CN109631908A - Object positioning method, device and electronic equipment based on fabric structure data - Google Patents
Object positioning method, device and electronic equipment based on fabric structure data Download PDFInfo
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- CN109631908A CN109631908A CN201910100918.6A CN201910100918A CN109631908A CN 109631908 A CN109631908 A CN 109631908A CN 201910100918 A CN201910100918 A CN 201910100918A CN 109631908 A CN109631908 A CN 109631908A
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- fabric structure
- structure data
- positioning
- moving direction
- localization method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
This application involves a kind of object positioning method based on fabric structure data, object positioning device and electronic equipments.This method comprises: obtaining the first position of object to be positioned with the first localization method；The second position of object to be positioned is obtained with the second localization method；The moving direction of the object to be positioned is obtained based on the first position and the second position；And the positioning result of the object to be positioned is obtained based on the second position described in the fabric structure Data correction and the moving direction.In this way, accurately indoor positioning may be implemented by fabric structure data calibration positioning result.
Description
Technical field
Present invention relates generally to field of locating technology, and more specifically, are related to a kind of based on fabric structure number
According to object positioning method, device and electronic equipment.
Background technique
With the development of location technology, occur more and more in such a way that wireless signal positions.For example, indoors
Positioning field, common positioning method has WIFI positioning, bluetooth to position, infrared ray positioning, RFID is positioned, ultrasonic wave positions,
ZigBee positioning and ultra wide band (UWB) positioning.
These wireless location technologies mainly pass through destination node to receiving node distance or angle to destination node into
Row ranging, and then calculating location information.Wireless distance finding technology can be divided into ranging technology, base based on signal receiving strength (RSSI)
Reach the ranging technology of angle (AOA) in signal, be based on the ranging technology of signal transmission time (TOF) to transmit with based on signal
The ranging technology of time difference (TDOA).Wherein, the technology based on signal transmission time and based on signal transmission time difference is current
Most widely used ranging technology.
These wireless location technologies are in the case where being applied to complex environment, especially the indoor positioning environment with labyrinth
When, it is possible to create biggish position error.
Therefore, it is necessary to improved object locating schemes.
Summary of the invention
In order to solve the above-mentioned technical problem, the application is proposed.Embodiments herein provides a kind of based on building
Object positioning method, object positioning device and the electronic equipment of structured data pass through fabric structure data calibration positioning knot
Fruit, to realize accurately indoor positioning.
According to the one side of the application, a kind of object positioning method based on fabric structure data is provided, comprising: with
First localization method obtains the first position of object to be positioned；The second position of object to be positioned is obtained with the second localization method；
The moving direction of the object to be positioned is obtained based on the first position and the second position；And it is based on the building
Object structured data corrects the second position and the moving direction to obtain the positioning result of the object to be positioned.
In the above-mentioned object positioning method based on fabric structure data, first localization method is to pass through ultra wide band
The localization method based on signal transmission time of technology, and second localization method is the localization method based on inertial navigation.
In the above-mentioned object positioning method based on fabric structure data, the fabric structure data are buildings
Inner passage data.
In the above-mentioned object positioning method based on fabric structure data, the fabric structure data are by being based on
Map datum is demarcated the shape of the building and is obtained towards angle.
In the above-mentioned object positioning method based on fabric structure data, based on described in fabric structure Data correction the
Two positions and the moving direction comprise determining that the second position and described to obtain the positioning result of the object to be positioned
Whether the difference between moving direction and the fabric structure data is greater than predetermined threshold；And it is small in response to the difference
In or equal to the predetermined threshold, determines the second position and the moving direction is the positioning knot of the object to be positioned
Fruit.
In the above-mentioned object positioning method based on fabric structure data, based on described in fabric structure Data correction the
Two positions and the moving direction further comprise with the positioning result for obtaining the object to be positioned: big in response to the difference
In the predetermined threshold, the positioning result of the object to be positioned is determined based on the fabric structure data.
In the above-mentioned object positioning method based on fabric structure data, based on described in fabric structure Data correction the
Two positions and the moving direction include: based on the second position, described with the positioning result for obtaining the object to be positioned
Moving direction and the fabric structure data obtain position range value and direction model closest to the fabric structure data
Enclose value；And the positioning result of the object to be positioned is obtained based on the position range value and the direction scope value.
According to the another aspect of the application, a kind of object positioning device based on fabric structure data is provided, comprising:
First positioning unit, for obtaining the first position of object to be positioned with the first localization method；Second positioning unit, for the
Two localization methods obtain the second position of object to be positioned；Direction-determining unit, for based on the first position and described the
Two positions obtain the moving direction of the object to be positioned；And position determination unit, for being based on the fabric structure number
The positioning result of the object to be positioned is obtained according to the correction second position and the moving direction.
In the above-mentioned object positioning device based on fabric structure data, first positioning unit is to pass through ultra wide band
Technology positions the object to be positioned based on the localization method of signal transmission time, and second positioning unit with
The object to be positioned is positioned based on the localization method of inertial navigation.
In the above-mentioned object positioning device based on fabric structure data, the fabric structure data are buildings
Inner passage data.
In the above-mentioned object positioning device based on fabric structure data, the fabric structure data are by being based on
Map datum is demarcated the shape of the building and is obtained towards angle.
In the above-mentioned object positioning device based on fabric structure data, the position determination unit is used for: determining institute
Whether the difference stated between the second position and the moving direction and the fabric structure data is greater than predetermined threshold；And
Be less than or equal to the predetermined threshold in response to the difference, determine the second position and the moving direction be it is described to
Position the positioning result of object.
In the above-mentioned object positioning device based on fabric structure data, the position determination unit is further used for:
It is greater than the predetermined threshold in response to the difference, the positioning of the object to be positioned is determined based on the fabric structure data
As a result.
In the above-mentioned object positioning device based on fabric structure data, the position determination unit is used for: being based on institute
State the position that the second position, the moving direction and the fabric structure data obtain the closest fabric structure data
Value range and direction scope value；And the object to be positioned is obtained based on the position range value and the direction scope value
Positioning result.
According to the application's in another aspect, providing a kind of electronic equipment, comprising: processor；And memory, in institute
It states and is stored with computer program instructions in memory, the computer program instructions make described when being run by the processor
Processor executes the object positioning method as described above based on fabric structure data.
According to the another aspect of the application, a kind of computer-readable medium is provided, computer program is stored thereon with and refers to
It enables, the computer program instructions execute the processor as described above based on building knot
The object positioning method of structure data.
Object positioning method, device and the electronic equipment of fabric structure data provided by the present application, can pass through building
Object structured data calibrates positioning result, so that positioning result does not deviate by the unreachable region of building, to realize essence
Quasi- indoor positioning.
Detailed description of the invention
By reading the detailed description in hereafter preferred embodiment, the application various other advantages and benefits
It will become apparent to those of ordinary skill in the art.Figure of description only for the purpose of illustrating preferred embodiments,
And it is not considered as the limitation to the application.It should be evident that drawings discussed below is only some embodiments of the present application,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.And throughout the drawings, identical component is presented with like reference characters.
Fig. 1 illustrates the flow charts according to the object positioning method based on fabric structure data of the embodiment of the present application；
Fig. 2 illustrates the schematic diagram of the positioning method using TOF and single substation double antenna according to the embodiment of the present application；
Fig. 3 illustrates the schematic diagram judged according to the moving direction of the object to be positioned of the embodiment of the present application；
Fig. 4 illustrates the block diagram of the object positioning device based on fabric structure data according to the embodiment of the present application；
Fig. 5 illustrates the block diagram of the electronic equipment according to the embodiment of the present application.
Specific embodiment
In the following, example embodiment according to the application will be described in detail by referring to the drawings.Obviously, described embodiment is only
It is only a part of the embodiment of the application, rather than the whole embodiments of the application, it should be appreciated that the application is not by described herein
The limitation of example embodiment.
Application is summarized
As described above, the basic conception of the application is to pass through building for the positioning accuracy problem under indoor positioning scene
Object structured data further calibrates the positioning result obtained by a variety of localization methods, to improve positioning accuracy.
This is because it is unreachable that positioning result can not be offset to building when object to be positioned is located in building
In region, for example it can not be located at except building range.Also, when object to be positioned moves between floors, usually
It can be moved along the channel direction of building, it is impossible to be offset to except channel range suddenly.
In addition, it is directed to the interior spatial structure of building, the corridor of usually most building interiors, room direction, building
Ladder way, turning the building design layout Dou Yu body it is main to consistent.Moreover, the main building of building be to that can predict in advance, such as
Pass through the modes such as satellite, map.In general, building object plane is in the majority with rectangle, there are four main buildings for meeting to angle, but also has multiple feelings
Condition, this can correct the moving direction of object to be positioned according to building to angle.
Specifically, this application provides a kind of object positioning methods based on fabric structure data, object positioning device
And electronic equipment, the first position of object to be positioned is obtained, and with the first localization method first with the acquisition of the second localization method
The second position of object to be positioned is then based on the first position and the second position and obtains the shifting of the object to be positioned
Dynamic direction, it is finally described undetermined to obtain based on the second position and the moving direction described in the fabric structure Data correction
The positioning result of position object.In this way, accurately indoor positioning may be implemented by fabric structure data calibration positioning result.
Here, it will be understood by those skilled in the art that the object positioning method based on fabric structure data of the application,
Object positioning device and electronic equipment can be applied to the indoor positioning scene in buildings in general, but right be not limited to close
Building, also can be applied to non-enclosed other building types, such as square, street etc..
After describing the basic principle of the application, carry out the various non-limits for specifically introducing the application below with reference to the accompanying drawings
Property embodiment processed.
Illustrative methods
Fig. 1 illustrates the flow charts according to the object positioning method based on fabric structure data of the embodiment of the present application.
As shown in Figure 1, the object positioning method based on fabric structure data according to the embodiment of the present application includes:
S110 obtains the first position of object to be positioned with the first localization method；S120 obtains object to be positioned with the second localization method
The second position；S130 obtains the moving direction of the object to be positioned based on the first position and the second position；With
And S140, it is described to be positioned right to obtain based on the second position described in the fabric structure Data correction and the moving direction
The positioning result of elephant.
In step s 110, the first position of object to be positioned is obtained with the first localization method.Here, those skilled in the art
Member is it is appreciated that first localization method can be various types of localization methods.For example, TOF mode.
It is worth noting that, in the embodiment of the present application, in order to obtain object to be positioned under interior of building environment
Accurate location, can be using the double days of single substation according to the object positioning method based on fabric structure data of the embodiment of the present application
The positioning method of line, that is, object to be positioned is subjected to ranging with two antennas of single substation respectively respectively, obtain two away from
From according to two distance picture circles, the points of two circle intersections are anchor point, and ranging formula is as follows:
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
Wherein, (x0, y0) be object to be positioned positioning coordinate, (x1, y1), (x2, y2) it is substation antenna 1 and antenna respectively
2 coordinate, and d1, d2It is the distance of the object to be positioned that is obtained by ranging to substation antenna 1 and substation antenna 2 respectively, such as schemes
Shown in 2.Fig. 2 illustrates the schematic diagram of the positioning method using TOF and single substation double antenna according to the embodiment of the present application.
Furthermore, it is possible to which the coordinate based on the object to be positioned is established such as further according to the channel case in building
Lower linear equation:
y0=kx0+b
Wherein, k and b is substation position atlas parameter.
In the step s 120, the second position of object to be positioned is obtained with the second localization method.Here, those skilled in the art
Member is it is appreciated that second localization method is also possible to various types of localization methods.In one example, in multiple substations
In the presence of, positioning still uses the data of a substation
In addition, second localization method can be the method different from first localization method, and specifically, described
One localization method is the localization method based on signal transmission time by super-broadband tech, with high precision positioning effect,
And second localization method is the localization method based on inertial navigation, and by conjunction with first localization method, Ke Yijin
One step makes positioning accuracy have the promotion of matter.
Therefore, in the object positioning method based on fabric structure data according to the embodiment of the present application, described first
Localization method is the localization method based on signal transmission time by super-broadband tech, and second localization method is to be based on
The localization method of inertial navigation.
In step s 130, the mobile side of the object to be positioned is obtained based on the first position and the second position
To.
Here, it will be understood by those skilled in the art that when second localization method is fixed using such as inertial navigation auxiliary
When the method for position, it can be determined that the motion state of object to be positioned or auxiliary positioning position, so as to gather the first position
The coordinate and moving direction of the relatively accurate second position are obtained simultaneously.
In step S140, based on the second position described in the fabric structure Data correction and the moving direction to obtain
Obtain the positioning result of the object to be positioned.
As noted previously, as object to be positioned is when moving, position is to be limited by fabric structure, therefore, is led to
Fabric structure data are crossed to correct the second position and the moving direction, the accurate of the object to be positioned can be obtained
Positioning result.
In the object positioning method based on fabric structure data according to the embodiment of the present application, the fabric structure
Data are the inner passage data of building.Here, described it will be understood by those skilled in the art that in the embodiment of the present application
The inner passage of building is not limited only to the gallery of building, and being also possible to room, stairs port, turning etc. allows object to be positioned
By part.Also, as described above, this data can be obtained based on the map datum of the building.
Therefore, in the object positioning method based on fabric structure data according to the embodiment of the present application, the building
Object structured data is to obtain shape by demarcating the building based on map datum and towards angle and.
Also, it in this step, while containing for final after the moving direction of the object to be positioned and movement
The correction of position, so that the moving direction of the object to be positioned meets the channel direction in the building, and described
The final position of object to be positioned can also the building can reach in regional scope.
Fig. 3 illustrates the schematic diagram judged according to the moving direction of the object to be positioned of the embodiment of the present application.Such as Fig. 3 institute
Show, such as, it can be determined that whether the moving direction of the object to be positioned is consistent with direction as defined in corridor, specifically, corridor
Then think that direction is consistent in θ with the angle difference of moving direction in direction.If direction is inconsistent, it is subject to corridor direction, such as
Fruit direction is consistent, then is with first localization method and second localization method, such as UWB and the calculated direction of inertial navigation
It is quasi-.
Final position for the object to be positioned be also in this way, for example, with UWB and inertial navigation method obtain it is described to
After the second coordinate and moving direction that position object, the position model of range as defined in immediate corridor may further determine that
Enclose value and direction scope value.Then, whether above range is exceeded based on fabric structure data judging, if going beyond the scope, abandoned
Fall above-mentioned value, be subject to corridor direction and immediate corridor position coordinates position, if it is within range, is calculated with UWB and inertial navigation
Subject to coordinate out and direction.
It is, in the object positioning method based on fabric structure data according to the embodiment of the present application, based on building
It builds object structured data and corrects the second position and the moving direction with the positioning result for obtaining the object to be positioned and include:
Determine whether the difference between the second position and the moving direction and the fabric structure data is greater than predetermined threshold；
And it is less than or equal to the predetermined threshold in response to the difference, it determines the second position and the moving direction is
The positioning result of the object to be positioned.
Also, in the above-mentioned object positioning method based on fabric structure data, it is based on fabric structure Data correction
The second position and the moving direction further comprise with the positioning result for obtaining the object to be positioned: in response to described
Difference is greater than the predetermined threshold, and the positioning result of the object to be positioned is determined based on the fabric structure data.
In addition, in the object positioning method based on fabric structure data according to the embodiment of the present application, based on building
It includes: base that object structured data, which corrects the second position and the moving direction with the positioning result for obtaining the object to be positioned,
It obtains in the second position, the moving direction and the fabric structure data closest to the fabric structure data
Position range value and direction scope value；And it is obtained based on the position range value and the direction scope value described to be positioned
The positioning result of object.
Therefore, it is indoor fixed to can be applied to according to the object positioning method based on fabric structure data of the embodiment of the present application
Position field, on the basis of UWB and inertial navigation are positioned, with building calibration assisted calibration positioning, so that it will not deviate building institute
Unreachable region has higher practical value, and realizes qualitative leap for indoor precise positioning.
Schematic apparatus
Fig. 4 illustrates the block diagram of the object positioning device based on fabric structure data according to the embodiment of the present application.
As shown in figure 4, the object positioning device 200 based on fabric structure data according to the embodiment of the present application includes:
First positioning unit 210, for obtaining the first position of object to be positioned with the first localization method；Second positioning unit 220 is used
In the second position for obtaining object to be positioned with the second localization method；Direction-determining unit 230, for being based on the first position
The moving direction of the object to be positioned is obtained with the second position；And position determination unit 240, for being built based on described
It builds object structured data and corrects the second position and the moving direction to obtain the positioning result of the object to be positioned.
In one example, in the above-mentioned object positioning device 200 based on fabric structure data, first positioning
Unit 210 with being positioned to the object to be positioned based on the localization method of signal transmission time by super-broadband tech,
And second positioning unit 220 positions the object to be positioned with the localization method based on inertial navigation.
In one example, in the above-mentioned object positioning device 200 based on fabric structure data, the building knot
Structure data are the inner passage data of building.
In one example, in the above-mentioned object positioning device 200 based on fabric structure data, the building knot
Structure data are to obtain shape by demarcating the building based on map datum and towards angle and.
In one example, in the above-mentioned object positioning device 200 based on fabric structure data, the positioning is determined
Unit 240 is used for: determining whether is difference between the second position and the moving direction and the fabric structure data
Greater than predetermined threshold；And it is less than or equal to the predetermined threshold in response to the difference, determine the second position and institute
State the positioning result that moving direction is the object to be positioned.
In one example, in the above-mentioned object positioning device 200 based on fabric structure data, the positioning is determined
Unit 240 is further used for: being greater than the predetermined threshold in response to the difference, determines institute based on the fabric structure data
State the positioning result of object to be positioned.
In one example, in the above-mentioned object positioning device 200 based on fabric structure data, the positioning is determined
Unit 240 is used for: being obtained based on the second position, the moving direction and the fabric structure data closest to described and is built
Build the position range value and direction scope value of object structured data；And it is based on the position range value and the direction scope value
Obtain the positioning result of the object to be positioned.
Here, it will be understood by those skilled in the art that in the above-mentioned object positioning device 200 based on fabric structure data
Each unit and module concrete function and operation have been described above referring to figs. 1 to Fig. 3 description based on fabric structure number
According to object positioning method in be discussed in detail, and therefore, will omit its repeated description.
As described above, the object positioning device 200 based on fabric structure data according to the embodiment of the present application can be real
In present various terminal equipment, such as the computer equipment of indoor positioning.In one example, according to the embodiment of the present application
Device 200 can be used as a software module and/or hardware module and be integrated into terminal device.For example, the device 200 can
Be the terminal device operating system in a software module, or can be and be directed to the terminal device is developed one
A application program；Certainly, which equally can be one of numerous hardware modules of the terminal device.
It alternatively, in another example, should object positioning device 200 and the terminal device based on fabric structure data
It is also possible to discrete equipment, and the device 200 can be connected to the terminal device by wired and or wireless network, and
And interactive information is transmitted according to the data format of agreement.
Example electronic device
In the following, being described with reference to Figure 5 the electronic equipment according to the embodiment of the present application.
Fig. 5 illustrates the block diagram of the electronic equipment according to the embodiment of the present application.
As shown in figure 5, electronic equipment 10 includes one or more processors 11 and memory 12.
Processor 11 can be central processing unit (CPU) or have data-handling capacity and/or instruction execution capability
Other forms processing unit, and can control the other assemblies in electronic equipment 10 to execute desired function.
Memory 12 may include one or more computer program products, and the computer program product may include each
The computer readable storage medium of kind form, such as volatile memory and/or nonvolatile memory.The volatile storage
Device for example may include random access memory (RAM) and/or cache memory (cache) etc..It is described non-volatile to deposit
Reservoir for example may include read-only memory (ROM), hard disk, flash memory etc..It can be deposited on the computer readable storage medium
One or more computer program instructions are stored up, processor 11 can run described program instruction, to realize this Shen described above
The object positioning method and/or other desired functions based on fabric structure data of each embodiment please.Institute
The various contents such as above-mentioned fabric structure data can also be stored by stating in computer readable storage medium.
In one example, electronic equipment 10 can also include: input unit 13 and output device 14, these components pass through
The interconnection of bindiny mechanism's (not shown) of bus system and/or other forms.
For example, the input unit 13 may include such as keyboard, mouse etc..
The output device 14 can be output to the outside various information, such as the positioning result etc. of the object to be positioned.It should
Output equipment 14 may include that such as display, loudspeaker, printer and communication network and its long-range output connected are set
It is standby etc..
Certainly, to put it more simply, illustrated only in Fig. 5 it is some in component related with the application in the electronic equipment 10,
The component of such as bus, input/output interface etc. is omitted.In addition to this, according to concrete application situation, electronic equipment 10 is also
It may include any other component appropriate.
Illustrative computer program product and computer readable storage medium
Other than the above method and equipment, embodiments herein can also be computer program product comprising meter
Calculation machine program instruction, it is above-mentioned that the computer program instructions make the processor execute this specification when being run by processor
According to the object positioning side based on fabric structure data of the various embodiments of the application described in " illustrative methods " part
Step in method.
The computer program product can be write with any combination of one or more programming languages for holding
The program code of row the embodiment of the present application operation, described program design language includes object oriented program language, such as
Java, C++ etc. further include conventional procedural programming language, such as " C " language or similar programming language.Journey
Sequence code can be executed fully on the user computing device, partly execute on a user device, be independent soft as one
Part packet executes, part executes on a remote computing or completely in remote computing device on the user computing device for part
Or it is executed on server.
In addition, embodiments herein can also be computer readable storage medium, it is stored thereon with computer program and refers to
It enables, the computer program instructions make the processor execute above-mentioned " the exemplary side of this specification when being run by processor
According to the step in the object positioning method based on fabric structure data of the various embodiments of the application described in method " part
Suddenly.
The computer readable storage medium can be using any combination of one or more readable mediums.Readable medium can
To be readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can include but is not limited to electricity, magnetic, light, electricity
Magnetic, the system of infrared ray or semiconductor, device or device, or any above combination.Readable storage medium storing program for executing it is more specific
Example (non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory
Device (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read-only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The basic principle of the application is described in conjunction with specific embodiments above, however, it is desirable to, it is noted that in this application
The advantages of referring to, advantage, effect etc. are only exemplary rather than limitation, must not believe that these advantages, advantage, effect etc. are the application
Each embodiment is prerequisite.In addition, detail disclosed above is merely to exemplary effect and the work being easy to understand
With, rather than limit, it is that must be realized using above-mentioned concrete details that above-mentioned details, which is not intended to limit the application,.
Device involved in the application, device, equipment, system block diagram only as illustrative example and be not intended to
It is required that or hint must be attached in such a way that box illustrates, arrange, configure.As those skilled in the art will appreciate that
, it can be connected by any way, arrange, configure these devices, device, equipment, system.Such as "include", "comprise", " tool
" etc. word be open vocabulary, refer to " including but not limited to ", and can be used interchangeably with it.Vocabulary used herein above
"or" and "and" refer to vocabulary "and/or", and can be used interchangeably with it, unless it is not such that context, which is explicitly indicated,.Here made
Vocabulary " such as " refers to phrase " such as, but not limited to ", and can be used interchangeably with it.
It may also be noted that each component or each step are can to decompose in the device of the application, device and method
And/or reconfigure.These decompose and/or reconfigure the equivalent scheme that should be regarded as the application.
The above description of disclosed aspect is provided so that any person skilled in the art can make or use this
Application.Various modifications in terms of these are readily apparent to those skilled in the art, and are defined herein
General Principle can be applied to other aspect without departing from scope of the present application.Therefore, the application is not intended to be limited to
Aspect shown in this, but according to principle disclosed herein and the consistent widest range of novel feature.
In order to which purpose of illustration and description has been presented for above description.In addition, this description is not intended to the reality of the application
It applies example and is restricted to form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, this field skill
Its certain modifications, modification, change, addition and sub-portfolio will be recognized in art personnel.
Claims (12)
1. a kind of object positioning method based on fabric structure data, comprising:
The first position of object to be positioned is obtained with the first localization method；
The second position of object to be positioned is obtained with the second localization method；
The moving direction of the object to be positioned is obtained based on the first position and the second position；And
Based on the second position described in the fabric structure Data correction and the moving direction to obtain the object to be positioned
Positioning result.
2. the object positioning method according to claim 1 based on fabric structure data, wherein the first positioning side
Method is the localization method based on signal transmission time by super-broadband tech, and second localization method is led based on inertia
The localization method of boat.
3. the object positioning method according to claim 1 based on fabric structure data, wherein the fabric structure
Data are the inner passage data of building.
4. the object positioning method according to claim 3 based on fabric structure data, wherein the fabric structure
Data are to obtain shape by demarcating the building based on map datum and towards angle and.
5. the object positioning method according to claim 1 based on fabric structure data, wherein be based on fabric structure
The second position described in Data correction and the moving direction include: with the positioning result for obtaining the object to be positioned
It is predetermined to determine whether the difference between the second position and the moving direction and the fabric structure data is greater than
Threshold value；And
It is less than or equal to the predetermined threshold in response to the difference, determines the second position and the moving direction for institute
State the positioning result of object to be positioned.
6. the object positioning method according to claim 5 based on fabric structure data, wherein be based on fabric structure
The second position described in Data correction and the moving direction further comprise with the positioning result for obtaining the object to be positioned:
It is greater than the predetermined threshold in response to the difference, determines the object to be positioned based on the fabric structure data
Positioning result.
7. the object positioning method according to claim 1 based on fabric structure data, wherein be based on fabric structure
The second position described in Data correction and the moving direction include: with the positioning result for obtaining the object to be positioned
It is obtained based on the second position, the moving direction and the fabric structure data closest to the fabric structure
The position range value and direction scope value of data；And
The positioning result of the object to be positioned is obtained based on the position range value and the direction scope value.
8. a kind of object positioning device based on fabric structure data, comprising:
First positioning unit, for obtaining the first position of object to be positioned with the first localization method；
Second positioning unit, for obtaining the second position of object to be positioned with the second localization method；
Direction-determining unit, for obtaining the mobile side of the object to be positioned based on the first position and the second position
To；And
Position determination unit, for being based on the second position described in the fabric structure Data correction and the moving direction to obtain
Obtain the positioning result of the object to be positioned.
9. the object positioning device according to claim 8 based on fabric structure data, wherein first positioning is single
Member is and described with being positioned to the object to be positioned based on the localization method of signal transmission time by super-broadband tech
Second positioning unit positions the object to be positioned with the localization method based on inertial navigation.
10. the object positioning device according to claim 8 based on fabric structure data, wherein the building knot
Structure data are the inner passage data of building.
11. the object positioning device according to claim 10 based on fabric structure data, wherein the building knot
Structure data are to obtain shape by demarcating the building based on map datum and towards angle and.
12. a kind of electronic equipment, comprising:
Processor；And
Memory is stored with computer program instructions in the memory, and the computer program instructions are by the processing
Device makes the processor execute such as the object of any of claims 1-7 based on fabric structure data when running
Localization method.
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