CN109587631B - Indoor positioning method and device - Google Patents
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
The invention provides an indoor positioning method and device, wherein the indoor positioning method comprises the following steps: monitoring broadcast information of a plurality of positioning base stations located indoors and motion information of a mobile carrier; acquiring the signal characteristics of the corresponding positioning base station in each monitored broadcast message; determining base station positioning information of a mobile carrier according to the acquired signal characteristics of the plurality of positioning base stations; determining inertial positioning information of the mobile carrier according to historical walking data and the monitored motion information of the mobile carrier; and fusing the base station positioning information and the inertial positioning information to determine the current positioning coordinate of the mobile carrier.
Description
Technical Field
The present invention relates to the field of computers, and in particular, to an indoor positioning method and apparatus.
Background
Along with the improvement of building technology, the area of the building body is larger and larger, and the channel and the wall body in the building body are more and more complicated, although the GPS can meet the outdoor positioning of people, and the positioning precision is further improved. However, because the indoor environment is complicated and complicated, and the satellite signal cannot penetrate through the wall of the building, an indoor positioning technology which can be widely applied, is mature and has high precision is still lacked.
The existing indoor positioning method is mainly based on fingerprint algorithm positioning of electromagnetic technologies such as Bluetooth or WIFI, the algorithm completely depends on electromagnetic signals and is influenced by indoor environment, fluctuation of the electromagnetic signals is often large, and therefore positioning often drifts, and positioning accuracy is often unstable.
Furthermore, existing fingerprinting algorithm positioning requires the acquisition of all the received base station signals at every location point indoors to form a fingerprint, which results in a very large amount of data to be acquired. Furthermore, the existing fingerprint algorithm needs to retest the fingerprint after the environment changes, so the existing indoor positioning method has very high implementation cost.
Disclosure of Invention
The invention provides an indoor positioning method and device for accurate positioning, aiming at overcoming the problem of inaccurate positioning of the existing indoor positioning technology.
In order to achieve the above object, the present invention provides an indoor positioning method, including:
monitoring broadcast information of a plurality of positioning base stations located indoors and motion information of a mobile carrier;
acquiring the signal characteristics of the corresponding positioning base station in each monitored broadcast message;
determining base station positioning information of a mobile carrier according to the acquired signal characteristics of the plurality of positioning base stations;
determining inertial positioning information of the mobile carrier according to historical walking data and the monitored motion information of the mobile carrier;
and fusing the base station positioning information and the inertial positioning information to determine the current positioning coordinate of the mobile carrier.
According to an embodiment of the present invention, any three of the plurality of positioning base stations are arranged in a triangle, and determining the base station positioning information of the mobile carrier includes:
selecting more than four positioning base stations in a descending order according to the signal characteristics of each positioning base station;
respectively obtaining the coordinates of the selected positioning base stations to form characteristic coordinates;
grouping the obtained characteristic coordinates to form coordinate groups, wherein each coordinate group comprises three characteristic coordinates;
calculating the center coordinate of each coordinate group according to a trilateration positioning algorithm;
calculating the distance D from each center coordinate to each characteristic coordinatenmAnd the maximum distance D between two adjacent characteristic coordinatesmax；
Removing DnmGreater than DmaxThe center coordinates of (a);
and grouping the rest central coordinates as characteristic coordinates and repeating the calculation steps until only one central coordinate is obtained, and determining the central coordinate as the positioning coordinate of the base station.
According to an embodiment of the present invention, the positioning base station is a BLE base station, and the signal characteristic is a bluetooth signal strength value of the monitored motion information BLE base station.
According to an embodiment of the present invention, the motion information includes a step length, a step frequency, and a motion direction of the moving carrier, and the inertial positioning information is calculated according to the historical walking data and the acquired motion information under the condition that the moving carrier is moving linearly in a two-dimensional state.
In accordance with an embodiment of the present invention,
at the initial moment of entry of the mobile carrier into the room, the positioning coordinates are determined by:
a base station initializes to obtain a first base station positioning coordinate;
obtaining a first inertial positioning coordinate by combining the motion information of the mobile carrier on the basis of the first base station positioning coordinate;
the base station obtains a second base station positioning coordinate;
distributing credibility coefficients K1 and K2 for the first inertia coordinate and the second base station positioning coordinate respectively;
and calculating to obtain the positioning coordinate of the mobile carrier according to the credibility coefficients K1 and K2, the first inertial positioning coordinate and the second base station positioning coordinate.
According to an embodiment of the present invention, the indoor positioning method further includes: and correcting the previous positioning coordinate by combining the motion information of the moving carrier after the current positioning coordinate is obtained.
According to an embodiment of the invention, after the initial positioning coordinate of the mobile carrier is obtained, whether the initial positioning coordinate is located in the channel range is judged according to the indoor map, and if the initial positioning coordinate is located out of the range, the initial positioning coordinate is vertically translated to the channel by using the principle of twice positioning without wall penetration.
According to an embodiment of the present invention, fusing the base station positioning information and the inertial positioning information, and determining the current positioning coordinates of the mobile carrier includes:
respectively obtaining a base station positioning coordinate and an inertial positioning coordinate from the base station positioning information and the inertial positioning information;
calculating the distance from the base station positioning coordinate to the inertial positioning coordinate;
if the distance from the base station positioning coordinate to the inertial positioning coordinate is greater than a set threshold value, taking the inertial positioning coordinate as the current positioning coordinate of the mobile carrier; otherwise, selecting the intermediate coordinate of the base station positioning coordinate and the inertial positioning coordinate as the current positioning coordinate of the mobile carrier.
Correspondingly, the invention also provides an indoor positioning device which comprises a monitoring module, an acquisition module, a base station positioning module, an inertial positioning module and a fusion module. The monitoring module monitors broadcast information of a plurality of positioning base stations located indoors and motion information of a mobile carrier. The acquisition module acquires the signal characteristics of the corresponding positioning base station in each monitored broadcast message. And the base station positioning module determines the base station positioning information of the mobile carrier according to the acquired signal characteristics of the plurality of positioning base stations. And the inertial positioning module determines the inertial positioning information of the mobile carrier according to the historical walking data and the monitored motion information of the mobile carrier. And the fusion module fuses the base station positioning information and the inertial positioning information to determine the current positioning coordinate of the mobile carrier.
According to an embodiment of the present invention, the indoor positioning device is a smart phone, and a motion sensor, an acceleration sensor, a direction sensor, and a geomagnetic sensor are embedded in the smart phone.
In summary, the indoor positioning method and apparatus provided by the present invention continuously monitor the motion information of the mobile carrier while monitoring the indoor positioning base station broadcast, determine the base station positioning information of the mobile carrier according to the received signal characteristics of the positioning base station, and obtain the inertial positioning information according to the motion information of the mobile carrier. And finally fusing the base station positioning information and the inertial positioning information, and correcting the base station positioning information by using the inertial positioning information. The method is a brand new fusion positioning method, the inertial positioning information is only influenced by the mobile carrier, but not by the indoor environment condition and the strength of the electromagnetic signal, so that the drift problem of the positioning base station caused by the indoor environment change and the electromagnetic signal change can be well corrected, and the accuracy of indoor positioning is greatly improved. In addition, in the fusion positioning method, even if the indoor environment changes, the mobile carrier only needs to continuously monitor the information of the positioning base station, and does not need to collect the position fingerprint, so the implementation cost is very low.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a flowchart illustrating an indoor positioning method according to an embodiment of the present invention.
Fig. 2 is a flowchart of step S30 in fig. 1.
Fig. 3 is a schematic diagram illustrating indoor distribution of a plurality of positioning base stations in an indoor positioning method according to an embodiment of the present invention.
Fig. 4 is a block diagram illustrating an indoor positioning apparatus according to an embodiment of the present invention.
Detailed Description
The existing indoor positioning method mainly depends on electromagnetic technologies such as Bluetooth or WIFI (wireless fidelity), the transmission of indoor electromagnetic waves is influenced by indoor environment, and electromagnetic signal fluctuation is large, so that positioning is often worn and drifted. In view of this, the present embodiment provides an indoor positioning method and apparatus with a combination of multiple technologies and high positioning accuracy.
The indoor positioning method provided by the embodiment comprises the following steps: broadcast information of a plurality of positioning base stations located indoors and motion information of a mobile carrier are monitored (step S10). The signal characteristics of the corresponding positioning base station are obtained from each of the monitored broadcast messages (step S20). And determining the base station positioning information of the mobile carrier according to the acquired signal characteristics of the plurality of positioning base stations (step S30). Inertial positioning information of the mobile carrier is determined based on the historical walking data and the monitored motion information of the mobile carrier (step S40). And fusing the base station positioning information and the inertial positioning information to determine the current positioning coordinates of the mobile carrier (step S50). The positioning process of the indoor positioning method provided in this embodiment will be described in detail below with reference to fig. 1 and 2.
The indoor positioning method provided by this embodiment starts in step S10, and the system continuously listens for the broadcast information of a plurality of positioning base stations located indoors and the motion information of the mobile carrier. In this embodiment, as shown in fig. 3, a plurality of BLE positioning base stations are installed indoors, and any three BLE positioning base stations are distributed in a triangular shape. However, the present invention does not set any limit to the type of the positioning base station and the arrangement structure. In other embodiments, the positioning bs may be other wireless positioning bss such as a WIFI positioning bs. The purpose of the triangular distribution of any three BLE positioning base stations is to determine the base station positioning information using the trilateration positioning algorithm in step S30. In other embodiments, the positions of the positioning base stations may be adaptively adjusted when other algorithms are used to determine the base station positioning information. And each BLE base station broadcasts self information every 0.5 second, and a Bluetooth signal receiver in the indoor positioning device monitors Bluetooth broadcast and records all received Bluetooth information, so that the monitoring of the broadcast information of the positioning base station is realized. For the motion information of the mobile carrier itself, in this embodiment, the mobile carrier carries a plurality of sensors, such as a motion sensor, an acceleration sensor, a geomagnetic sensor, and the like, and the motion information monitoring module in the indoor positioning apparatus obtains the information detected by the sensors, so as to obtain the motion information of the mobile carrier, such as the step length, the step frequency, the motion direction, and the like.
In the present embodiment, the moving carrier is a pedestrian. However, the present invention is not limited thereto. In other embodiments, the mobile carrier may be a machine or equipment that moves indoors, such as a sweeping robot or a courier sorting cart.
After monitoring the broadcast information of each BLE positioning base station, step S20 is executed to obtain the signal characteristics of the positioning base station corresponding to each BLE positioning base station in each broadcast information. In this embodiment, the bluetooth signal strength value of each positioning base station received by the indoor positioning device is used as the signal characteristic of the BLE base station. However, the present invention is not limited thereto. In other embodiments, the signal characteristics of the positioning base station may be selected from the characteristics of the multipath structure of the communication signal, whether the access point or base station is detected at a location, or the round trip time or delay of the signal when communicating at a location. The indoor positioning device continuously monitors for N seconds, when the number of the positioning base stations is larger than the set number M and the intensity value of the Bluetooth signal of each positioning base station is larger than three, the signal intensity value of each BLE is obtained by using a median method, step S30 is executed, and the positioning information of the base station is determined according to the Bluetooth signal intensity of each positioning base station. The specific determination process is shown in fig. 2.
First, step S301 is executed to select, according to the bluetooth signal strength value of each BLE positioning base station, more than four positioning base stations in a descending order according to the bluetooth signal strength value. In this embodiment, four BLE positioning base stations, BLE1, BLE2, BLE3 and BLE4, are selected according to the descending order of the bluetooth signal strength values. However, the present invention is not limited thereto. In other embodiments, more than five positioning base stations may be selected in descending order according to the signal characteristics. Then, step S302 is executed to obtain coordinates of the four positioning base stations selected from BLE1, BLE2, BLE3 and BLE4, respectively, to form characteristic coordinates, which are (x)L1，yL1)，(xL2，yL2)，(xL3，yL3)，(xL4，yL4). Then, step S303 is executed to group the acquired four feature coordinates to form four coordinate sets, where each coordinate set includes three feature coordinates. In step S304, the center coordinate of each coordinate set is calculated according to the trilateration positioning algorithm, and when the trilateration positioning algorithm is adopted, the distance from the coordinate of the mobile carrier to each feature coordinate needs to be acquired. In this embodiment, the distance from the mobile carrier to each feature coordinate can be calculated according to the monitored bluetooth signal strength value of the positioning base station, and the specific calculation formula is as follows:
dn＝10^((abs(RSSIn) -a)/(10 x N)) formula one
Wherein the RSSInThe Bluetooth signal intensity value of the nth BLE positioning base station monitored by the mobile carrier is obtained, A is the Bluetooth signal intensity value when the BLE positioning base station and the mobile carrier are separated by 1 meter, N is an environment attenuation factor, and N is 1,2,3 and 4. dnTo moveThe nth BLE that the carrier hears locates the distance of the base station.
To contain (x)L1，yL1)，(xL2，yL2)，(xL3，yL3) Coordinate sets of three characteristic coordinates are used as examples to introduce a trilateration location algorithm to calculate a first central coordinate (x)L01，yL01)：
(xL1-xL01)2+(yL1-yL01)2＝d1 2Formula two
(xL2-xL01)2+(yL2-yL01)2＝d2 2Formula three
(xL3-xL01)2+(yL3-yL01)2＝d3 2Formula four
Wherein: d1Is set as (x) at the coordinate positionL1，yL1) BLE locates the distance from the base station to the moving carrier; d2Is set as (x) at the coordinate positionL2，yL2) BLE locates the distance from the base station to the moving carrier; d3Is set as (x) at the coordinate positionL3，yL3) BLE locates the distance from the base station to the moving carrier.
The center coordinates of the other three coordinate sets are obtained in the same manner, thereby obtaining four center coordinates (x)L01，yL01)，(xL02，yL02)，(xL03，yL03)，(xL04，yL04). In step S305, the distance D from each center coordinate to each feature coordinate is calculated0nmAnd the maximum distance D between two adjacent characteristic coordinatesmax. Executing step S306 to remove D0nmGreater than DmaxThe center coordinates of (a). Then, step S307 is executed, the remaining center coordinates are used as feature coordinates and the step S303 is performed to group and repeat the steps S303 to S307 until only one center coordinate is obtained, the unique center coordinate (x) is usedL0，yL0) The base station location coordinates are determined (step S308).
In the method for determining the base station positioning information by positioning the signal characteristics of the base station, the following will describe determining the inertial positioning information according to the monitored motion information of the mobile carrier. For convenience of description, the embodiment first describes the obtaining method of the base station positioning information and then describes the obtaining method of the inertial positioning information, but this does not necessarily mean that the inertial positioning information is determined first and then the inertial positioning information is determined. In the actual processing, the two may have a sequential order or a parallel relationship.
In this embodiment, the motion information such as the step length, the step frequency, and the motion direction of the moving carrier is obtained by providing a motion sensor, an acceleration sensor, a direction sensor, a geomagnetic sensor, and the like on the moving carrier. The track is presumed to be that the motion of the moving carrier is generally regarded as two-dimensional motion, the basic principle is a plane geometry method, that is, under the condition of short sampling time, the moving carrier is regarded as linear motion, the position information of the starting point is obtained, and the position of the next moment can be obtained according to the step length, the step frequency and the motion direction. Specifically, if the coordinates of the moving carrier at the current time are (x, y), the step length of the moving carrier monitored by the indoor positioning device is l, the step frequency is f, the sampling time is t, and the included angle between the current motion direction and the previous time is θ, the coordinates of the moving carrier at the next time can be calculated to be (x + cos (l x f t), x + sin (l x f t)), and the coordinates are called as the inertial positioning coordinates.
And after the base station positioning coordinate and the inertial positioning coordinate are obtained, calculating the distance from the base station positioning coordinate to the inertial positioning coordinate. If the distance from the base station positioning coordinate to the inertial positioning coordinate is greater than a set threshold value, the base station positioning coordinate at the moment is considered to be a floating point influenced by electromagnetic waves, the precision is inaccurate, and the relatively accurate inertial positioning coordinate is used as the current positioning coordinate of the mobile carrier. And if the distance from the base station positioning coordinate to the inertial positioning coordinate is less than or equal to a set threshold value, selecting the intermediate coordinate of the base station positioning coordinate and the inertial positioning coordinate as the current positioning coordinate of the mobile carrier. However, the present invention does not limit the fusion method of the base station positioning information and the inertial positioning information. In other embodiments, other algorithms may be adopted to directly fuse the motion information, such as the step length is l, the step frequency is f, the sampling time is t, and the included angle between the current motion direction and the previous time is θ, in the calculation of the base station positioning information in step S30, so as to correct the inaccuracy of the base station positioning information.
Further, in order to improve the accuracy of positioning, the indoor positioning method provided in this embodiment further includes step S60, after obtaining the current positioning coordinate, correcting the previous positioning coordinate by combining the motion information of the mobile carrier. The judgment of the moving direction of the moving carrier is not very accurate within a short sampling time or initial moment, and by adding the step S60, the judgment of the moving direction of the moving carrier is more accurate, and the accuracy of indoor positioning is improved by continuously correcting the positioning coordinates at the previous moment.
In actual use, when the moving carrier enters the room, initial positioning coordinates need to be acquired. In the present embodiment, the initial positioning coordinates are determined in the following manner. An indoor map including parameters such as route information, a route width range, a BLE positioning base station name, a serial number, and a coordinate position is stored in the indoor positioning device in advance. And defining the first coordinate obtained by initialization as the initial positioning coordinate of the mobile carrier.
Base station initialization to obtain first base station location coordinate (x)1,y1). Obtaining a first inertial positioning coordinate (x) by combining the motion information of the mobile carrier based on the first base station positioning coordinate1+cos(l*f*t),x1+ sin (l f t)), where l is the step size, the step frequency is f, and the sampling time is t. The base station obtains the second base station location coordinates (x)2,y2). Respectively, the first inertia coordinate (x)1+cos(l*f*t),x0+ sin (l f t) and second basestation location coordinates (x)2,y2) Confidence coefficients K1 and K2 are assigned. First inertial positioning coordinate (x) according to credibility coefficients K1 and K21+cos(l*f*t),x1+ sin (l f t) and second basestation location coordinates (x)2,y2) And calculating to obtain the positioning coordinates (x, y) of the mobile carrier. Generally, the reliability of the positioning coordinates of the base station obtained at the initial time is higher than that of the inertial positioning coordinates, so in this embodiment, K1 is set to 0.4K2 is 0.6. However, the present invention is not limited thereto. In other embodiments, K1 and K2 may be selected according to actual tests on the premise that K1+ K2 is 1. The location coordinates (x, y) obtained after the confidence assignment are: (K1 × (x)1+cos(l*f*t))+K2*x2，K1*(y1+cos(l*f*t))+K2*y2). Finally, the correction is reversely deduced according to the positioning coordinates (x, y) and the motion information of the mobile carrier to form initial positioning coordinates.
Further, after the initial positioning coordinate of the mobile carrier is obtained, whether the initial positioning coordinate is located in the channel range is judged according to the indoor map, and if the initial positioning coordinate is located out of the range, the initial positioning coordinate is vertically translated to the channel on the basis of the principle that wall penetration is not caused in the former and latter positioning.
Corresponding to the above indoor positioning method, as shown in fig. 4, the present embodiment further provides an indoor positioning apparatus 100, where the indoor positioning apparatus 100 includes a monitoring module 10, an obtaining module 20, a base station positioning module 30, an inertial positioning module 40, and a fusion module 50. The monitoring module 10 monitors broadcast information of a plurality of positioning base stations 200 located indoors and motion information of a mobile carrier. The obtaining module 20 obtains the signal characteristics of the corresponding positioning base station in each monitored broadcast message. The base station location module 30 determines the base station location information of the mobile carrier according to the acquired signal characteristics of the plurality of location base stations. The inertial positioning module 40 determines inertial positioning information of the mobile carrier according to the historical walking data and the monitored motion information of the mobile carrier. The fusion module 50 fuses the base station positioning information and the inertial positioning information to determine the current positioning coordinate of the mobile carrier, and in this embodiment, the fusion module 50 further corrects the previous positioning coordinate by combining the current positioning coordinate and the motion information of the mobile carrier.
The monitoring module 10 includes a base station information monitoring module 11 and a motion information monitoring module 12, in this embodiment, the base station information monitoring module 11 is a bluetooth signal receiver, the mobile carrier is installed with sensors such as a motion sensor 61, an acceleration sensor 62, a direction sensor 63, and a geomagnetic sensor 64, and the motion information monitoring module 12 monitors and obtains signals detected by these sensors. In this embodiment, the mobile carrier is a pedestrian, the indoor monitoring device is a smart phone, and the bluetooth signal receiver, the motion sensor 61, the acceleration sensor 62, the direction sensor 63, and the geomagnetic sensor 64 are all embedded in the smart phone. However, the present invention is not limited thereto. In other embodiments, the indoor monitoring device may be an intelligent bracelet or other intelligent device that is easily moved by a pedestrian. Alternatively, in other embodiments, the indoor monitoring device is a smart phone, and the sensors such as the motion sensor 61, the acceleration sensor 62, the direction sensor 63, and the geomagnetic sensor 64 are independent of the smart phone.
The indoor positioning apparatus continuously obtains the position information of the mobile carrier according to steps S10 to S50 in the indoor positioning method of the present embodiment, and the specific positioning method is not described herein again.
In summary, the indoor positioning method and apparatus provided by the present invention continuously monitor the motion information of the mobile carrier while monitoring the indoor positioning base station broadcast, determine the base station positioning information of the mobile carrier according to the received signal characteristics of the positioning base station, and obtain the inertial positioning information according to the motion information of the mobile carrier. And finally fusing the base station positioning information and the inertial positioning information, and correcting the base station positioning information by using the inertial positioning information. The method is a brand new fusion positioning method, the inertial positioning information is only influenced by the mobile carrier, but not by the indoor environment condition and the strength of the electromagnetic signal, so that the drift problem of the positioning base station caused by the indoor environment change and the electromagnetic signal change can be well corrected, and the accuracy of indoor positioning is greatly improved. In addition, in the fusion positioning method, even if the indoor environment changes, the mobile carrier only needs to continuously monitor the information of the positioning base station, and does not need to collect the position fingerprint, so the implementation cost is very low.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An indoor positioning method, comprising:
monitoring broadcast information of a plurality of positioning base stations located indoors and motion information of a mobile carrier;
acquiring the signal characteristics of the corresponding positioning base station in each monitored broadcast message;
determining base station positioning information of a mobile carrier according to the acquired signal characteristics of the plurality of positioning base stations;
determining inertial positioning information of the mobile carrier according to historical walking data and the monitored motion information of the mobile carrier;
fusing base station positioning information and inertial positioning information to determine the current positioning coordinate of the mobile carrier; at the initial moment of entry of the mobile carrier into the room, the positioning coordinates are determined by:
a base station initializes to obtain a first base station positioning coordinate;
obtaining a first inertial positioning coordinate by combining the motion information of the mobile carrier on the basis of the first base station positioning coordinate;
the base station obtains a second base station positioning coordinate;
distributing credibility coefficients K1 and K2 for the first inertia coordinate and the second base station positioning coordinate respectively;
obtaining a positioning coordinate obtained after reliability distribution according to the reliability coefficients K1 and K2, the first inertial positioning coordinate and the second base station positioning coordinate;
performing reverse-derivation correction according to the positioning coordinates and the motion information of the mobile carrier to form initial positioning coordinates;
and after the initial positioning coordinate of the mobile carrier is obtained, judging whether the initial coordinate is positioned in the channel range according to the indoor map, and if the initial coordinate is out of the range, vertically translating the initial positioning coordinate to the channel on the basis of the principle that the wall penetration is avoided in the former and latter positioning.
2. The indoor positioning method of claim 1, wherein any three of the plurality of positioning base stations are arranged in a triangle, and determining the base station positioning information of the mobile carrier comprises:
selecting more than four positioning base stations in a descending order according to the signal characteristics of each positioning base station;
respectively obtaining the coordinates of the selected positioning base stations to form characteristic coordinates;
grouping the obtained characteristic coordinates to form coordinate groups, wherein each coordinate group comprises three characteristic coordinates;
calculating the center coordinate of each coordinate group according to a trilateration positioning algorithm;
calculating the distance D from each center coordinate to each characteristic coordinatenmAnd the maximum distance D between two adjacent characteristic coordinatesmax；
Removing DnmGreater than DmaxThe center coordinates of (a);
and grouping the rest central coordinates as characteristic coordinates and repeating the calculation steps until only one central coordinate is obtained, and determining the central coordinate as the positioning coordinate of the base station.
3. The indoor positioning method according to claim 1 or 2, wherein the positioning base station is a BLE base station, and the signal is characterized by a bluetooth signal strength value of the monitored motion information BLE base station.
4. The indoor positioning method of claim 1, wherein the motion information comprises a step length, a step frequency and a motion direction of the moving carrier, and the inertial positioning information is calculated according to the historical walking data and the acquired motion information under the condition that the moving carrier does linear motion in a two-dimensional state.
5. The indoor positioning method according to claim 1, further comprising:
and correcting the previous positioning coordinate by combining the motion information of the moving carrier after the current positioning coordinate is obtained.
6. The indoor positioning method of claim 1, wherein fusing the base station positioning information and the inertial positioning information and determining the current positioning coordinates of the mobile carrier comprises:
respectively obtaining a base station positioning coordinate and an inertial positioning coordinate from the base station positioning information and the inertial positioning information;
calculating the distance from the base station positioning coordinate to the inertial positioning coordinate;
if the distance from the base station positioning coordinate to the inertial positioning coordinate is greater than a set threshold value, taking the inertial positioning coordinate as the current positioning coordinate of the mobile carrier; otherwise, selecting the intermediate coordinate of the base station positioning coordinate and the inertial positioning coordinate as the current positioning coordinate of the mobile carrier.
7. An indoor positioning device, comprising:
the monitoring module monitors the broadcast information of a plurality of indoor positioning base stations and the motion information of the mobile carrier;
the acquisition module is used for acquiring the signal characteristics of the corresponding positioning base station in each monitored broadcast message;
the base station positioning module is used for determining the base station positioning information of the mobile carrier according to the acquired signal characteristics of the plurality of positioning base stations;
the inertial positioning module is used for determining the inertial positioning information of the mobile carrier according to the historical walking data and the monitored motion information of the mobile carrier;
the fusion module is used for fusing the base station positioning information and the inertial positioning information to determine the current positioning coordinate of the mobile carrier; at the initial moment of entry of the mobile carrier into the room, the positioning coordinates are determined by:
a base station initializes to obtain a first base station positioning coordinate;
obtaining a first inertial positioning coordinate by combining the motion information of the mobile carrier on the basis of the first base station positioning coordinate;
the base station obtains a second base station positioning coordinate;
distributing credibility coefficients K1 and K2 for the first inertia coordinate and the second base station positioning coordinate respectively;
obtaining a positioning coordinate obtained after reliability distribution according to the reliability coefficients K1 and K2, the first inertial positioning coordinate and the second base station positioning coordinate;
performing reverse-derivation correction according to the positioning coordinates and the motion information of the mobile carrier to form initial positioning coordinates;
and after the initial positioning coordinate of the mobile carrier is obtained, judging whether the initial coordinate is positioned in the channel range according to the indoor map, and if the initial coordinate is out of the range, vertically translating the initial positioning coordinate to the channel on the basis of the principle that the wall penetration is avoided in the former and latter positioning.
8. The indoor positioning device of claim 7, wherein the indoor positioning device is a smart phone, and a motion sensor, an acceleration sensor, a direction sensor, and a geomagnetic sensor are embedded in the smart phone.
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