused due to the influence of walls and obstacles, and dead corners can be covered on elevators, stairs and the like, so that the precision of the transceivers is influenced.
WiFi can only locate a range of the mobile device and cannot describe the motion track of the mobile device.
Sensors such as infrared sensor, door magnetism in the intelligence house are fixed in every room and are placed for obtain data to report to the server through the network. Due to the shielding effect of the wall on infrared rays, people can be ensured to be detected only by the infrared sensor in one room, and a door magnet and the like can also be ensured in one room. However, the infrared sensor has a coverage area and dead angles, which affect the accuracy and real-time performance of system positioning.
Therefore, an indoor positioning server and an indoor positioning method capable of obtaining a complicated indoor precise positioning are needed.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide an indoor positioning server and an indoor positioning method that overcome or at least partially solve the above problems.
In one aspect of the present invention, an indoor positioning server is provided, including:
the parameter screening module is used for receiving and sending wireless signals comprising motion state parameters of the mobile terminal and wireless signals comprising related parameters of the mobile terminal and the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal to the motion track calculation module in real time, and receiving and sending related parameters of the sensor at the fixed position to the motion track correction module in real time;
the motion trail calculation module is used for analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal, calculating a fuzzy position of the mobile terminal on the electronic map through a motion characteristic algorithm model, and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal so as to obtain a motion trail of the mobile terminal on the electronic map;
and the motion track correction module is used for calibrating the positioning information of the mobile terminal in real time according to the related parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map.
Further, the motion trail calculation module comprises:
the motion state parameter analyzing unit is used for analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal;
the fuzzy position calculating unit is used for calculating a fuzzy position of the mobile terminal on the electronic map according to the initial position of the mobile terminal and the motion acceleration vector of the mobile terminal through a motion characteristic algorithm model;
and the positioning information calculation unit is used for calibrating the fuzzy position according to the mobile terminal in the moving process of the mobile terminal and the related parameters of the WIFI AP at the fixed position in the moving environment so as to obtain the moving track of the mobile terminal on the electronic map.
Further, the motion trajectory calculation module further includes: and the WIFI AP information database is used for storing the position of the WIFI AP, the signal intensity of the WIFI AP and the coverage area relation information of the WIFI AP.
Further, the motion trajectory calculation module further includes: and the WIFI AP information database real-time updating unit is used for receiving the WIFI AP information detected by the mobile terminal, judging whether the WIFI AP information is matched with WIFI AP information prestored in the WIFI AP information database stored by the motion trail calculation module, and if not, adding the WIFI AP information to the WIFI AP information database for calibrating the fuzzy position.
Further, the motion trajectory calculation module further includes: and the WIFI AP information optimization unit is used for selecting a WIFI AP with the signal strength more than 60dbm displayed on the mobile terminal to calibrate the fuzzy position.
Further, the indoor positioning server further includes: and the motion characteristic algorithm model correction module is used for correcting the motion characteristic algorithm model according to the historical data of the motion state parameters of the mobile terminal.
Further, the motion characteristic algorithm model modification module comprises:
the acceleration parameter extraction unit is used for extracting acceleration vector parameters in historical data of the motion state parameters of the mobile terminal;
the motion characteristic algorithm model classification unit is used for classifying the acceleration vector parameters, establishing different acceleration vector models and motion characteristic algorithm models according to the acceleration vector parameters of different classes and storing the acceleration vector models and the motion characteristic algorithm models so as to establish different motion characteristic algorithm models aiming at different motion postures;
the motion trail calculation module further comprises:
the acceleration vector model matching unit is used for matching the motion acceleration vector of the mobile terminal with different acceleration vector models;
and the motion characteristic algorithm model calling unit is used for calling a corresponding motion characteristic algorithm model according to the matched acceleration vector model.
In another aspect of the present invention, a positioning method implemented based on the indoor positioning server is provided, which includes the following steps:
the method comprises the steps that a parameter screening module is used for receiving and sending wireless signals comprising motion state parameters of a mobile terminal and wireless signals comprising related parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal in real time to a motion track calculation module, and receiving and sending related parameters of a sensor at the fixed position to a motion track correction module in real time;
analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal by using a motion trail calculation module, calculating a fuzzy position of the mobile terminal on an electronic map by using a motion characteristic algorithm model, and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal so as to obtain a motion trail of the mobile terminal on the electronic map;
and calibrating the positioning information of the mobile terminal in real time by using the motion track correction module according to the relevant parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map.
Further, the indoor positioning method further includes: analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal by using a motion state parameter analyzing unit;
calculating a fuzzy position of the mobile terminal on the electronic map according to the initial position of the mobile terminal and the motion acceleration vector of the mobile terminal by using a fuzzy position calculation unit through a motion characteristic algorithm model;
and calibrating the fuzzy position by using the positioning information computing unit according to the mobile terminal and the related parameters of the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal so as to obtain the motion track of the mobile terminal on the electronic map.
Further, the indoor positioning method further includes:
and storing the position of the WIFI AP, the signal intensity of the WIFI AP and the coverage area relation information of the WIFI AP by using the WIFI AP information database.
Compared with the prior art, the indoor positioning server and the indoor positioning method provided by the invention have the following advantages that:
1. according to the indoor positioning server and the indoor positioning method, the position of the mobile terminal is primarily corrected through the mobile terminal and the related parameters of the WIFI AP at the fixed position in the moving environment in the moving process of the mobile terminal, and the position of the mobile terminal is secondarily corrected according to the related parameters of the sensor at the fixed position, so that the problem that the complex indoor mobile terminal cannot be accurately positioned is solved;
2. according to the indoor positioning server and the indoor positioning method, the motion characteristic algorithm model is corrected by the motion characteristic algorithm model correction module according to the historical data of the motion state parameters of the mobile terminal, so that the corrected motion characteristic algorithm model can accurately calculate the fuzzy position of the mobile terminal on the electronic map;
3. according to the indoor positioning server and the indoor positioning method, WIFI APs which are not in the WIFI AP information database can be automatically added through the WIFI AP information database real-time updating unit, and more choices are provided when the fuzzy position is calibrated according to the relevant parameters of the mobile terminal and the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal, so that the calibration is more accurate.
4. The indoor positioning server selects the WIFI AP with the signal strength more than 60dbm displayed on the mobile terminal by using the WIFI AP information optimization unit to calibrate the fuzzy position, and the WIFI AP with the larger signal strength calibrates the fuzzy position, so that the calibration is more accurate.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more comprehensible.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a connection block diagram of an indoor positioning server according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating an indoor positioning method according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 is a connection block diagram of an indoor positioning server in an embodiment of the present invention, and as shown in fig. 1, the indoor positioning server provided by the present invention includes: the parameter screening module is used for receiving and sending wireless signals comprising motion state parameters of the mobile terminal and wireless signals comprising related parameters of the mobile terminal and the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal to the motion track calculation module in real time, and receiving and sending related parameters of the sensor at the fixed position to the motion track correction module in real time; the motion trail calculation module is used for analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal, calculating a fuzzy position of the mobile terminal on the electronic map through a motion characteristic algorithm model, and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal so as to obtain a motion trail of the mobile terminal on the electronic map; and the motion track correction module is used for calibrating the positioning information of the mobile terminal in real time according to the related parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map.
The mobile terminal motion state parameters, the mobile terminal and the WIFI AP at the fixed position in the motion environment and the sensor at the fixed position in the motion process of the mobile terminal are data parameters with time identification, the mobile terminal motion acceleration vector in the mobile terminal motion state parameters is obtained through a 3D acceleration sensor used for detecting the motion state of the mobile terminal, the initial position of the mobile terminal is the position of the mobile terminal when the GPS/Beidou stored in the mobile terminal disappears, and the mobile terminal and the WIFI AP at the fixed position in the motion environment related parameters in the motion process of the mobile terminal comprise the address of the WIFI AP and the signal intensity of the WIFI AP detected by the mobile terminal. The WIFI AP is a WIFI access point, and may be, for example, a wireless router, a wireless switch, or the like. The motion trail represents the position change of the mobile terminal on the electronic map along with the time change. The sensor of fixed position in motion environment for example can be time this infrared sensor such as infrared sensor, door magnetic sensor in the intelligent house and will send the detected signal to the mobile terminal carrier to parameter screening module, and door magnetic sensor opens signal transmission to parameter screening module with the door. Because a WIFI AP can cover a plurality of rooms, and infrared sensor, door sensor etc. in the intelligence house can carry out the sign to single room to can correct mobile terminal locating information.
The method comprises the steps of establishing a motion characteristic algorithm model by adopting a probability statistical method, specifically, identifying motion by adopting the probability statistical method, namely defining each static posture of the motion as a state or a state set, connecting the states in a network mode, and describing the switching between the states by adopting probability, wherein the states mainly comprise a Hidden Markov Model (HMM), a Maximum Entropy Markov Model (MEMM), a Conditional Random Field (CRF) and the like; the method comprises the steps that a 3D acceleration sensor obtains the frequency and amplitude of acceleration when a mobile terminal moves, the acceleration sensor is placed at different positions, acceleration change data of the mobile terminal when various postures change are collected, a Hidden Markov Model (HMM) is trained, and finally a motion characteristic algorithm model is generated. After the data of the 3D acceleration sensor is uploaded to the indoor positioning server, the indoor positioning server obtains the motion attitude of the moving object through the data in the motion characteristic algorithm model, such as right turning, and meanwhile, compared with the structure of a building, whether a door exists or a right turn exists in a channel is judged, if so, the door enters or the right turn is displayed on a map, if so, the straight channel is arranged, the motion attitude is not displayed on the map, and the subsequent motion attitude is seen.
According to the indoor positioning server, the position of the mobile terminal is primarily corrected through the mobile terminal and the related parameters of the WIFI AP at the fixed position in the moving environment in the moving process of the mobile terminal, and the position of the mobile terminal is secondarily corrected according to the related parameters of the sensor at the fixed position, so that the problem that the complex indoor mobile terminal cannot be accurately positioned is solved.
Referring to fig. 1, the motion trajectory calculation module includes: the motion state parameter analyzing unit is used for analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal; the fuzzy position calculating unit is used for calculating a fuzzy position of the mobile terminal on the electronic map according to the initial position of the mobile terminal and the motion acceleration vector of the mobile terminal through a motion characteristic algorithm model; and the positioning information calculation unit is used for calibrating the fuzzy position according to the mobile terminal in the moving process of the mobile terminal and the related parameters of the WIFI AP at the fixed position in the moving environment so as to obtain the moving track of the mobile terminal on the electronic map.
Referring to fig. 1, the motion trajectory calculation module further includes: and the WIFI AP information database is used for storing the position of the WIFI AP, the signal intensity of the WIFI AP and the coverage area relation information of the WIFI AP.
Referring to fig. 1, the motion trajectory calculation module further includes: and the WIFI AP information database real-time updating unit is used for receiving the WIFI AP information detected by the mobile terminal, judging whether the WIFI AP information is matched with WIFI AP information prestored in the WIFI AP information database stored by the motion trail calculation module, and if not, adding the WIFI AP information to the WIFI AP information database for calibrating the fuzzy position. Specifically, if a new WIFI AP is indoors, the mobile terminal can obtain signal strength and upload the signal strength to an indoor positioning server, the server calculates the position of the WIFI AP through the position of the mobile terminal and the signal strength of the new WIFI AP, and after a plurality of mobile terminals can be set to be 5 mobile terminals for uploading the WIFI AP, the position accuracy of the WIFI AP can be gradually improved to be a fixed-point WIFI AP, and at the moment, the mobile terminal can calibrate through the WIFI AP.
The indoor positioning server can automatically add WIFI APs which are not in the WIFI AP information database through the WIFI AP information database real-time updating unit, and provides more choices when the fuzzy position is calibrated according to the mobile terminal and the related parameters of the WIFI APs at fixed positions in the motion environment in the motion process of the mobile terminal, so that the calibration is more accurate, and manual addition of the WIFI APs is omitted.
Referring to fig. 1, the motion trajectory calculation module further includes: and the WIFI AP information optimization unit is used for selecting a WIFI AP with the signal strength more than 60dbm displayed on the mobile terminal to calibrate the fuzzy position. The indoor positioning server selects the WIFI AP with the signal strength more than 60dbm displayed on the mobile terminal by using the WIFI AP information optimization unit to calibrate the fuzzy position, and the WIFI AP with the larger signal strength calibrates the fuzzy position, so that the calibration is more accurate.
Referring to fig. 1, the indoor positioning server further includes: and the motion characteristic algorithm model correction module is used for correcting the motion characteristic algorithm model according to the historical data of the motion state parameters of the mobile terminal. The motion characteristic algorithm model modification module is electrically connected to the motion track calculation module. The indoor positioning server utilizes the motion characteristic algorithm model correction module to correct the motion characteristic algorithm model according to the historical data of the motion state parameters of the mobile terminal, so that the corrected motion characteristic algorithm model can more accurately calculate the fuzzy position of the mobile terminal on the electronic map.
Referring to fig. 1, the motion feature algorithm model modification module includes: the acceleration parameter extraction unit is used for extracting acceleration vector parameters in historical data of the motion state parameters of the mobile terminal; the motion characteristic algorithm model classification unit is used for classifying the acceleration vector parameters, establishing different acceleration vector models and motion characteristic algorithm models according to the acceleration vector parameters of different classes and storing the acceleration vector models and the motion characteristic algorithm models so as to establish different motion characteristic algorithm models aiming at different motion postures; specifically, according to the acceleration vector change data of the motion attitude of the mobile terminal in the historical data, such as parallel motion with the ground, vertical motion with the ground and motion at different angles with the ground, the motion characteristic algorithm model is corrected, so that the mobile terminals with different motion attitudes correspond to different motion characteristic algorithm models, and the calculation of the fuzzy position is more accurate. In addition, the motion trail calculation module further comprises: the acceleration vector model matching unit is used for matching the motion acceleration vector of the mobile terminal with different acceleration vector models; and the motion characteristic algorithm model calling unit is used for calling a corresponding motion characteristic algorithm model according to the matched acceleration vector model.
Fig. 2 is a step diagram of an indoor positioning method in an embodiment of the present invention, and as shown in fig. 2, the present invention provides a positioning method implemented based on the indoor positioning server, including the following steps: the method comprises the steps that a parameter screening module is used for receiving and sending wireless signals comprising motion state parameters of a mobile terminal and wireless signals comprising related parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal in real time to a motion track calculation module, and receiving and sending related parameters of a sensor at the fixed position to a motion track correction module in real time; analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal by using a motion trail calculation module, calculating a fuzzy position of the mobile terminal on an electronic map by using a motion characteristic algorithm model, and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal so as to obtain a motion trail of the mobile terminal on the electronic map; and calibrating the positioning information of the mobile terminal in real time by using the motion track correction module according to the relevant parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map. According to the indoor positioning server and the indoor positioning method, the position of the mobile terminal is primarily corrected through the mobile terminal and the related parameters of the WIFI AP at the fixed position in the moving environment in the moving process of the mobile terminal, and the position of the mobile terminal is secondarily corrected according to the related parameters of the sensor at the fixed position, so that the problem that the complex indoor mobile terminal cannot be accurately positioned is solved.
The indoor positioning method further comprises the following steps: analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal by using a motion state parameter analyzing unit;
calculating a fuzzy position of the mobile terminal on the electronic map according to the initial position of the mobile terminal and the motion acceleration vector of the mobile terminal by using a fuzzy position calculation unit through a motion characteristic algorithm model;
and calibrating the fuzzy position by using the positioning information computing unit according to the mobile terminal and the related parameters of the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal so as to obtain the motion track of the mobile terminal on the electronic map.
The indoor positioning method further comprises the following steps:
and storing the position of the WIFI AP, the signal intensity of the WIFI AP and the coverage area relation information of the WIFI AP by using the WIFI AP information database.
The indoor positioning method further comprises the following steps: and receiving WIFI AP information detected by the mobile terminal by using a WIFI AP information database real-time updating unit, judging whether the WIFI AP information is matched with WIFI AP information prestored in a WIFI AP information database stored by a motion trail calculation module, and if not, adding the WIFI AP information to the WIFI AP information database for calibrating the fuzzy position.
The indoor positioning method further comprises the following steps: and selecting a WIFI AP with the signal strength of more than 60dbm displayed on the mobile terminal by using a WIFI AP information optimization unit to calibrate the fuzzy position.
The indoor positioning method further comprises the following steps: and correcting the motion characteristic algorithm model according to the historical data of the motion state parameters of the mobile terminal by using the motion characteristic algorithm model correction module.
The indoor positioning method further comprises the following steps: extracting acceleration vector parameters in historical data of the motion state parameters of the mobile terminal by using an acceleration parameter extraction unit;
classifying the acceleration vector parameters by using a motion characteristic algorithm model classifying unit, establishing different acceleration vector models and motion characteristic algorithm models according to the acceleration vector parameters of different classes and storing the different acceleration vector models and the motion characteristic algorithm models so as to establish different motion characteristic algorithm models aiming at different motion postures;
matching the motion acceleration vector of the mobile terminal with different acceleration vector models by using an acceleration vector model matching unit;
and a motion feature algorithm model calling unit is used for calling a corresponding motion feature algorithm model according to the matched acceleration vector model.
As for the method embodiment, since it is basically similar to the apparatus embodiment, the description is simple, and the relevant points can be referred to the partial description of the apparatus embodiment.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An indoor positioning server, comprising:
the parameter screening module is used for receiving and sending wireless signals comprising motion state parameters of the mobile terminal and wireless signals comprising related parameters of the mobile terminal and the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal to the motion track calculation module in real time, and receiving and sending related parameters of the sensor at the fixed position to the motion track correction module in real time;
the motion trail calculation module is used for analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal, calculating a fuzzy position of the mobile terminal on the electronic map through a motion characteristic algorithm model, and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal so as to obtain a motion trail of the mobile terminal on the electronic map;
the motion track correction module is used for calibrating the positioning information of the mobile terminal in real time according to the related parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map; the motion trail calculation module comprises:
the motion state parameter analyzing unit is used for analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal;
the fuzzy position calculating unit is used for calculating a fuzzy position of the mobile terminal on the electronic map according to the initial position of the mobile terminal and the motion acceleration vector of the mobile terminal through a motion characteristic algorithm model;
and the positioning information calculation unit is used for calibrating the fuzzy position according to the mobile terminal in the moving process of the mobile terminal and the related parameters of the WIFI AP at the fixed position in the moving environment so as to obtain the moving track of the mobile terminal on the electronic map.
2. The indoor positioning server of claim 1, wherein the motion trajectory calculation module further comprises: and the WIFI AP information database is used for storing the position of the WIFI AP, the signal intensity of the WIFI AP and the coverage area relation information of the WIFI AP.
3. The indoor positioning server of claim 2, wherein the motion trajectory calculation module further comprises: and the WIFI AP information database real-time updating unit is used for receiving the WIFI AP information detected by the mobile terminal, judging whether the WIFI AP information is matched with WIFI AP information prestored in the WIFI AP information database stored by the motion trail calculation module, and if not, adding the WIFI AP information to the WIFI AP information database for calibrating the fuzzy position.
4. The indoor positioning server of claim 3, wherein the motion trajectory calculation module further comprises: and the WIFI AP information optimization unit is used for selecting a WIFI AP with the signal strength more than 60dbm displayed on the mobile terminal to calibrate the fuzzy position.
5. The indoor positioning server of claim 1, further comprising: and the motion characteristic algorithm model correction module is used for correcting the motion characteristic algorithm model according to the historical data of the motion state parameters of the mobile terminal.
6. The indoor positioning server of claim 5,
the motion characteristic algorithm model modification module comprises:
the acceleration parameter extraction unit is used for extracting acceleration vector parameters in historical data of the motion state parameters of the mobile terminal;
the motion characteristic algorithm model classification unit is used for classifying the acceleration vector parameters, establishing different acceleration vector models and motion characteristic algorithm models according to the acceleration vector parameters of different classes and storing the acceleration vector models and the motion characteristic algorithm models so as to establish different motion characteristic algorithm models aiming at different motion postures;
the motion trail calculation module further comprises:
the acceleration vector model matching unit is used for matching the motion acceleration vector of the mobile terminal with different acceleration vector models;
and the motion characteristic algorithm model calling unit is used for calling a corresponding motion characteristic algorithm model according to the matched acceleration vector model.
7. An indoor positioning server implemented positioning method based on claim 1, characterized by comprising the steps of:
the method comprises the steps that a parameter screening module is used for receiving and sending wireless signals comprising motion state parameters of a mobile terminal and wireless signals comprising related parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal in real time to a motion track calculation module, and receiving and sending related parameters of a sensor at the fixed position to a motion track correction module in real time;
analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal by using a motion trail calculation module, calculating a fuzzy position of the mobile terminal on an electronic map by using a motion characteristic algorithm model, and calibrating the fuzzy position according to the relevant parameters of the mobile terminal and a WIFI AP at a fixed position in a motion environment in the motion process of the mobile terminal so as to obtain a motion trail of the mobile terminal on the electronic map;
and calibrating the positioning information of the mobile terminal in real time by using the motion track correction module according to the relevant parameters of the sensor at the fixed position so as to obtain the accurate motion track of the mobile terminal on the electronic map.
8. The indoor positioning method according to claim 7, further comprising: analyzing the motion state parameters of the mobile terminal into an initial position of the mobile terminal and a motion acceleration vector of the mobile terminal by using a motion state parameter analyzing unit;
calculating a fuzzy position of the mobile terminal on the electronic map according to the initial position of the mobile terminal and the motion acceleration vector of the mobile terminal by using a fuzzy position calculation unit through a motion characteristic algorithm model;
and calibrating the fuzzy position by using the positioning information computing unit according to the mobile terminal and the related parameters of the WIFI AP at the fixed position in the motion environment in the motion process of the mobile terminal so as to obtain the motion track of the mobile terminal on the electronic map.
9. The indoor positioning method according to claim 8, further comprising:
and storing the position of the WIFI AP, the signal intensity of the WIFI AP and the coverage area relation information of the WIFI AP by using the WIFI AP information database.
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