CN109668565A - The localization method and device of target object - Google Patents
The localization method and device of target object Download PDFInfo
- Publication number
- CN109668565A CN109668565A CN201710964396.5A CN201710964396A CN109668565A CN 109668565 A CN109668565 A CN 109668565A CN 201710964396 A CN201710964396 A CN 201710964396A CN 109668565 A CN109668565 A CN 109668565A
- Authority
- CN
- China
- Prior art keywords
- road
- target object
- node
- information
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of localization method and devices of target object.Wherein, this method comprises: receiving target instruction target word, target instruction target word, which is used to indicate, positions the road where being located at indoor target object；In response to target instruction target word, the directional information for the collected target object of mobile terminal that target object carries is obtained, directional information is for indicating moving direction of the target object on the road of place；In the case where determining that target object turns to according to directional information, the first road where being oriented after target object turns to according to the direction information of target object, direction information are determined according to directional information and for indicating target object from place road turning to the information of another road.The present invention solves the technical issues of road where after cannot identifying indoor user steering in the related technology.
Description
Technical field
The present invention relates to internet areas, in particular to a kind of localization method and device of target object.
Background technique
Location service refers to that mobile communication system obtains the geographical location information of mobile terminal by specific location technology
(such as latitude and longitude coordinates) are supplied to mobile subscriber, communication system or third party's location client end.It is outdoor in map
Location-based service is a very important service, such as outdoor positioning, and anchor point road network adsorption technology when outdoor vehicle mounted guidance leads to
The positional relationship considered with road, driving direction are crossed, GPS positioning point is adsorbed on road by the factors such as travel speed, is promoted and is used
The experience of family during the navigation process.
Indoor location service is also a very important service, and such as indoor positioning passes through map match in the related technology
Mode assist the method for indoor positioning fewer, be largely still using outdoor location technology, and user is in interior
When, due to barrier etc., to will cause position inaccurate, can not determine when user turns to (from a road turning
Another road), it can not more can determine that the road where after user turns to.
For cannot identify in the related technology indoor user turn to after where road the technical issues of, at present not yet propose have
The solution of effect.
Summary of the invention
The embodiment of the invention provides a kind of localization method and devices of target object, at least to solve in the related technology not
Can identify indoor user turn to after where road the technical issues of.
According to an aspect of an embodiment of the present invention, a kind of localization method of target object is provided, this method comprises: connecing
Receive target instruction target word, wherein target instruction target word, which is used to indicate, positions the road where being located at indoor target object；Response
In target instruction target word, the directional information for the collected target object of mobile terminal that target object carries is obtained, wherein directional information
For indicating moving direction of the target object on the road of place；Feelings that target object turns to are being determined according to directional information
The first road under condition, where being oriented after target object turns to according to the direction information of target object, wherein turn to letter
Breath is determined according to directional information and for indicating target object from place road turning to the information of another road.
According to another aspect of an embodiment of the present invention, a kind of positioning device of target object is additionally provided, which includes:
Receiving unit, for receiving target instruction target word, wherein target instruction target word is used to indicate to positioned at the road where indoor target object
Road is positioned；Response unit, for obtaining the collected target of mobile terminal that target object carries in response to target instruction target word
The directional information of object, wherein directional information is for indicating moving direction of the target object on the road of place；Positioning unit,
For orienting mesh according to the direction information of target object in the case where determining that target object turns to according to directional information
First road at place after mark object turns to, wherein direction information is determined according to directional information and for indicating mesh
Object is marked from place road turning to the information of another road.
In embodiments of the present invention, it when receiving target instruction target word, obtains the mobile terminal that target object carries and collects
Target object directional information, directional information is for indicating moving direction of the target object on the road of place；According to side
In the case where determining that target object turns to information, target object is oriented according to the direction information of target object and occurs to turn
The first road where backward, wherein direction information is determined according to directional information and for indicating target object from place
Road turning can solve road where after cannot identifying indoor user steering in the related technology to the information of another road
Technical problem, and then reach the technical effect identified to the steering of indoor user.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the hardware environment of the localization method of target object according to an embodiment of the present invention；
Fig. 2 is a kind of flow chart of the localization method of optional target object according to an embodiment of the present invention；
Fig. 3 is the flow chart that a kind of optional pedestrian according to an embodiment of the present invention turns to judgement；
Fig. 4 is a kind of schematic diagram of the data structure of optional road network inflection point according to an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of optional road network structure according to an embodiment of the present invention；
Fig. 6 is a kind of flow chart of optional inflection point calculating process according to an embodiment of the present invention；
Fig. 7 is a kind of optional matched flow chart of inflection point according to an embodiment of the present invention；
Fig. 8 is a kind of schematic diagram of the positioning device of optional target object according to an embodiment of the present invention；And
Fig. 9 is a kind of structural block diagram of terminal according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Firstly, the part noun or term that occur during the embodiment of the present invention is described are suitable for as follows
It explains:
PDR:Pedestrian Dead Reckoning, pedestrian's dead reckoning, to pedestrian walking step number, step-length,
Direction measures and counts, and extrapolates the information such as pedestrian's run trace and position.
Road network: indoors in map, the set for having connectivity that is made of vertex and side.By different function in city scope
Energy, grade, position road, the network architecture formed with certain density and form appropriate.
Road network inflection point: this vertex to an other section is passed through from a section in two sections connected by a vertex,
This vertex is road network inflection point.
Historical values: the data acquisition system generated according to the sequencing of time.
Route matching: the matched road network inflection point with time sequencing of connection, the route of formation.
According to embodiments of the present invention, a kind of embodiment of the method for the localization method of target object is provided.
Optionally, in the present embodiment, the localization method of above-mentioned target object can be applied to as shown in Figure 1 by servicing
In the hardware environment that device 102 and terminal 104 are constituted.As shown in Figure 1, server 102 is connected by network with terminal 104
Connect, above-mentioned network includes but is not limited to: wide area network, Metropolitan Area Network (MAN) or local area network, terminal 104 are not limited to PC, mobile phone, plate electricity
Brain etc..The localization method of the target object of the embodiment of the present invention can be executed by server 102, can also by terminal 104
It executes, can also be and executed jointly by server 102 and terminal 104.Wherein, terminal 104 executes the target of the embodiment of the present invention
The localization method of object is also possible to be executed by client mounted thereto.
Fig. 2 is a kind of flow chart of the localization method of optional target object according to an embodiment of the present invention, such as Fig. 2 institute
Show, this method may comprise steps of:
Step S202, receives target instruction target word, and target instruction target word is used to indicate to positioned at the road where indoor target object
Road is positioned.
Above-mentioned mobile terminal is the terminal with acquisition moving direction function, since mobile terminal is taken by target object
Band, then the moving direction of mobile terminal acquisition can be considered as the moving direction of target object.
Step S204 obtains the collected target object of mobile terminal that target object carries in response to target instruction target word
Directional information, directional information is for indicating moving direction of the target object on the road of place.
It should be noted that when target object moves on the road of place, since road has certain width, target
Object is not necessarily to advance all along straight line, and may be curve, when being curve, with regard to single time point
Direction for, moving direction may be different with the direction of road, and determined using multiple moving directions in the application.
Step S206, in the case where determining that target object turns to according to directional information, according to turning for target object
The first road where going out after target object turns to Information locating, wherein direction information is determined according to directional information
And for indicating target object from place road turning to the information of another road.
The place road of target object is connected with the first road by turning to inflection point, before target object passes through inflection point,
Larger change will occur for the direction of walking, therefore, can determine whether target object is diverted to first by directional information
Road.And then first road at place after steering is oriented according to direction information.
S202 to step S206 through the above steps obtains the movement that target object carries when receiving target instruction target word
The directional information of the collected target object of terminal, directional information is for indicating mobile side of the target object on the road of place
To；In the case where determining that target object turns to according to directional information, mesh is oriented according to the direction information of target object
First road at place after mark object turns to, wherein direction information is determined according to directional information and for indicating mesh
Object is marked from place road turning to the information of another road, can solve cannot identify that indoor user turns in the related technology
Where afterwards the technical issues of road, and then reach the technical effect identified to the steering of indoor user.
The technical solution of the application can be embedded in different cell phone softwares together with location technology, such as map, purchase by group,
Take-away, shopping, social activity, instant messaging etc. need to carry out in the application of map match, and map matching technology is the one of auxiliary positioning
Kind means, utilize static map datum to correct positioning result.The software is triggered when providing indoor positioning service for user, gives
Most intuitively experience is that the anchor point on map can be more accurate to user.
It should be noted that the collected directional information of mobile terminal is simply possible to use in the current transient motion side of characterization user
To, and cannot be used for indicating the following direction of motion sometime.But applicant considers the mobile continuity of user, user
Steering will not go to complete by a moment, therefore, can be predicted by its movement tendency (turning forward directional information)
Whether it can turn to.
In the technical solution of the application, without relying on Wi-Fi, the signal fields such as bluetooth, because signal field is to rely on
The feature of signal field is marked to form fingerprint base on known position, when people is among these signal fields, by matching fingerprint base
Middle fingerprint characteristic, it is available the location of as forefathers, due to signal field is unstable etc., lead to the error of indoor positioning
It is larger.
Applicant recognizes that the data of road network can objectively reflect indoor graph structure by carrying out analysis to the relevant technologies
Connectivity, pedestrian's deflection error ratio that PDR is extrapolated the motion state of pedestrian using mobile phone sensor data, but extrapolated
It is larger, but when turning to the variation in direction be it is sensitive and accurate, the application primary study pedestrian turns when turning to road network
The matching relationship of point determines the position of pedestrian this moment, for improving the precision of indoor positioning.Mainly including the following three aspects:
(1) judge whether pedestrian turns to；(2) judge the steering direction of road network inflection point in position fixing process；(3) by the steering of pedestrian and road network
Inflection point matching.Above 3 points are illustrated below in conjunction with step shown in Fig. 2.
(1) judge whether pedestrian turns to
In the technical solution that step S202 is provided, mobile terminal receives target instruction target word, and target instruction target word is used to indicate pair
It is positioned positioned at the road where indoor target object.
The generation form of above-mentioned target instruction target word includes but is not limited to following form:
(1) when starting target application (having used the application of the present processes), the instruction of generation；
(2) during target application, timing generate or become in position, the speed etc. for detecting target object
It is generated when change；
(3) it is generated when being operated in the target object on mobile terminals client of target application；
(4) client of target application on mobile terminal is handed down to by the server of target application.
In the technical solution that step S204 is provided, in response to target instruction target word, the mobile terminal that target object carries is obtained
The directional information of collected target object, directional information are used to indicate moving direction of the target object on the road of place, turn
Road where forward is connected with the first road.
Above-mentioned directional information is the shifting of collected target object during mobile terminal is moved with target object
Dynamic direction.The moving direction can be the direction of instantaneous movement speed, be also possible to the direction of motion track in a period of time.
In the technical solution that step S206 is provided, determining that there is a situation where turn to for target object according to directional information
Under, the first road where being oriented after target object turns to according to the direction information of target object, wherein direction information
It is to be determined according to directional information and for indicating target object from place road turning to the information of another road.
It should be noted that aiming at for step S202 to step S206 judges whether target object can turn to.
The place road of above-mentioned target object turns and the first road can be uncertain road, such as a plurality of candidate roads, hereinafter
The place road how specific introduction uniquely determines target object is turned and the first road.
Above-mentioned " determining that target object will be from place road turning to the first road based on directional information " can be by such as
Lower step is realized:
Step S11, multiple moving directions according to indicated by directional information determine that target object moves on the road of place
Fluctuating range.
Before above-mentioned multiple moving directions can be the collected target object steering of the direction sensor on mobile terminal
Mobile terminal (namely target object) multiple instantaneous moving directions.
Obtain multiple first direction angle (X of multiple (n) moving directions1、X2..., Xn), first direction angle is movement side
To deflection.Calculate the variances sigma between multiple first direction angles2, variance is used to indicate target object and moves up in place road
Dynamic fluctuating range.
Wherein, σ2For population variance, X is variable (X1、X2..., Xn), μ is population mean, and n is overall number of cases.
Step S12 determines that target object will be from place road turning in the case where fluctuating range is greater than first threshold D
It will be turned to the first road, namely determining target object.
(2) judge the steering direction of road network inflection point in position fixing process
(1) road where searching target object
Step S21, obtain be used to indicate target object by from place road turning to the direction information of the first road it
Afterwards, the location information of target object within a preset period of time is obtained.
The duration of above-mentioned preset time period fixes a period of (such as 5 seconds, 10 seconds, 30 seconds), end time point
It can be current time, preset time period is also possible to a period closer from current time.
Above-mentioned location information is the position of the collected target object of mobile terminal within a preset period of time sometime
Information.Mobile terminal can with timing acquiring location information, can also when target object position changes acquisition position information.
Step S22, the room area where determining target object currently in map according to location information, room area packet
A plurality of road is included, a plurality of road includes the first road.
Optionally it is determined that the mode of room area is including but not limited to such as under type:
One is: above-mentioned location information includes collected multiple anchor points, and can delimit in map includes that this is more
The region of a anchor point and the one fixed width that extends outwardly is above-mentioned room area；
The second is: above-mentioned location information includes the current location of target object, directly with mesh indicated by location information
Marking region of the current location of object where in map is room area (i.e. centered on current location, and according to fixed half
The region that diameter or length and width delimited).
Step S23 determines the second road in room area in a plurality of road based on location information, wherein the second road
For the place road of target object.
Above-mentioned " the second road in room area in a plurality of road is determined based on location information " is including but not limited to
Such as under type:
Step S231, in the case where location information is used to indicate multiple positions (namely anchor point) of target object, root
The motion track of target object is determined according to multiple positions, multiple positions are the multiple moment of mobile terminal within a preset period of time point
The position of not collected target object.Specifically include the optional implementation of following two:
Mode one: it in the case where location information is used to indicate two positions of target object, determines and is connected by two positions
Track made of connecing is motion track.
Mode two: in the case where location information is used to indicate at least three position of target object, according at least three
Position fits motion track.
Above-mentioned fitting can be linear fit and obtain straight line, is also possible to nonlinear fitting and obtains curve (curve
Direction can be regarded as its tangential direction).
Above-mentioned fitting is exactly that anchor point a series of in plane is connected with a smooth curve, due to quasi-
What is closed is known locations point, so that curve is on the whole close to them.The i.e. above-mentioned motion track of the curve so obtained.
Step S232 is found and matched second road of motion track from a plurality of road.
When target object is walked on a road, although its motion track may be curve, generally it is moved
Dynamic rail mark can obtain in map in a plurality of road still along the road, therefore when determining the road where target object
Each road and motion track between angle；Determine the smallest road of angle in a plurality of road between motion track
For with matched second road of motion track.
(2) road where after target object turns to is searched
After determining the second road that target object is currently located in a plurality of road in room area based on location information,
It is the first road that target object will be diverted to that the road that is connected with first node is found from a plurality of road, first node with
One end pointed by the moving direction of the motion track of target object is connected in the both ends of second road.
Node (first node) i.e. target on the direction substantially identical with the moving direction of motion track of second road
The inflection point of object, the road being connected with the inflection point are likely to be the road after turning to.
(3) steering of pedestrian is matched with road network inflection point
It should be noted that at above-mentioned " judging whether pedestrian turns to " and " judging turn of road network inflection point in position fixing process
To direction " during, it may judge that there are multiple inflection points, namely there are the first roads of a plurality of candidate and a plurality of candidate
Second road is discussed further below and how uniquely to determine an inflection point for target object, i.e., unique determining one is currently located
The second road.
It is the first road that target object will be diverted to finding the road being connected with first node from a plurality of road
Before, a first node can be uniquely determined as follows.
Step S31 obtains the matching degree of multiple second nodes, and obtain multiple in the case where the second road is a plurality of
By the movement of the motion track of target object in the both ends of the matching degree of third node, each second node and second road
One end pointed by direction is connected, and third node is connected with the other end in the both ends of second road, with same
The second node and third node of two roads connection are arranged to the node pair that is mutually related, and the matching degree of second node is used
The matching degree of steering node when indicating second node as target object when secondary steering, the matching degree use of third node
The matching degree of steering node when once being turned to before indicating third node as target object.
(1) matching degree of multiple second nodes is obtained
Step S311 each of obtains the second direction angle of the motion track of target object, is connected with destination node
The third direction angle of one road, destination node are processed one current in multiple second nodes.
Above-mentioned second direction angle, third direction angle and first direction angle above-mentioned, is relative to some fixation side
To the angle of (X-axis or Y-axis in such as two-dimensional coordinate system).Such as the folder at second direction angle, that is, between motion track and fixed-direction
Angle, third direction angle are the angles between the first road and fixed-direction.
Step S312 determines of each first road by the third direction angle at second direction angle and each first road
With degree.
The third direction angle pair with second direction angle and each first road can be specifically calculated by Gaussian distribution formula
Each of answer the matching degree of the first road
Wherein, whereinFor the j-th turn of rearwardly direction (namely third direction angle) on i-th of vertex, when μ is current
The line direction (namely second direction angle) of two anchor points of the first two moment before quarter, δ takes empirical value
Step S313, using the maximum value in the matching degree of all first roads as the matching degree N (c of destination nodei) (table
Show the matching degree of i-th of inflection point).
For each possible inflection point, after the matching degree for calculating all first roads, a maximum value is then taken
A matching degree is calculated for each road network inflection point:
(2) matching degree of multiple first nodes is obtained
The mode for obtaining the matching degree of first node is identical as the above-mentioned acquisition matched mode of second node, herein not
It repeats again.
Step S32 obtains the product between the matching degree of each pair of node centering second node and the matching degree of third node.
Step S33, in multipair node pair there are product be greater than second threshold node to and product be greater than second threshold
Node pair logarithm be one in the case where, obtain product be greater than second threshold node centering second node be first node
(inflection point as the maximum possible when front steering).
So that in the case where determining that target object turns to according to directional information, it can be according to target object
Direction information orients first road at place after target object turns to.
Above-mentioned direction information can only indicate that target object is diverted to another road from the second road and (namely only indicates object
Turn to), can search the road being connected with the second road from a plurality of road at this time is the first road.
Above-mentioned direction information is specifically, can be the road markings of the second road of record or turn to inflection point (first
Node) node identification information；To know the road (namely first road) connecting with the second road according to this information.
Optionally, above-mentioned direction information can also include that directional information (can specifically pass through collected multiple orientation
Information is determined according to the Orientation differences before and after inflection point), in this way eastwards, westwards, southwards or northwards.
Optionally, above-mentioned direction information can also include inflection point angle information (specifically can be by collected more
A azimuth information is determined according to the Orientation differences before and after inflection point), such as 20 degree.
In the case where direction information is used to indicate the second road the second angle between another road for being diverted to, from
Searched in a plurality of road difference between the third angle and the second angle having within a preset range (5 degree such as positive and negative),
And the road being connected with the second road is the first road, wherein the second angle is the second road and the road that is connected with the second road
Angle between road.
Indoor positioning map matching technology in the related technology does not consider the motion state and doors structure of people
Connected relation will cause the decline of positioned update frequency, poor user experience.The technical program is turned to and road network inflection point by pedestrian
Match, determine pedestrian turn to when position, solve the indoor positioning based on signal field in turn to when occur positioning result lag,
The bigger problem of advanced equal error.
As a kind of optional embodiment, the technical solution of the application is detailed further below:
(1) unified coordinate system
Under the same coordinate system, be convenient for data calculating, the data that the technical program is related to include road net data,
Location data, sensing data can uniformly arrive them under two-dimensional Cartesian system.
(2) pedestrian turns to judgement, as shown in Figure 3:
Step S301 obtains location data.
Step S302 takes the direction of motion in location data, is stored in history buffer.
The direction of motion that PDR can continue output pedestrian takes the direction of motion at current time as soon as often carrying out time positioning result,
One history buffer is set, direction values are stored away according to time order and function.
Step S303 calculates the variance of history buffer.
Step S304, judges whether variance is greater than first threshold D, to judge whether pedestrian there is steering to be intended to.Judge people
Current kinetic direction and historical track direction change degree of fluctuation value D, be greater than the threshold value after, it is believed that currently have steering anticipate
Figure.If so then execute step S305, step S301 is otherwise returned to.
Step S305, when variance be greater than first threshold D, then judge pedestrian have turn to be intended to, history buffer is emptied.
(3) road network inflection point calculates:
When finding that pedestrian has steering to be intended to, centered on current anchor point, search in M meters of ranges nearby on all road networks
Vertex and connected side, according to history positioning as a result, the steering of all apexes is determined, to define the number of road network inflection point
According to structure, as shown in figure 4, include inflection point coordinate, adjacent vertex and while set, by before inflection point while direction, by turning
The direction on the side after point.
The calculation of one inflection point is described in detail below with reference to Fig. 5 and Fig. 6
Fig. 5 shows vertex A, and entire inflection point calculating process is as shown in Figure 6:
Step S601 searches for all road network vertex and side in the neighbouring M meters of ranges of current time anchor point.
Step S602, establish current time the first two moment anchor point between line.
Step S603 traverses the vertex set searched out.
Fig. 5 shows vertex A, actually may be multiple.
Step S604 takes out all sides being attached thereto and is traversed for each vertex.
For the A of vertex, B, C, D, E are vertex adjacent thereto, and BA, CA, DA, EA are the sides being attached thereto, and P1, P2 are
The point that front and back positions twice.
Step S605 calculates the angle of each edge and anchor point line.
Calculate separately the angle of P1P2 Yu BA, CA, DA, EA.
Step S606, the side under finding angle most.It obtains and the angle α of EA minimum.
Step S607, using the side found as forward direction is turned, other all sides, which are used as, turns rearwardly direction.
For the A of vertex, corresponding inflection point is defined as turning forward direction being vector EA, and turning rearwardly direction is vector
AB,AC,AD.For remaining vertex, adopts and calculated in a like fashion.
(4) pedestrian turns to and road network inflection point matching primitives
It is as shown in Figure 7:
Step S701, user's direction of travel that monitoring positioning obtains.
Step S702, judges whether user occurs steering behavior, no to then follow the steps if so then execute step S703
S701。
Step S703, judge whether be user first steering, it is no to then follow the steps if so then execute step S704
S709。
Step S704 calculates M meters near current anchor point of road network inflection point.
Step S705, after turning to the direction after (steering judged) and the steering of each road network inflection point with pedestrian (user)
Direction carry out Gauss formula calculating.
Step S706, each inflection point take a value maximum, the matching angle value as this inflection point.
Step S707 takes the maximum preceding n inflection point of matching degree, using matching angle value as the initial value of n coupling path.
Step S708 records the next vertex and side of each inflection point according to rearwardly direction is turned.
Step S709 calculates the road network inflection point on n adjacent vertex of a upper road network inflection point.
Step S710, the direction after turning the turning of rearwardly direction and each road network inflection point with pedestrian carry out Gaussian Computation.
Step S711, each inflection point take a value maximum, the matching angle value as this inflection point.
Step S712, by the matching degree of the matching degree of current inflection point and the coupling path being attached thereto, (i.e. above-mentioned is initial
Value) it is multiplied, the value as current path.
Step S713 filters out the coupling path that matching degree is greater than second threshold V.
Step S714, judges whether the coupling path quantity filtered out is greater than 1, if so then execute step S715, otherwise holds
Row step S701.
Step S715, finds coupling path.
In the technical solution of the application, the data structure of road network is defined, it is made to have connectivity, obtains mobile phone sensor
Bearing data, and the coordinate system of road net data and sensor orientation data is unified.By the variance for calculating history direction values
Mode, judge whether pedestrian has steering to be intended to, then, point sequence positioned according to history, it is all nearby to define current anchor point
Inflection point most possible inflection point is finally chosen from candidate inflection point by a series of step as candidate inflection point.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules is not necessarily of the invention
It is necessary.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
According to embodiments of the present invention, it additionally provides a kind of for implementing the target object of the localization method of above-mentioned target object
Positioning device.Fig. 8 is a kind of schematic diagram of the positioning device of optional target object according to an embodiment of the present invention, such as Fig. 8
It is shown, the apparatus may include: receiving unit 81, response unit 83 and positioning unit 85.
Receiving unit 81, for receiving target instruction target word, wherein target instruction target word is used to indicate to positioned at indoor target pair
As the road at place is positioned.
Above-mentioned mobile terminal is the terminal with acquisition moving direction function, since mobile terminal is taken by target object
Band, then the moving direction of mobile terminal acquisition can be considered as the moving direction of target object.
Response unit 83, for obtaining the collected target of mobile terminal that target object carries in response to target instruction target word
The directional information of object, wherein directional information is for indicating moving direction of the target object on the road of place.
It should be noted that when target object moves on the road of place, since road has certain width, target
Object is not necessarily to advance all along straight line, and may be curve, when being curve, then its movement side
To may be different with the direction of road.
Positioning unit 85, in the case where determining that target object turns to according to directional information, according to target pair
The direction information of elephant orients first road at place after target object turns to, wherein direction information is believed according to direction
Breath it is determining and for indicating target object from place road turning to the information of another road.
The place road of target object is connected with the first road by turning to inflection point, before target object passes through inflection point,
Larger change will occur for the direction of walking, therefore, can determine whether target object is diverted to first by directional information
Road.
It should be noted that the receiving unit 81 in the embodiment can be used for executing the step in the embodiment of the present application
S202, the response unit 83 in the embodiment can be used for executing the step S204 in the embodiment of the present application, in the embodiment
Positioning unit 85 can be used for executing the step S206 in the embodiment of the present application.
Herein it should be noted that above-mentioned module is identical as example and application scenarios that corresponding step is realized, but not
It is limited to above-described embodiment disclosure of that.It should be noted that above-mentioned module as a part of device may operate in as
In hardware environment shown in FIG. 1, hardware realization can also be passed through by software realization.
By above-mentioned module, when receiving target instruction target word, the collected mesh of mobile terminal that target object carries is obtained
The directional information of object is marked, directional information is for indicating moving direction of the target object on the road of place；Believe according to direction
It ceases in the case where determining that target object turns to, is oriented after target object turns to according to the direction information of target object
First road at place, wherein direction information is determined according to directional information and for indicating target object from place road
It is diverted to the information of another road, can solve the technology of road where after cannot identifying indoor user steering in the related technology
Problem, and then reach the technical effect identified to the steering of indoor user.
Applicant recognizes that the data of road network can objectively reflect indoor graph structure by carrying out analysis to the relevant technologies
Connectivity, pedestrian's deflection error ratio that PDR is extrapolated the motion state of pedestrian using mobile phone sensor data, but extrapolated
It is larger, but when turning to the variation in direction be it is sensitive and accurate, the application primary study pedestrian turns when turning to road network
The matching relationship of point determines the position of pedestrian this moment, for improving the precision of indoor positioning.Mainly including the following three aspects:
(1) judge whether pedestrian turns to；(2) judge the steering direction of road network inflection point in position fixing process；(3) by the steering of pedestrian and road network
Inflection point matching.Above 3 points are illustrated below in conjunction with step shown in Fig. 2.
Above-mentioned positioning unit includes: the first determination unit, for determining the room area where target object, wherein room
Inner region includes a plurality of road, and a plurality of road includes the first road；Searching unit, for lookup and second from a plurality of road
Road be connected and with matched first road of direction information, wherein the second road be target object place road.
Above-mentioned first determination unit is also used to: obtaining the location information of target object within a preset period of time；According to position
Information determine target object currently in map where room area.
Optionally, the first determination unit is also used to: determining the current location of target object indicated by location information on ground
Region where in figure is room area.
Optionally, positioning unit further includes the second determination unit, for searching and the second road phase from a plurality of road
Even and with before matched first road of direction information, the second road is determined as follows: being used in the location information of acquisition
In the case where multiple positions of instruction target object, the motion track of target object is determined according to multiple positions, wherein multiple
Position is the position for distinguishing collected target object the multiple moment of mobile terminal within a preset period of time；From a plurality of road
It finds and matched second road of motion track.
The second above-mentioned determination is also used to: obtaining each road in a plurality of road and the between motion track first folder
Angle；Determine that the smallest road of the first angle in a plurality of road between motion track is and the matched second of motion track
Road.
The second above-mentioned determination is also used to: in the case where location information is used to indicate two positions of target object, really
The fixed track being formed by connecting by two positions is motion track；At least three positions of target object are used to indicate in location information
In the case where, motion track is fitted according at least three positions.
Optionally, positioning unit further includes the second determination unit, for searching and the second road phase from a plurality of road
Even and with before matched first road of direction information, determined as follows for connecting the first road and the second road
First node: the second road be it is a plurality of in the case where, obtain the matching degree of multiple second nodes, and obtain multiple third sections
The matching degree of point, wherein by the movement of the motion track of target object in the both ends of each second node and second road
One end pointed by direction is connected, and third node is connected with the other end in the both ends of second road, with same
The second node and third node of two roads connection are arranged to the node pair that is mutually related, and the matching degree of second node is used
The matching degree of steering node when indicating second node as target object when secondary steering, the matching degree use of third node
The matching degree of steering node when once being turned to before indicating third node as target object；Obtain each pair of node centering
Product between the matching degree of second node and the matching degree of third node；There are products to be greater than the second threshold in multipair node pair
The node of value to and product be greater than second threshold node pair logarithm be one in the case where, obtain product be greater than second threshold
Node centering second node be first node.
The second above-mentioned determination unit is also used to obtain second direction angle and the destination node of the motion track of target object
Each of be connected the third direction angle of the first road, wherein destination node is current processed one in multiple second nodes
It is a；The matching degree of each first road is determined by the third direction angle at second direction angle and each first road；By all
Matching degree of the maximum value as destination node in the matching degree of one road.
The second above-mentioned determination unit is also used to calculate and second direction angle and first each by Gaussian distribution formula
The matching degree of corresponding each first road in the third direction angle on road.
Optionally, positioning unit is also used to: in direction information for indicating that it is another that target object is diverted to from the second road
In the case where road, it is the first road that the road being connected with the second road is searched from a plurality of road；Table is used in direction information
In the case where the second angle for showing the second road between another road for being diverted to, the third having is searched from a plurality of road
Difference between angle and the second angle within a preset range and the road that is connected with the second road be the first road, wherein
Second angle is the angle between the second road and the road being connected with the second road.
In the technical solution of the application, the data structure of road network is defined, it is made to have connectivity, obtains mobile phone sensor
Bearing data, and the coordinate system of road net data and sensor orientation data is unified.By the variance for calculating history direction values
Mode, judge whether pedestrian has steering to be intended to, then, point sequence positioned according to history, it is all nearby to define current anchor point
Inflection point most possible inflection point is finally chosen from candidate inflection point by a series of step as candidate inflection point.
Herein it should be noted that above-mentioned module is identical as example and application scenarios that corresponding step is realized, but not
It is limited to above-described embodiment disclosure of that.It should be noted that above-mentioned module as a part of device may operate in as
In hardware environment shown in FIG. 1, hardware realization can also be passed through by software realization, wherein hardware environment includes network
Environment.
According to embodiments of the present invention, additionally provide a kind of server for implementing the localization method of above-mentioned target object or
Terminal.
Fig. 9 is a kind of structural block diagram of terminal according to an embodiment of the present invention, as shown in figure 9, the terminal may include: one
A or multiple (one is only shown in Fig. 9) processor 901, memory 903 and transmitting device 905 are (in such as above-described embodiment
Sending device), as shown in figure 9, the terminal can also include input-output equipment 907.
Wherein, memory 903 can be used for storing software program and module, such as the target object in the embodiment of the present invention
Corresponding program instruction/the module of localization method and device, the software journey that processor 901 is stored in memory 903 by operation
Sequence and module realize the localization method of above-mentioned target object thereby executing various function application and data processing.It deposits
Reservoir 903 may include high speed random access memory, can also include nonvolatile memory, as one or more magnetic storage fills
It sets, flash memory or other non-volatile solid state memories.In some instances, memory 903 can further comprise relative to place
The remotely located memory of device 901 is managed, these remote memories can pass through network connection to terminal.The example packet of above-mentioned network
Include but be not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Above-mentioned transmitting device 905 is used to that data to be received or sent via network, can be also used for processor with
Data transmission between memory.Above-mentioned network specific example may include cable network and wireless network.In an example,
Transmitting device 905 includes a network adapter (Network Interface Controller, NIC), can pass through cable
It is connected with other network equipments with router so as to be communicated with internet or local area network.In an example, transmission dress
905 are set as radio frequency (Radio Frequency, RF) module, is used to wirelessly be communicated with internet.
Wherein, specifically, memory 903 is for storing application program.
The application program that processor 901 can call memory 903 to store by transmitting device 905, to execute following steps
It is rapid:
Receive target instruction target word, wherein target instruction target word be used to indicate to be located at indoor target object where road into
Row positioning；
In response to target instruction target word, the directional information for the collected target object of mobile terminal that target object carries is obtained,
Wherein, directional information is for indicating moving direction of the target object on the road of place；
In the case where determining that target object turns to according to directional information, positioned according to the direction information of target object
The first road where after target object turns to out, wherein direction information is determined according to directional information and for table
Show target object from place road turning to the information of another road.
Processor 901 is also used to execute following step:
In the case where the second road is a plurality of, the matching degree of multiple second nodes is obtained, and obtain multiple third nodes
Matching degree, wherein by the mobile side of the motion track of target object in the both ends of each second node and second road
It is connected to pointed one end, third node is connected with the other end in the both ends of second road, with same second
The second node and third node of road connection are arranged to the node pair that is mutually related, and the matching degree of second node is used for
Indicate that the matching degree of steering node of the second node as target object when secondary steering, the matching degree of third node are used for
Indicate the matching degree of steering node when preceding primary steering of the third node as target object；
Obtain the product between the matching degree of each pair of node centering second node and the matching degree of third node；
In multipair node pair there are product be greater than second threshold node to and product be greater than second threshold node pair
Logarithm be one in the case where, obtain product be greater than second threshold node centering second node be first node.
Using the embodiment of the present invention, when receiving target instruction target word, the collected directional information of mobile terminal, the party are obtained
Moving direction of the target object on the road of place is used to indicate to information；Determining that target object will be from institute based on directional information
In the case where road turning to the first road, acquisition is used to indicate target object will be from place road turning to the first road
Direction information, can solve cannot identify in the related technology indoor user turn to after where road the technical issues of, Jin Erda
The technical effect identified to the steering to indoor user.
Optionally, the specific example in the present embodiment can be with reference to example described in above-described embodiment, the present embodiment
Details are not described herein.
It will appreciated by the skilled person that structure shown in Fig. 9 is only to illustrate, terminal can be smart phone
(such as Android phone, iOS mobile phone), tablet computer, palm PC and mobile internet device (Mobile Internet
Devices, MID), the terminal devices such as PAD.Fig. 9 it does not cause to limit to the structure of above-mentioned electronic device.For example, terminal is also
May include than shown in Fig. 9 more perhaps less component (such as network interface, display device) or have with shown in Fig. 9
Different configurations.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing the relevant hardware of terminal device by program, which can store in a computer readable storage medium
In, storage medium may include: flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random
Access Memory, RAM), disk or CD etc..
The embodiments of the present invention also provide a kind of storage mediums.Optionally, in the present embodiment, above-mentioned storage medium can
With the program code of the localization method for performance objective object.
Optionally, in the present embodiment, above-mentioned storage medium can be located at multiple in network shown in above-described embodiment
On at least one network equipment in the network equipment.
Optionally, in the present embodiment, storage medium is arranged to store the program code for executing following steps:
S41 receives target instruction target word, wherein target instruction target word is used to indicate to positioned at the road where indoor target object
Road is positioned；
S42 obtains the direction letter for the collected target object of mobile terminal that target object carries in response to target instruction target word
Breath, wherein directional information is for indicating moving direction of the target object on the road of place；
S43, in the case where determining that target object turns to according to directional information, according to the direction information of target object
The first road where orienting after target object turns to, wherein direction information is determined and used according to directional information
In expression target object from place road turning to the information of another road.
Optionally, storage medium is also configured to store the program code for executing following steps:
S51 obtains the matching degree of multiple second nodes, and obtain multiple thirds in the case where the second road is a plurality of
The matching degree of node, wherein by the shifting of the motion track of target object in the both ends of each second node and second road
One end pointed by dynamic direction is connected, and third node is connected with the other end in the both ends of second road, with same
The second node and third node of second road connection are arranged to the node pair that is mutually related, the matching degree of second node
It is used to indicate the matching degree of steering node of the second node as target object when secondary steering, the matching degree of third node
It is used to indicate the matching degree of steering node when preceding primary steering of the third node as target object；
S52 obtains the product between the matching degree of each pair of node centering second node and the matching degree of third node；
S53, in multipair node pair there are product be greater than second threshold node to and product be greater than second threshold section
In the case that the logarithm of point pair is one, the second node for obtaining the node centering that product is greater than second threshold is first node.
Optionally, the specific example in the present embodiment can be with reference to example described in above-described embodiment, the present embodiment
Details are not described herein.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or
The various media that can store program code such as CD.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
If the integrated unit in above-described embodiment is realized in the form of SFU software functional unit and as independent product
When selling or using, it can store in above-mentioned computer-readable storage medium.Based on this understanding, skill of the invention
Substantially all or part of the part that contributes to existing technology or the technical solution can be with soft in other words for art scheme
The form of part product embodies, which is stored in a storage medium, including some instructions are used so that one
Platform or multiple stage computers equipment (can be personal computer, server or network equipment etc.) execute each embodiment institute of the present invention
State all or part of the steps of method.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed client, it can be by others side
Formula is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, and only one
Kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
It is desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed it is mutual it
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (15)
1. a kind of localization method of target object characterized by comprising
Receive target instruction target word, wherein the target instruction target word be used to indicate to be located at indoor target object where road into
Row positioning；
In response to the target instruction target word, the side for the collected target object of mobile terminal that the target object carries is obtained
To information, wherein the directional information is for indicating moving direction of the target object on the road of place；
In the case where determining that the target object turns to according to the directional information, according to the steering of the target object
Information locating goes out first road at place after the target object turns to, wherein the direction information is according to the side
It is being determined to information and for indicating information of the target object from the place road turning to another road.
2. the method according to claim 1, wherein being oriented according to the direction information of the target object described
First road at place includes: after target object turns to
Determine the room area where the target object, wherein the room area includes a plurality of road, a plurality of road
Including first road；
From a plurality of road search be connected with the second road and with matched first road of the direction information,
In, second road is the place road of the target object.
3. according to the method described in claim 2, it is characterized in that, the room area where determining the target object includes:
Obtain the location information of the target object within a preset period of time；
Room area where determining the target object currently in map according to the positional information.
4. according to the method described in claim 3, it is characterized in that, determining that the target object is current according to the positional information
The room area at place includes: in map
Determine that region of the current location of the target object indicated by the location information where in the map is institute
State room area.
5. according to the method described in claim 2, it is characterized in that, being searched and the second road phase from a plurality of road
Even and with before matched first road of the direction information, the method also includes as follows determine described in
Second road:
It is true according to the multiple position in the case where the location information of acquisition is used to indicate multiple positions of the target object
The motion track of the fixed target object, wherein the multiple position is the mobile terminal within a preset period of time multiple
Moment distinguishes the position of the collected target object；
It is found from a plurality of road and matched second road of the motion track.
6. according to the method described in claim 5, it is characterized in that, being found from a plurality of road and the motion track
Matched second road includes:
Obtain the first angle between each road and the motion track in a plurality of road；
Determine that the smallest road of the first angle in a plurality of road between the motion track is and the motion track
Matched second road.
7. according to the method described in claim 5, it is characterized in that, determining the shifting of the target object according to the multiple position
Dynamic rail mark includes:
In the case where the location information is used to indicate two positions of the target object, determination is connected by described two positions
Track made of connecing is the motion track；
In the case where the location information is used to indicate at least three position of the target object, according to described at least three
Position fits the motion track.
8. according to the method described in claim 2, it is characterized in that, being searched and the second road phase from a plurality of road
Even and with before matched first road of the direction information, the method also includes determinations as follows to be used for
Connect the first node of first road and second road:
In the case where second road is a plurality of, the matching degree of multiple second nodes is obtained, and obtain multiple third nodes
Matching degree, wherein by the movement of the target object in the both ends of each second node and second road
One end pointed by the moving direction of track is connected, the third node with it is another in the both ends of second road
End is connected, and the second node and the third node connecting with the second road described in same are arranged to be mutually related
One node pair, the matching degree of the second node are used to indicate the second node as the target object when time steering
When steering node matching degree, the matching degree of the third node is used to indicate the third node as the target pair
The matching degree of steering node when the preceding primary steering of elephant；
Obtain the product between the matching degree of second node described in each pair of node pair and the matching degree of the third node；
In the multipair node pair there are product be greater than second threshold the node to and product be greater than the second threshold
The node pair logarithm be one in the case where, obtain product is greater than the node centering of the second threshold described the
Two nodes are the first node.
9. according to the method described in claim 8, it is characterized in that, the matching degree for obtaining multiple second nodes includes:
Each of obtain the second direction angle of the motion track of target object, be connected with destination node the of first road
Three deflections, wherein the destination node is processed one current in multiple second nodes；
Of each first road is determined by the third direction angle at the second direction angle and each first road
With degree；
Using the maximum value in the matching degree of all first roads as the matching degree of the destination node.
10. according to the method described in claim 2, it is characterized in that, from a plurality of road search be connected with the second road,
And include: with matched first road of the direction information
In the case where the direction information, which is used for, indicates that the target object is diverted to another road from second road, from
It is first road that the road being connected with second road is searched in a plurality of road；
The case where indicating the second angle between second road and another road being diverted to is used in the direction information
Under, from the difference searched in a plurality of road between the third angle having and second angle within a preset range,
And the road being connected with second road be first road, wherein second angle be second road and with
Angle between the connected road of second road.
11. the method according to claim 1, wherein determining that the target object is sent out according to the directional information
Life turns to
Multiple moving directions according to indicated by the directional information determine the target object on the place road
Mobile fluctuating range；
In the case where the fluctuating range is greater than first threshold, determine that the target object occurs from the place road to another
The steering of one road.
12. according to the method for claim 11, which is characterized in that multiple shiftings according to indicated by the directional information
The fluctuating range that dynamic direction determines that the target object moves on the place road includes:
Obtain multiple first direction angles of multiple moving directions, wherein the first direction angle is the moving direction
Deflection；
Obtain the variance between multiple first direction angles, wherein the variance is used to indicate the target object described
The fluctuating range moved on the road of place.
13. a kind of positioning device of target object characterized by comprising
Receiving unit, for receiving target instruction target word, wherein the target instruction target word is used to indicate to positioned at indoor target object
The road at place is positioned；
Response unit, for obtaining the collected institute of mobile terminal that the target object carries in response to the target instruction target word
State the directional information of target object, wherein the directional information is for indicating movement of the target object on the road of place
Direction；
Positioning unit, in the case where determining that the target object turns to according to the directional information, according to described
The direction information of target object orients first road at place after the target object turns to, wherein the steering letter
Breath is determined according to the directional information and for indicating the target object from the place road turning to another road
Information.
14. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Execute method described in 1 to 12 any one of the claims.
15. a kind of electronic device, including memory, processor and it is stored on the memory and can transports on the processor
Capable computer program, which is characterized in that the processor executes the claims 1 to 12 by the computer program
Method described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710964396.5A CN109668565B (en) | 2017-10-17 | 2017-10-17 | Target object positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710964396.5A CN109668565B (en) | 2017-10-17 | 2017-10-17 | Target object positioning method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109668565A true CN109668565A (en) | 2019-04-23 |
| CN109668565B CN109668565B (en) | 2022-03-25 |
Family
ID=66140385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710964396.5A Active CN109668565B (en) | 2017-10-17 | 2017-10-17 | Target object positioning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109668565B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112765302A (en) * | 2021-01-28 | 2021-05-07 | 腾讯科技（深圳）有限公司 | Method and device for processing position information and computer readable medium |
| CN115067816A (en) * | 2022-07-29 | 2022-09-20 | 北京小狗吸尘器集团股份有限公司 | Cleaning equipment and control method and device thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936737A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Inertial navigation system and navigation method |
| CN103543289A (en) * | 2013-09-30 | 2014-01-29 | 北京邮电大学 | Method and device for acquiring terminal movement direction |
| CN106569245A (en) * | 2015-10-10 | 2017-04-19 | 腾讯科技（深圳）有限公司 | Vehicle positioning method and device |
| CN106610294A (en) * | 2015-10-27 | 2017-05-03 | 高德信息技术有限公司 | Positioning method and device |
| CN106840162A (en) * | 2016-12-26 | 2017-06-13 | 上海雅丰信息科技有限公司 | Indoor route matching method based on inertial navigation |
| US20170178102A1 (en) * | 2015-12-22 | 2017-06-22 | Invensense, Inc. | Method and system for point of sale ordering |
-
2017
- 2017-10-17 CN CN201710964396.5A patent/CN109668565B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936737A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Inertial navigation system and navigation method |
| CN103543289A (en) * | 2013-09-30 | 2014-01-29 | 北京邮电大学 | Method and device for acquiring terminal movement direction |
| CN106569245A (en) * | 2015-10-10 | 2017-04-19 | 腾讯科技（深圳）有限公司 | Vehicle positioning method and device |
| CN106610294A (en) * | 2015-10-27 | 2017-05-03 | 高德信息技术有限公司 | Positioning method and device |
| US20170178102A1 (en) * | 2015-12-22 | 2017-06-22 | Invensense, Inc. | Method and system for point of sale ordering |
| CN106840162A (en) * | 2016-12-26 | 2017-06-13 | 上海雅丰信息科技有限公司 | Indoor route matching method based on inertial navigation |
Non-Patent Citations (3)
| Title |
|---|
| ZHOU BAODING 等: "Activity Sequence-Based Indoor Pedestrian Localization Using Smartphones", 《IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS》 * |
| 刘文远等: "基于动态地标的在线室内平面图生成方法", 《电子与信息学报》 * |
| 范艳云: "基于惯导数据的室内用户运动轨迹匹配算法研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112765302A (en) * | 2021-01-28 | 2021-05-07 | 腾讯科技（深圳）有限公司 | Method and device for processing position information and computer readable medium |
| CN115067816A (en) * | 2022-07-29 | 2022-09-20 | 北京小狗吸尘器集团股份有限公司 | Cleaning equipment and control method and device thereof |
| CN115067816B (en) * | 2022-07-29 | 2023-09-12 | 北京小狗吸尘器集团股份有限公司 | Control method and device of cleaning equipment and cleaning equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109668565B (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200293852A1 (en) | Error based locationing of a mobile target on a road network | |
| US8174447B2 (en) | Concept for localizing a position on a path | |
| Zhang et al. | GROPING: Geomagnetism and crowdsensing powered indoor navigation | |
| US9594150B2 (en) | Determining device locations using movement, signal strength | |
| KR102116824B1 (en) | Positioning system based on deep learnin and construction method thereof | |
| CN103402258B (en) | Wi-Fi (Wireless Fidelity)-based indoor positioning system and method | |
| CN106525031B (en) | A kind of combined indoor orientation method | |
| US20090201149A1 (en) | Mobility tracking method and user location tracking device | |
| CN103916821A (en) | Floor distinguishing method based on RSSI difference between floors | |
| CN105526939B (en) | Road matching method and device | |
| CN104736968A (en) | Crowd-sourcing indoor locations | |
| CN104869634A (en) | Method and device for correcting positioning result | |
| CN104501807B (en) | Indoor location method based on geomagnetic field and historical localization track | |
| CN103826299B (en) | The indoor augmented reality implementation method perceived based on wireless signal | |
| EP3045001A1 (en) | Methods, wireless device and network node for managing positioning method based on prediction | |
| WO2015065375A1 (en) | Signal space based navigation | |
| CN105898711B (en) | A kind of localization method and device based on earth magnetism reference line | |
| CN116567531A (en) | Sensor fusion indoor positioning method and system based on particle filter algorithm | |
| KR102134414B1 (en) | Apparatus for measuring location using signal strength of access point and method thereof | |
| US11006238B1 (en) | Method for profiling based on foothold and terminal using the same | |
| CN109668565A (en) | The localization method and device of target object | |
| KR101621839B1 (en) | Method and system for position-measuring by using moving pattern database | |
| KR101580863B1 (en) | Method and system for building position-measuring database by using moving pattern | |
| CN105451171B (en) | The method and apparatus of upload user geographic position data | |
| Sakr et al. | Efficient Wi-Fi signal strength maps using sparse Gaussian process models |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |