CN109932686A - A kind of localization method, mobile terminal and indoor locating system - Google Patents

A kind of localization method, mobile terminal and indoor locating system Download PDF

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Publication number
CN109932686A
CN109932686A CN201910253451.9A CN201910253451A CN109932686A CN 109932686 A CN109932686 A CN 109932686A CN 201910253451 A CN201910253451 A CN 201910253451A CN 109932686 A CN109932686 A CN 109932686A
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coordinate
mobile terminal
satellite
characteristic parameter
indoor locating
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CN109932686B (en
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马士强
赵登
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Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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Abstract

The invention discloses a kind of localization method, mobile terminal and indoor locating systems, the described method includes: the satellite-signal sent according to the satellite of Global Navigation Satellite System, determine first position coordinate of the mobile terminal in the first coordinate system, wherein, the satellite-signal includes position coordinates of the satellite in first coordinate system；Receive second position coordinate of the mobile terminal of indoor locating system transmission in first coordinate system；According to the first position coordinate and the second position coordinate, positioned.The present invention can be realized flexible switching of the mobile terminal between outdoor environment is positioned based on Global Navigation Satellite System and indoor environment is positioned based on indoor locating system, and quickly positioning.

Description

A kind of localization method, mobile terminal and indoor locating system
Technical field
The present invention relates to field of communication technology more particularly to a kind of localization methods, mobile terminal and indoor locating system.
Background technique
Positioning system has a wide range of applications, such as: the scenes such as navigation, shopping, finance, Internet of Things, engineering construction need Positioning system is used to obtain current position data.Positioning system is broadly divided into outdoor positioning system and indoor positioning system at present System.Wherein, the covering of outdoor positioning system is wide, can guarantee the effective position of outdoor environment (such as outside building)；Environment indoors There may be the navigation satellite signal of outdoor positioning system is weak under (such as interior of building), or navigation satellite signal cannot be received The problem of, such indoor locating system can effectively solve asking of can not being positioned by outdoor positioning system under environment indoors Topic, is complemented each other by indoor positioning and outdoor positioning, to guarantee the coverage area of positioning system.But mobile terminal is in room When switching between interior environment and outdoor environment, there is a problem of that deviations and positioning are slow.
Summary of the invention
The present invention provides a kind of localization method, mobile terminal and indoor locating systems, to solve mobile terminal indoors When switching between environment and outdoor environment, there is a problem of that deviations and positioning are slow.
In order to solve the above-mentioned technical problem, the present invention is implemented as follows:
In a first aspect, being applied to mobile terminal the embodiment of the invention provides a kind of localization method, which comprises
According to the satellite-signal that the satellite of Global Navigation Satellite System is sent, determine the mobile terminal in the first coordinate system In first position coordinate, wherein the satellite-signal includes position coordinates of the satellite in first coordinate system；
Receive second position coordinate of the mobile terminal of indoor locating system transmission in first coordinate system；
According to the first position coordinate and the second position coordinate, positioned.
Second aspect, the embodiment of the invention also provides a kind of mobile terminal, the mobile terminal includes:
Determining module, the satellite-signal for being sent according to the satellite of Global Navigation Satellite System determine described mobile whole Hold the first position coordinate in the first coordinate system, wherein the satellite-signal includes the satellite in first coordinate Position coordinates in system；
Receiving module, for receiving the mobile terminal of indoor locating system transmission the in first coordinate system Two position coordinates；
Locating module, for being positioned according to the first position coordinate and the second position coordinate.
The third aspect the embodiment of the invention also provides a kind of mobile terminal, including processor, memory and is stored in institute The computer program that can be run on memory and on the processor is stated, when the computer program is executed by the processor The step of realizing localization method as described above.
Fourth aspect, it is described computer-readable to deposit the embodiment of the invention also provides a kind of computer readable storage medium Computer program is stored on storage media, the computer program realizes localization method as described above when being executed by processor Step.
5th aspect, the embodiment of the invention also provides a kind of localization methods, are applied to indoor locating system, the method Include:
Second position coordinate of the mobile terminal in the first coordinate system is sent to mobile terminal, so that described mobile whole End is positioned according to first position coordinate and the second position coordinate；
Wherein, the first position coordinate are as follows: the mobile terminal is sent according to the satellite of Global Navigation Satellite System Satellite-signal determines position coordinates of the mobile terminal in first coordinate system；The satellite-signal includes described defends Position coordinates of the star in first coordinate system.
6th aspect, the embodiment of the invention also provides a kind of indoor locating system, the indoor locating system includes:
Sending module, for sending second position coordinate of the mobile terminal in the first coordinate system to mobile terminal, So that the mobile terminal is positioned according to first position coordinate and the second position coordinate；
Wherein, the first position coordinate are as follows: the mobile terminal is sent according to the satellite of Global Navigation Satellite System Satellite-signal determines position coordinates of the mobile terminal in first coordinate system；The satellite-signal includes described defends Position coordinates of the star in first coordinate system.
7th aspect, the embodiment of the invention also provides a kind of indoor locating systems, including processor, memory and storage On the memory and the computer program that can run on the processor, the computer program are held by the processor The step of localization method as described above is realized when row.
Eighth aspect, it is described computer-readable to deposit the embodiment of the invention also provides a kind of computer readable storage medium Computer program is stored on storage media, the computer program realizes localization method as described above when being executed by processor Step.
In embodiments of the present invention, mobile terminal can determine the mobile terminal based on Global Navigation Satellite System First position coordinate in one coordinate system, and determine the mobile terminal in the first coordinate system based on indoor locating system Second position coordinate, in this way mobile terminal be in can receive the satellite-signal of Global Navigation Satellite System also can be in receiving chamber In the case where the positioning signal of positioning system, can based in the same coordinate system first position coordinate and second position coordinate into It goes and positions, avoiding mobile terminal from being based in outdoor environment, Global Navigation Satellite System position and indoor environment is fixed based on interior Position system positioned between when switching, it is big or the problem of can not position in a short time position error occur, realizes shifting Dynamic flexible switching of the terminal between indoor environment and outdoor environment are positioned, and quickly positioning.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 shows the flow charts of the mobile terminal side localization method of the embodiment of the present invention；
Fig. 2 indicates the schematic diagram of the Global Navigation Satellite System of the embodiment of the present invention；
Fig. 3 indicates the block diagram of the mobile terminal of the embodiment of the present invention；
Fig. 4 indicates the hardware structural diagram of the mobile terminal of the embodiment of the present invention；
Fig. 5 indicates the flow chart of the indoor locating system side positioning method of the embodiment of the present invention；
Fig. 6 indicates the schematic diagram of the indoor locating system useful signal overlay area of the embodiment of the present invention；
Fig. 7 indicates the block diagram of the indoor locating system of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.
Such as Fig. 1, the embodiment of the invention provides a kind of localization methods, are applied to mobile terminal, which comprises
Step 11: the satellite-signal sent according to the satellite of Global Navigation Satellite System determines the mobile terminal the First position coordinate in one coordinate system.
Wherein, the satellite-signal includes position coordinates of the satellite in first coordinate system.
Specifically, outdoor positioning uses Global Navigation Satellite System (Global Navigation Satellite System, GNSS), it such as include: global positioning system (Global Positioning System, GPS), global navigation satellite System (Global Navigation Satellite System, GLONASS), galileo satellite navigation system (Galileo Satellite navigation system, Galileo), Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS).In addition, further including district system and enhancing system, wherein district system has: quasi- zenith satellite System (Quasi-Zenith Satellite System, QZSS), India area navigation satellite system (Indian Regional Navigation Satellite System, IRNSS), enhancing system has: wide area enhancement system (Wide AreaAugmentation System, WAAS), multisatellite enhance system (Multi-Functional Satellite Augmentation System, MSAS), European geostationary Navigation Overlay Service (European Geostationary Navigation Overlay Service, EGNOS), auxiliary geostationary track enhanced navigation (GPS Aided Geo Augmented Navigation, GAGAN), the NIG-GOMSAT-1 of Ni Niya etc..
Outdoor positioning: multi-satellite is distributed in several orbital planes, and ground monitoring system is responsible for monitoring the working condition of satellite With the running track of measurement satellite, time reference is provided, controls satellite transit, is referred to satellite transmission satellite ephemeris, clock deviation, control The information such as order.User receiving equipment receives the satellite-signal from satellite incessantly, parses ephemeris parameter and temporal information, warp Calculate three-dimensional location coordinates, direction, movement velocity and the time for solving user.
Above-mentioned steps 11 are illustrated below in conjunction with specific example:
Such as Fig. 2, give a kind of example of Global Navigation Satellite System, wherein the first satellite in the first coordinate system One coordinate is (x1, y1, z1), second coordinate of second satellite in the first coordinate system is (x2, y2, z2), third satellite is first Third coordinate in coordinate system is (x3, y3, z3), 4-coordinate of the 4th satellite in the first coordinate system is (x4, y4, z4)。
According to first coordinate, second coordinate, the third coordinate and the 4-coordinate, by formula (1), Solution obtains x, y, z, as first position coordinate of the mobile terminal in the first coordinate system.
Wherein, di=c*ti, i=l, 2,3,4；Di is the distance between i-th satellite to receiver, tiFor defending for the i-th satellite Star signal reaches the receiver time experienced；vtiFor the clock deviation of satellite clock, c is the light velocity, vt0For the clock deviation of receiver, x is institute First position coordinate is stated in the coordinate value of x-axis, y is coordinate value of the first position coordinate in y-axis, and first position described in z is sat It is marked on the coordinate value of z-axis.
In this way, in the first coordinate, the second coordinate, third coordinate and 4-coordinate it is known that and di、vti, situation known to c Under, it can be solved by formula (1) and obtain x, y, z and vt0Value, to obtain the first position coordinate (x, y, z).
Optionally, the first coordinate system can be using World Geodesic Coordinate System 1984 system (World Geodetic System-1984Coordinate System, WGS-84), WGS-84 is a kind of geocentric coordinate system, i.e., coordinate origin is the earth The Z axis of mass center, the earth's core rectangular coordinate system in space is directed toward international time service organization (Bureau International deI ' Heure, BIH), direction agreement earth pole (Conventional Terrestrial Pole, CTP) of 1984.0 definition, X-axis It is directed toward zero meridian plane of BIH 1984.0 and the intersection point in the equator CTP, Y-axis and Z axis, X-axis are vertically formed right-handed coordinate system.
Step 12: receiving the second position of the mobile terminal of indoor locating system transmission in first coordinate system Coordinate.
Wherein, indoor locating system can be based on Wireless Fidelity (WiFi), bluetooth, radio frequency identification (Radio Frequency Identification, RFID) etc. the modes of local area networks realize.
Above-mentioned steps 12 may include:
It include the feedback information of the first signal characteristic parameter, first signal characteristic to indoor locating system feedback Parameter is the signal characteristic parameter for the positioning signal that the mobile terminal detects the indoor locating system；
Receive the second position coordinate that the indoor locating system is sent according to first signal characteristic parameter.
Such as: the first signal characteristic parameter can be the positioning signal that mobile terminal detects the indoor locating system Signal strength.
It is specifically described with WiFi fingerprint location:
WiFi fingerprint location is the signal characteristic parameter (such as: the signal strength of each Wi-Fi) measured on each position in advance, And it is stored in fingerprint database.The first signal characteristic of the currently received Wi-Fi signal of mobile terminal is joined when positioning indoors Number is matched with fingerprint base, obtain with the matched echo signal characteristic parameter of the first signal characteristic parameter, and then according to signal Mapping relations in characteristic parameter and the first coordinate system between position coordinates determine the echo signal characteristic parameter corresponding second Position coordinates.
Step 13: according to the first position coordinate and the second position coordinate, being positioned.
Wherein, above-mentioned steps 13 can specifically include:
If the first position coordinate is greater than preset threshold relative to the deviation of the second position coordinate, according to institute Second position coordinate is stated to be positioned.
In the embodiment, first position coordinate is based on the determining mobile terminal of Global Navigation Satellite System in the first coordinate Position coordinates in system, second position coordinate are the positions based on the determining mobile terminal of indoor locating system in the first coordinate system Set coordinate, and second position coordinate is that indoor locating system is chosen multiple reference positions based on the first coordinate system and is calculated, Precision with higher, therefore, when first position coordinate is greater than default threshold relative to the deviation of the second position coordinate When value, according to the second position, coordinate is positioned, to guarantee positioning accuracy.
Optionally, the relative distance between first position coordinate and second position coordinate can be used, indicates that first position is sat Mark the deviation relative to second position coordinate.
Such as: first position coordinate is (x1, y1, z1), second position coordinate is (x2, y2, z2)；
The deviation of first position coordinate and second position coordinate in x-axis direction: δ1=(x1-x2)；
The deviation of first position coordinate and second position coordinate in y-axis direction: δ2=(y1-y2)；
The deviation of first position coordinate and second position coordinate in z-axis direction: δ3=(z1-z2)；
Deviation of the first position coordinate relative to second position coordinate are as follows:
If the first position coordinate is less than or equal to preset threshold relative to the deviation of the second position coordinate, According to the first position coordinate and the second position coordinate, the third place coordinate is determined；According to the third place coordinate It is positioned.
In the embodiment, first position coordinate is based on the determining mobile terminal of Global Navigation Satellite System in the first coordinate Position coordinates in system, second position coordinate are the positions based on the determining mobile terminal of indoor locating system in the first coordinate system Set coordinate, and second position coordinate is that indoor locating system is chosen multiple reference positions based on the first coordinate system and is calculated, Precision with higher；But it is less than or equal in advance in first position coordinate relative to the deviation of the second position coordinate If when threshold value, the precision of first position coordinate and second position coordinate is close, then according to the first position coordinate and second It sets coordinate to determine the third place coordinate and positioned according to the third place coordinate, with optimum position precision.
Optionally, described according to the first position coordinate and the second position coordinate, determine that the third place coordinate can To include: the center position coordinates for calculating the first position coordinate and the second position coordinate；The center is sat Mark is determined as the third place coordinate.
Such as: first position coordinate is (x1, y1, z1), second position coordinate is (x2, y2, z2)；
Coordinate value of the third place coordinate in x-axis: x3=(x1+x2)/2；
Coordinate value of the third place coordinate in y-axis: y3=(y1+y2)/2；
Coordinate value of the third place coordinate in z-axis: z3=(z1+z2)/2；
The deviation of the third place coordinate (i.e. the center position coordinates of first position coordinate and the second position coordinate) For (x3, y3, z3)。
In above scheme, mobile terminal can determine the mobile terminal in the first coordinate based on Global Navigation Satellite System First position coordinate in system, and second of the mobile terminal in the first coordinate system is determined based on indoor locating system Coordinate is set, can also receive indoor positioning system in the satellite-signal that can receive Global Navigation Satellite System in mobile terminal in this way In the case where the positioning signal of system, can based in the same coordinate system first position coordinate and second position coordinate determined Position avoids carrying out positioning based on Global Navigation Satellite System in outdoor environment and indoor environment is based on indoor locating system and is determined Between position when switching, it is big or the problem of can not position in a short time position error occur, realizes global navigational satellite system System outdoor environment carry out positioning and indoor environment positioned between flexible switching, and quickly positioning.
The above method is illustrated below in conjunction with concrete scene:
Scene one: when mobile terminal is under outdoor scene, the satellite for being only capable of receiving Global Navigation Satellite System is sent Satellite-signal when, determine that first position coordinate of the mobile terminal in the first coordinate system is positioned according to the satellite-signal. Wherein, satellite-signal includes position coordinates of the satellite in first coordinate system.
Specifically, obtaining satellite hair in real time when mobile terminal is when outdoor is positioned by Global Navigation Satellite System The satellite-signal sent, and determined according to the satellite-signal and characterize the mobile terminal the first coordinate system (such as: WGS-84 coordinate system) In first position coordinate: Posoutdoor=(B, L, H).Global Navigation Satellite System can be GPS positioning system, worldwide navigation Satellite system (Global Navigation Satellite System, GNSS) etc..
Scene two: when mobile terminal is moved to indoor scene from outdoor scene, and global navigational satellite system can be received The satellite-signal that the satellite of system is sent can receive the positioning signal of indoor locating system transmission again when, according to based on worldwide navigation First position coordinate of the mobile terminal that satellite system determines in the first coordinate system, and determined based on indoor locating system Second position coordinate of the mobile terminal in the first coordinate system, is positioned.
Specifically, when mobile terminal is moved to the wireless access points from building entrance outside building When in the range of (Wireless Access Point, AP) and not yet entering interior of building, mobile terminal is on the one hand from the whole world Navigational satellite system determines first position coordinate Pos of the mobile terminal in the first coordinate systemoutdoor=(B, L, H), another party Face determines second position coordinate Pos of the mobile terminal in the first coordinate system by indoor locating systemindoor=(Bn, Ln, Hn)。
Calculate first position coordinate relative to second position coordinate deviation δ=| Posoutdoor-Posindoor|, due to The position coordinates in the first coordinate system that indoor locating system determines are to carry out repeatedly calculating determining, tool based on multiple reference points There is higher precision.If δ is greater than preset threshold, i.e., the positional parameter of Global Navigation Satellite System is relative to indoor locating system Positional parameter deviation it is larger, then it is assumed that the confidence level of first position coordinate is lower, then with Posindoor=(Bn, Ln, Hn) conduct The positional parameter of mobile terminal；Otherwise, the center position coordinates between first position coordinate and second position coordinate are as positioning The determination method of parameter, specific center position coordinates is as described above in Example, and details are not described herein again.
Scene three: when mobile terminal is under indoor scene, the positioning for being only capable of receiving the transmission of indoor locating system is believed Number when, second position coordinate of the mobile terminal in the first coordinate system sent according to indoor locating system is positioned.
Specifically, the satellite letter of Global Navigation Satellite System transmission cannot be received when mobile terminal is completely into interior Number, it is only capable of receiving the positioning signal of indoor locating system transmission, is then positioned completely with indoor locating system.Such as: to room Interior positioning system feedback includes the feedback information of the first signal characteristic parameter, and first signal characteristic parameter is described mobile whole End detects the signal characteristic parameter of the positioning signal of the indoor locating system；The indoor locating system is received according to The second position coordinate that first signal characteristic parameter is sent, the second position coordinate is the first coordinate system (such as WGS-84 coordinate System) in position coordinates Posindoor=(Bn, Ln, Hn)。
Scene four: when mobile terminal is moved to outdoor scene from indoor scene, and global navigational satellite system can be received The satellite-signal that the satellite of system is sent can receive the positioning signal of indoor locating system transmission again when, according to based on worldwide navigation First position coordinate of the mobile terminal that satellite system determines in the first coordinate system, and determined based on indoor locating system Second position coordinate of the mobile terminal in the first coordinate system, is positioned.
Specifically, being covered when mobile terminal leaves interior by the entrance of building but not yet leaves the signal of inlet AP When lid range, on the one hand mobile terminal determines first position of the mobile terminal in the first coordinate system from Global Navigation Satellite System Coordinate Posoutdoor=(B, L, H) on the other hand determines of mobile terminal in the first coordinate system by indoor locating system Two position coordinates Posindoor=(Bn, Ln, Hn)。
Calculate first position coordinate relative to second position coordinate deviation δ=| Posoutdoor-Posindoor|, due to The position coordinates in the first coordinate system that indoor locating system determines are to carry out repeatedly calculating determining, tool based on multiple reference points There is higher precision.If δ is greater than preset threshold, i.e., the positional parameter of Global Navigation Satellite System is relative to indoor locating system Positional parameter deviation it is larger, then it is assumed that the confidence level of first position coordinate is lower, then with Posindoor=(Bn, Ln, Hn) conduct The positional parameter of mobile terminal；Otherwise, the center position coordinates between first position coordinate and second position coordinate are as positioning The determination method of parameter, specific center position coordinates is as described above in Example, and details are not described herein again.
Such as Fig. 3, the embodiment of the invention also provides a kind of mobile terminal 300, the mobile terminal 300 includes:
Determining module 310, the satellite-signal for being sent according to the satellite of Global Navigation Satellite System, determines the movement First position coordinate of the terminal in the first coordinate system, wherein the satellite-signal includes that the satellite is sat described first Position coordinates in mark system；
Receiving module 320, for receiving the mobile terminal of indoor locating system transmission in first coordinate system Second position coordinate；
Locating module 330, for being positioned according to the first position coordinate and the second position coordinate.
Wherein, the receiving module 320 may include:
Submodule is fed back, for including the feedback information of the first signal characteristic parameter to indoor locating system feedback, First signal characteristic parameter is the signal characteristic for the positioning signal that the mobile terminal detects the indoor locating system Parameter；
Receiving submodule, second sent for receiving the indoor locating system according to first signal characteristic parameter Position coordinates.
Wherein, the locating module 330 may include:
First positioning submodule, if big relative to the deviation of the second position coordinate for the first position coordinate In preset threshold, then positioned according to the second position coordinate.
Wherein, the locating module 330 can also include:
Determine submodule, if be less than for the first position coordinate relative to the deviation of the second position coordinate or Equal to preset threshold, then according to the first position coordinate and the second position coordinate, the third place coordinate is determined；
Second positioning submodule, for being positioned according to the third place coordinate.
Wherein, the determining submodule may include:
Computing unit, for calculating the center position coordinates of the first position coordinate and the second position coordinate；
Determination unit, for the center position coordinates to be determined as the third place coordinate.
Mobile terminal provided in an embodiment of the present invention can be realized mobile terminal in the embodiment of the method for Fig. 1 realize it is each Process, to avoid repeating, which is not described herein again.
Mobile terminal 300 in above scheme, mobile terminal can determine the movement based on Global Navigation Satellite System First position coordinate of the terminal in the first coordinate system, and determine that the mobile terminal is sat first based on indoor locating system Second position coordinate in mark system also can in mobile terminal in the satellite-signal that can receive Global Navigation Satellite System in this way It, can be based on the first position coordinate and second in the same coordinate system in the case where the positioning signal for receiving indoor locating system It sets coordinate to be positioned, avoids carrying out positioning based on Global Navigation Satellite System in outdoor environment and indoor environment is based on interior and determines Position system positioned between when switching, it is big or the problem of can not position in a short time position error occur, realizes room External environment and indoor environment positioned between flexible switching, and quickly positioning.
A kind of hardware structural diagram of Fig. 4 mobile terminal of each embodiment to realize the present invention.
The mobile terminal 400 includes but is not limited to: radio frequency unit 401, network module 402, audio output unit 403, defeated Enter unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, processor The components such as 410 and power supply 411.It will be understood by those skilled in the art that mobile terminal structure shown in Fig. 4 is not constituted Restriction to mobile terminal, mobile terminal may include than illustrating more or fewer components, perhaps combine certain components or Different component layouts.In embodiments of the present invention, mobile terminal include but is not limited to mobile phone, tablet computer, laptop, Palm PC, vehicle mobile terminals, wearable device and pedometer etc..
Wherein, radio frequency unit 401, for receiving the mobile terminal of indoor locating system transmission in first coordinate Second position coordinate in system；
Processor 410, the satellite-signal for being sent according to the satellite of Global Navigation Satellite System determine described mobile whole Hold the first position coordinate in the first coordinate system, wherein the satellite-signal includes the satellite in first coordinate Position coordinates in system；And according to the first position coordinate and the second position coordinate, positioned.
Mobile terminal 400 in above scheme, mobile terminal can determine the movement based on Global Navigation Satellite System First position coordinate of the terminal in the first coordinate system, and determine that the mobile terminal is sat first based on indoor locating system Second position coordinate in mark system also can in mobile terminal in the satellite-signal that can receive Global Navigation Satellite System in this way It, can be based on the first position coordinate and second in the same coordinate system in the case where the positioning signal for receiving indoor locating system It sets coordinate to be positioned, avoids carrying out positioning based on Global Navigation Satellite System in outdoor environment and indoor environment is based on interior and determines Position system positioned between when switching, it is big or the problem of can not position in a short time position error occur, realizes room External environment and indoor environment positioned between flexible switching, and quickly positioning.
It should be understood that the embodiment of the present invention in, radio frequency unit 401 can be used for receiving and sending messages or communication process in, signal Send and receive, specifically, by from base station downlink data receive after, to processor 410 handle；In addition, by uplink Data are sent to base station.In general, radio frequency unit 401 includes but is not limited to antenna, at least one amplifier, transceiver, coupling Device, low-noise amplifier, duplexer etc..In addition, radio frequency unit 401 can also by wireless communication system and network and other set Standby communication.
Mobile terminal provides wireless broadband internet by network module 402 for user and accesses, and such as user is helped to receive It sends e-mails, browse webpage and access streaming video etc..
Audio output unit 403 can be received by radio frequency unit 401 or network module 402 or in memory 409 The audio data of storage is converted into audio signal and exports to be sound.Moreover, audio output unit 403 can also be provided and be moved The relevant audio output of specific function that dynamic terminal 400 executes is (for example, call signal receives sound, message sink sound etc. Deng).Audio output unit 403 includes loudspeaker, buzzer and receiver etc..
Input unit 404 is for receiving audio or video signal.Input unit 404 may include graphics processor (Graphics Processing Unit, GPU) 4041 and microphone 4042, graphics processor 4041 is in video acquisition mode Or the image data of the static images or video obtained in image capture mode by image capture apparatus (such as camera) carries out Reason.Treated, and picture frame may be displayed on display unit 406.Through graphics processor 4041, treated that picture frame can be deposited Storage is sent in memory 409 (or other storage mediums) or via radio frequency unit 401 or network module 402.Mike Wind 4042 can receive sound, and can be audio data by such acoustic processing.Treated audio data can be The format output that mobile communication base station can be sent to via radio frequency unit 401 is converted in the case where telephone calling model.
Mobile terminal 400 further includes at least one sensor 405, such as optical sensor, motion sensor and other biographies Sensor.Specifically, optical sensor includes ambient light sensor and proximity sensor, wherein ambient light sensor can be according to environment The light and shade of light adjusts the brightness of display panel 4061, and proximity sensor can close when mobile terminal 400 is moved in one's ear Display panel 4061 and/or backlight.As a kind of motion sensor, accelerometer sensor can detect in all directions (general For three axis) size of acceleration, it can detect that size and the direction of gravity when static, can be used to identify mobile terminal posture (ratio Such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap)；It passes Sensor 405 can also include fingerprint sensor, pressure sensor, iris sensor, molecule sensor, gyroscope, barometer, wet Meter, thermometer, infrared sensor etc. are spent, details are not described herein.
Display unit 406 is for showing information input by user or being supplied to the information of user.Display unit 406 can wrap Display panel 4061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode can be used Forms such as (Organic Light-Emitting Diode, OLED) configure display panel 4061.
User input unit 407 can be used for receiving the number or character information of input, and generate the use with mobile terminal Family setting and the related key signals input of function control.Specifically, user input unit 407 include touch panel 4071 and Other input equipments 4072.Touch panel 4071, also referred to as touch screen collect the touch operation of user on it or nearby (for example user uses any suitable objects or attachment such as finger, stylus on touch panel 4071 or in touch panel 4071 Neighbouring operation).Touch panel 4071 may include both touch detecting apparatus and touch controller.Wherein, touch detection Device detects the touch orientation of user, and detects touch operation bring signal, transmits a signal to touch controller；Touch control Device processed receives touch information from touch detecting apparatus, and is converted into contact coordinate, then gives processor 410, receiving area It manages the order that device 410 is sent and is executed.Furthermore, it is possible to more using resistance-type, condenser type, infrared ray and surface acoustic wave etc. Seed type realizes touch panel 4071.In addition to touch panel 4071, user input unit 407 can also include other input equipments 4072.Specifically, other input equipments 4072 can include but is not limited to physical keyboard, function key (such as volume control button, Switch key etc.), trace ball, mouse, operating stick, details are not described herein.
Further, touch panel 4071 can be covered on display panel 4061, when touch panel 4071 is detected at it On or near touch operation after, send processor 410 to determine the type of touch event, be followed by subsequent processing device 410 according to touching The type for touching event provides corresponding visual output on display panel 4061.Although in Fig. 4, touch panel 4071 and display Panel 4061 is the function that outputs and inputs of realizing mobile terminal as two independent components, but in some embodiments In, can be integrated by touch panel 4071 and display panel 4061 and realize the function that outputs and inputs of mobile terminal, it is specific this Place is without limitation.
Interface unit 408 is the interface that external device (ED) is connect with mobile terminal 400.For example, external device (ED) may include having Line or wireless head-band earphone port, external power supply (or battery charger) port, wired or wireless data port, storage card end Mouth, port, the port audio input/output (I/O), video i/o port, earphone end for connecting the device with identification module Mouthful etc..Interface unit 408 can be used for receiving the input (for example, data information, electric power etc.) from external device (ED) and By one or more elements that the input received is transferred in mobile terminal 400 or can be used in 400 He of mobile terminal Data are transmitted between external device (ED).
Memory 409 can be used for storing software program and various data.Memory 409 can mainly include storing program area The storage data area and, wherein storing program area can (such as the sound of application program needed for storage program area, at least one function Sound playing function, image player function etc.) etc.；Storage data area can store according to mobile phone use created data (such as Audio data, phone directory etc.) etc..In addition, memory 409 may include high-speed random access memory, it can also include non-easy The property lost memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.
Processor 410 is the control centre of mobile terminal, utilizes each of various interfaces and the entire mobile terminal of connection A part by running or execute the software program and/or module that are stored in memory 409, and calls and is stored in storage Data in device 409 execute the various functions and processing data of mobile terminal, to carry out integral monitoring to mobile terminal.Place Managing device 410 may include one or more processing units；Preferably, processor 410 can integrate application processor and modulatedemodulate is mediated Manage device, wherein the main processing operation system of application processor, user interface and application program etc., modem processor is main Processing wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor 410.
Mobile terminal 400 can also include the power supply 411 (such as battery) powered to all parts, it is preferred that power supply 411 Can be logically contiguous by power-supply management system and processor 410, to realize management charging by power-supply management system, put The functions such as electricity and power managed.
In addition, mobile terminal 400 includes some unshowned functional modules, details are not described herein.
Preferably, the embodiment of the present invention also provides a kind of mobile terminal, including processor 410, and memory 409 is stored in On memory 409 and the computer program that can run on the processor 410, the computer program are executed by processor 410 Each process of the above-mentioned localization method embodiment of Shi Shixian, and identical technical effect can be reached, to avoid repeating, here no longer It repeats.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium Calculation machine program, the computer program realize each process of above-mentioned localization method embodiment when being executed by processor, and can reach Identical technical effect, to avoid repeating, which is not described herein again.Wherein, the computer readable storage medium is deposited Ru read-only Reservoir (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation RAM), Magnetic or disk etc..
Such as Fig. 5, the embodiment of the invention also provides a kind of localization methods, are applied to indoor locating system, the method packet It includes:
Step 51: second position coordinate of the mobile terminal in the first coordinate system is sent to mobile terminal, so that institute Mobile terminal is stated to be positioned according to first position coordinate and the second position coordinate；
Wherein, the first position coordinate are as follows: the mobile terminal is sent according to the satellite of Global Navigation Satellite System Satellite-signal determines position coordinates of the mobile terminal in first coordinate system；The satellite-signal includes described defends Position coordinates of the star in first coordinate system.
Wherein, indoor locating system can be based on WiFi, and the mode of bluetooth, the local area networks such as RFID is realized.Outdoor positioning is adopted With one of Global Navigation Satellite System such as GPS or Beidou.
Optionally, the first coordinate system can use WGS-84, and WGS-84 is a kind of geocentric coordinate system, i.e., coordinate origin is ground Ball mass center, the Z axis of the earth's core rectangular coordinate system in space are directed toward BIH, the direction CTP of 1984.0 definition, and X-axis is directed toward BIH 1984.0 Zero meridian plane and the equator CTP intersection point, Y-axis and Z axis, X-axis are vertically formed right-handed coordinate system.
Wherein, above-mentioned steps 51 can specifically include:
Receive the feedback information comprising the first signal characteristic parameter of the mobile terminal feedback, first signal characteristic The signal characteristic parameter of the positioning signal for the indoor locating system that parameter is detected by the mobile terminal；According to described First signal characteristic parameter, Xiang Suoshu mobile terminal send second position coordinate of the mobile terminal in the first coordinate system.
Such as: the first signal characteristic parameter can be the positioning letter for the indoor locating system that mobile terminal is detected Number signal strength.
Optionally, according to first signal characteristic parameter, Xiang Suoshu mobile terminal sends the mobile terminal first Second position coordinate in coordinate system may include:
According to the characteristic parameter library pre-established, determine in the characteristic parameter library with the first signal characteristic parameter phase Matched echo signal characteristic parameter；According to the position coordinates in the signal characteristic parameter and first coordinate system pre-established Between mapping relations, determine that corresponding with echo signal characteristic parameter position coordinates are the second position coordinate；To The mobile terminal sends the second position coordinate.
It is specifically described with WiFi fingerprint location:
WiFi fingerprint location is the signal characteristic parameter (such as: the signal strength of each Wi-Fi) measured on each position in advance, And it is stored in fingerprint database.The first signal characteristic of the currently received Wi-Fi signal of mobile terminal is joined when positioning indoors Number is matched with fingerprint base, obtain with the matched echo signal characteristic parameter of the first signal characteristic parameter, and then according to signal Mapping relations in characteristic parameter and the first coordinate system between position coordinates determine the echo signal characteristic parameter corresponding second Position coordinates, and it is sent to mobile terminal.
In above scheme, position coordinates that indoor locating system is sent to mobile terminal and Global Navigation Satellite System are defended The position coordinates for the satellite that star is sent to the mobile terminal belong to the same coordinate system, guarantee mobile terminal in uniform coordinate Location confirmation is carried out in system, so that mobile terminal can determine that the mobile terminal is sat first based on Global Navigation Satellite System First position coordinate in mark system, and second of the mobile terminal in the first coordinate system is determined based on indoor locating system Position coordinates；Indoor locating system can be also received in the satellite-signal that can receive Global Navigation Satellite System in mobile terminal Positioning signal in the case where, can based in the same coordinate system first position coordinate and second position coordinate positioned, It avoids position based on Global Navigation Satellite System in outdoor environment being positioned with indoor environment based on indoor locating system Between when switching, it is big or the problem of can not position in a short time position error occur, realizes outdoor environment and indoor ring Border positioned between flexible switching, and quickly positioning.
Further, can also include: before above-mentioned steps 51
Determine that multiple target positions are in first coordinate system in the corresponding signal coverage areas of the indoor locating system In position coordinates.
In the embodiment, the first coordinate system based on Global Navigation Satellite System, such as general WGS-84 coordinate system are established The position that position coordinates of multiple target positions in first coordinate system in the indoor locating system, i.e. indoor locating system determine Coordinate unification is set into the first coordinate system of Global Navigation Satellite System, terminal easy to remove is in can receive worldwide navigation It, can be based in the same coordinate system in the case that the satellite-signal of satellite system can also receive the positioning signal of indoor locating system First position coordinate and second position coordinate positioned, avoid based on Global Navigation Satellite System carry out outdoor positioning with It is big or the problem of can not position to occur position error when carrying out indoor positioning based on indoor locating system.
Specifically, determining that multiple target positions are described first in the corresponding signal coverage areas of the indoor locating system Position coordinates in coordinate system may include:
Reference coordinate of at least one reference position in first coordinate system is obtained, the reference coordinate is based on institute State what Global Navigation Satellite System determined；Based on the reference coordinate, determine the target position in first coordinate system Position coordinates.
Optionally, the target position be that the signal coverage areas is divided into multiple grids according to predetermined space Grid intersection point position；The reference position is located at the entrance of building locating for the indoor locating system.
It should be appreciated that the reference position can be located at the outside of building locating for the indoor locating system.
Wherein, the reference position of the outside of building locating for the indoor locating system may is that building outside and The position of satellite-signal can be received, and/or, the building locating for the indoor locating system is within the scope of pre-determined distance Position, and/or, can receive satellite-signal intensity be more than pre-determined threshold position.
The above method is illustrated below in conjunction with concrete scene:
Such as Fig. 6, a kind of example of the useful signal overlay area of indoor locating system is given.Wherein, in building (such as parking garage or indoor mall) is laid out a certain number of AP groups, these AP groups is made to meet the interior of covering whole building Space.Useful signal overlay area is area of the signal strength more than preset strength threshold value that mobile terminal can detect AP group Domain.
Such as: there are four entrances for building: entrance A, entrance E, entrance H, entrance L；It can then choose and build The entrance A of object, entrance E, entrance H, entrance L are built as reference position；It should be noted that reference position can be with It is the other positions for choosing the satellite-signal for the satellite transmission that Global Navigation Satellite System can be received outside building, reference The quantity of position can also be set according to the demand of computational accuracy, and the quantity for the reference position such as chosen in predetermined threshold is higher Then computational accuracy is higher.
The almanac data of navigation satellite in Global Navigation Satellite System is received by the higher satellite receiver of accuracy, and Position coordinates (the B in corresponding first coordinate system of entrance A is calculated separately according to the almanac dataa, La, Ha), E pairs of entrance Position coordinates (the B in the first coordinate system answerede, Le, He), the position coordinates (B in corresponding first coordinate system of entranceh, Lh, Hh), the position coordinates (B in corresponding first coordinate system of entrance Ll, Ll, Hl).It preferably, can be with for each entrance Repeatedly test plot mean is carried out, to improve the computational accuracy of position coordinates.
By the useful signal overlay area of AP at interior of building region and entrance, according to certain spacing (as being somebody's turn to do Spacing is 1m) grid dividing is carried out, it divides obtain multiple grids as shown in phantom in Figure 6.Optionally, with the intersection point of adjacent mesh As target position n, wherein n=1,2,3 ...；As target position n can respectively correspond intersection point 1~116 in Fig. 6.It needs Bright, the setting of the specific spacing can be set according to specific location requirement, and invention is not limited thereto.
Further, described according to the reference coordinate, determine position of the target position in first coordinate system Coordinate, comprising:
Reference coordinate based on each reference position determines the target position in first coordinate system respectively One initial coordinate；According to the initial coordinate, position coordinates of the target position in first coordinate system are determined.
Specifically, the reference coordinate based on each reference position, determines the target position described respectively An initial coordinate in one coordinate system, comprising:
Based on first coordinate system, deviation of the target position relative to reference location, the mesh are calculated Marking reference position is one at least one described reference position；According to the object reference coordinate of the reference location with And the deviation, determine initial seat of the target position in first coordinate system relative to the object reference coordinate Mark.
Such as: the relative difference δ of survey calculation target position n x-axis direction in the first coordinate systeman, target position n is The relative difference β in y-axis direction in one coordinate systeman, the relative difference γ in the z-axis direction in the first coordinate system target position nan。
According to the position coordinates (B of entrance Aa, La, Ha) and relative difference δan、βan、γan, calculated by formula (2) Initial coordinate (the B of target position nan, Lan, Han)。
By the position coordinates (B based on entrance Aa, La, Ha) initial coordinate (B of target position n that is calculatedan, Lan, Han) data acquisition system is constituted, such as: set Saindoor={ (Ba1, La1, Ha1), (Ba2, La2, Ha2) ..., (Ban, Lan, Han)}；
Likewise, can be based on the position coordinates (B of entrance Ee, Le, He) initial coordinate of target position n is calculated (Ben, Len, Hen) data acquisition system is constituted, such as: set Seindoor={ (Be1, Le1, He1), (Be2, Le2, He2) ..., (Ben, Len, Hen)}；
Position coordinates (B based on entrance Hh, Lh, Hh) initial coordinate (B of target position n is calculatedhn, Lhn, Hhn) Data acquisition system is constituted, such as: set Shindoor={ (Bh1, Lh1, Hh1), (Bh2, Lh2, Hh2) ..., (Bhn, Lhn, Hhn)}；
Position coordinates (B based on entrance Ll, Ll, Hl) initial coordinate (B of target position n is calculatedln, Lln, Hln) Data acquisition system is constituted, such as: set Slindoor={ (Bl1, Ll1, Hl1), (Bl2, Ll2, Hl2) ..., (Bln, Lln, Hln)}。
Specifically, it is described according to the initial coordinate, determine position of the target position in first coordinate system Coordinate, comprising:
Calculate separately the average value between the coordinate value for corresponding to each reference axis in the initial coordinate；According to described average Value, determines position coordinates of the target position in first coordinate system.
Such as: the position coordinates (B based on entrance Aa, La, Ha) initial coordinate (B of target position n that is calculatedan, Lan, Han), the position coordinates (B based on entrance Ee, Le, He) initial coordinate (B of target position n is calculateden, Len, Hen)、 Position coordinates (B based on entrance Hh, Lh, Hh) initial coordinate (B of target position n is calculatedhn, Lhm, Hhn) and be based on Position coordinates (the B of entrance Ll, Ll, Hl) initial coordinate (B of target position n is calculatedln, Lln, Hln), pass through formula (3) Position coordinates (B of the target position n in first coordinate system is calculatedn, Ln, Hn)。
Position coordinates (B based on target position n in first coordinate systemn, Ln, Hn) constitute coordinate parameters collection Sindoor ={ (B1, L1, H1), (B2, L2, H2) ..., (Bn, Ln, Hn)}。
In the embodiment, the initial coordinate for the target position being calculated based on multiple reference positions is averaged, is made For position coordinates of the target position in the first coordinate system, guarantee position coordinates of each target position in the first coordinate system Accuracy.
Further, can also in determining the corresponding signal coverage areas of the indoor locating system multiple target positions On the basis of setting the position coordinates in first coordinate system, according to position of the target position in first coordinate system The signal characteristic parameter for setting coordinate and the target position, the position established in signal characteristic parameter and first coordinate system are sat Mapping relations between mark.
Such as: measure the signal characteristic parameters WFP such as the signal strength of each target location AP signaln, obtain location fingerprint Data constitute data acquisition system, such as set WFPindoor={ WFP1, WFP2..., WFPn}。
According to target position, by SindoorWith WFPindoorForm one-to-one mapping, i.e. (B1, L1, H1) and WFP1Mapping, (B2, L2, H2) and WFP2Mapping ..., (Bn, Ln, Hn) and WFPnMapping, and data storage will be mapped to the center of indoor locating system In controller.
In the embodiment, according to target position, the position coordinates in signal characteristic parameter and first coordinate system are established Between mapping relations, in order to which indoor locating system determines mobile terminal institute according to the signal characteristic parameter that mobile terminal is fed back The target position at place, and by the position coordinates in corresponding first coordinate system in the target position.
Such as Fig. 7, the embodiment of the invention also provides a kind of indoor locating system 700, the indoor locating system 700 is wrapped It includes:
Sending module 710 is sat for sending the second position of the mobile terminal in the first coordinate system to mobile terminal Mark, so that the mobile terminal is positioned according to first position coordinate and the second position coordinate；
Wherein, the first position coordinate are as follows: the mobile terminal is sent according to the satellite of Global Navigation Satellite System Position coordinates of the mobile terminal that satellite-signal determines in first coordinate system；The satellite-signal includes described Position coordinates of the satellite in first coordinate system.
Wherein, the sending module 710 may include:
Receiving submodule, for receiving the feedback information comprising the first signal characteristic parameter of the mobile terminal feedback, The signal of the positioning signal for the indoor locating system that first signal characteristic parameter is detected by the mobile terminal Characteristic parameter；
Sending submodule, for according to first signal characteristic parameter, Xiang Suoshu mobile terminal to send described mobile whole Hold the second position coordinate in the first coordinate system.
Wherein, the sending submodule may include:
First determination unit, for according to the characteristic parameter library that pre-establishes, determine in the characteristic parameter library with it is described The echo signal characteristic parameter that first signal characteristic parameter matches；
Second determination unit, for being sat according to the position in the signal characteristic parameter and first coordinate system pre-established Mapping relations between mark determine that position coordinates corresponding with the echo signal characteristic parameter are the second position coordinate；
Transmission unit, for sending the second position coordinate to the mobile terminal.
Wherein, the indoor locating system 700 can also include:
Determining module, for sending second position coordinate of the mobile terminal in the first coordinate system to mobile terminal Before, determine that multiple target positions are in first coordinate system in the corresponding signal coverage areas of the indoor locating system Position coordinates.
Wherein, the indoor locating system 700 can also include:
Establish module, in determining the corresponding signal coverage areas of the indoor locating system multiple target positions exist After position coordinates in first coordinate system, according to position coordinates of the target position in first coordinate system and The signal characteristic parameter of the target position is established between the position coordinates in signal characteristic parameter and first coordinate system Mapping relations.
Optionally, the target position is the net that the signal coverage areas is divided into multiple grids according to predetermined space Lattice intersection position.
Wherein, the determining module may include:
Acquisition submodule, it is described for obtaining reference coordinate of at least one reference position in first coordinate system Reference coordinate is determined based on the Global Navigation Satellite System；
Determine that submodule member determines the target position in first coordinate system for being based on the reference coordinate Position coordinates.
Optionally, the reference position is located at the entrance of building locating for the indoor locating system.
Wherein, the determining submodule may include:
Third determination unit determines that the target position exists for the reference coordinate based on each reference position respectively An initial coordinate in first coordinate system；
4th determination unit, for determining the target position in first coordinate system according to the initial coordinate Position coordinates.
Wherein, the third determination unit may include:
First computation subunit calculates the target position relative to object reference for being based on first coordinate system The deviation of position, the reference location are one at least one described reference position；
First determine subelement, for according to the reference location object reference coordinate and the deviation, Determine initial coordinate of the target position in first coordinate system relative to the object reference coordinate.
Wherein, the 4th determination unit may include:
Second computation subunit, for calculating separately between the coordinate value for corresponding to each reference axis in the initial coordinate Average value；
Second determines subelement, for determining the target position in first coordinate system according to the average value Position coordinates.
Indoor locating system provided in an embodiment of the present invention can be realized what mobile terminal in the embodiment of the method for Fig. 5 was realized Each process, to avoid repeating, which is not described herein again.
Indoor locating system 700 in above scheme, position coordinates that indoor locating system is sent to mobile terminal and complete The position coordinates for the satellite that the satellite of ball navigational satellite system is sent to the mobile terminal belong to the same coordinate system, guarantee Mobile terminal carries out location confirmation in unified coordinate system, so that mobile terminal can determine institute based on Global Navigation Satellite System First position coordinate of the mobile terminal in the first coordinate system is stated, and determines that the mobile terminal exists based on indoor locating system Second position coordinate in first coordinate system；The satellite-signal that can receive Global Navigation Satellite System is in mobile terminal It, can be based on the first position coordinate and second in the same coordinate system in the case where the positioning signal that indoor locating system can be received Position coordinates are positioned, and are avoided mobile terminal from being based on Global Navigation Satellite System in outdoor environment and are carried out positioning and indoor environment Based on indoor locating system positioned between switch when, occur that position error is big or what can not be positioned in a short time asks Topic realizes flexible switching of the mobile terminal between indoor environment and indoor environment are positioned, and quickly positioning.
Preferably, the embodiment of the present invention also provides a kind of indoor locating system, including processor, and memory is stored in On reservoir and the computer program that can run on the processor, which realizes above-mentioned fixed when being executed by processor Each process of position embodiment of the method, and identical technical effect can be reached, to avoid repeating, which is not described herein again.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium Calculation machine program, the computer program realize each process of above-mentioned localization method embodiment when being executed by processor, and can reach Identical technical effect, to avoid repeating, which is not described herein again.Wherein, the computer readable storage medium is deposited Ru read-only Reservoir (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation RAM), Magnetic or disk etc..
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do There is also other identical elements in the process, method of element, article or device.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art The part contributed out can be embodied in the form of software products, which is stored in a storage medium In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a mobile terminal (can be mobile phone, computer, clothes Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much Form belongs within protection of the invention.

Claims (34)

1. a kind of localization method is applied to mobile terminal, which is characterized in that the described method includes:
According to the satellite-signal that the satellite of Global Navigation Satellite System is sent, determine the mobile terminal in the first coordinate system First position coordinate, wherein the satellite-signal includes position coordinates of the satellite in first coordinate system；
Receive second position coordinate of the mobile terminal of indoor locating system transmission in first coordinate system；
According to the first position coordinate and the second position coordinate, positioned.
2. localization method according to claim 1, which is characterized in that the shifting for receiving indoor locating system and sending Dynamic second position coordinate of the terminal in first coordinate system, comprising:
It include the feedback information of the first signal characteristic parameter, first signal characteristic parameter to indoor locating system feedback The signal characteristic parameter of the positioning signal of the indoor locating system is detected for the mobile terminal；
Receive the second position coordinate that the indoor locating system is sent according to first signal characteristic parameter.
3. localization method according to claim 1, which is characterized in that described according to the first position coordinate and described Two position coordinates, are positioned, comprising:
If the first position coordinate is greater than preset threshold relative to the deviation of the second position coordinate, according to described the Two position coordinates are positioned.
4. localization method according to claim 1, which is characterized in that described according to the first position coordinate and described Two position coordinates, are positioned, comprising:
If the first position coordinate is less than or equal to preset threshold, basis relative to the deviation of the second position coordinate The first position coordinate and the second position coordinate, determine the third place coordinate；
It is positioned according to the third place coordinate.
5. localization method according to claim 4, which is characterized in that described according to the first position coordinate and described Two position coordinates determine the third place coordinate, comprising:
Calculate the center position coordinates of the first position coordinate and the second position coordinate；
The center position coordinates are determined as the third place coordinate.
6. a kind of mobile terminal, which is characterized in that the mobile terminal includes:
Determining module, the satellite-signal for being sent according to the satellite of Global Navigation Satellite System, determines that the mobile terminal exists First position coordinate in first coordinate system, wherein the satellite-signal includes the satellite in first coordinate system Position coordinates；
Receiving module, for receiving second of the mobile terminal of indoor locating system transmission in first coordinate system Set coordinate；
Locating module, for being positioned according to the first position coordinate and the second position coordinate.
7. mobile terminal according to claim 6, which is characterized in that the receiving module includes:
Submodule is fed back, it is described for including the feedback information of the first signal characteristic parameter to indoor locating system feedback First signal characteristic parameter is the signal characteristic parameter for the positioning signal that the mobile terminal detects the indoor locating system；
Receiving submodule, the second position sent for receiving the indoor locating system according to first signal characteristic parameter Coordinate.
8. mobile terminal according to claim 7, which is characterized in that the locating module includes:
First positioning submodule, if the deviation for the first position coordinate relative to the second position coordinate is greater than in advance If threshold value, then positioned according to the second position coordinate.
9. mobile terminal according to claim 7, which is characterized in that the locating module includes:
Submodule is determined, if the deviation for the first position coordinate relative to the second position coordinate is less than or equal to Preset threshold determines the third place coordinate then according to the first position coordinate and the second position coordinate；
Second positioning submodule, for being positioned according to the third place coordinate.
10. mobile terminal according to claim 9, which is characterized in that the determining submodule includes:
Computing unit, for calculating the center position coordinates of the first position coordinate and the second position coordinate；
Determination unit, for the center position coordinates to be determined as the third place coordinate.
11. a kind of mobile terminal, which is characterized in that including processor, memory and be stored on the memory and can be in institute The computer program run on processor is stated, such as claim 1 to 5 is realized when the computer program is executed by the processor Any one of described in localization method the step of.
12. a kind of localization method is applied to indoor locating system, which is characterized in that the described method includes:
Second position coordinate of the mobile terminal in the first coordinate system is sent to mobile terminal, so that the mobile terminal root It is positioned according to first position coordinate and the second position coordinate；
Wherein, the first position coordinate are as follows: the satellite that the mobile terminal is sent according to the satellite of Global Navigation Satellite System Signal determines position coordinates of the mobile terminal in first coordinate system；The satellite-signal includes that the satellite exists Position coordinates in first coordinate system.
13. localization method according to claim 12, which is characterized in that described to send the mobile terminal to mobile terminal Second position coordinate in the first coordinate system, comprising:
Receive the feedback information comprising the first signal characteristic parameter of the mobile terminal feedback, first signal characteristic parameter The signal characteristic parameter of the positioning signal of the indoor locating system detected by the mobile terminal；
According to first signal characteristic parameter, Xiang Suoshu mobile terminal sends of the mobile terminal in the first coordinate system Two position coordinates.
14. localization method according to claim 13, which is characterized in that it is described according to first signal characteristic parameter, Second position coordinate of the mobile terminal in the first coordinate system is sent to the mobile terminal, comprising:
According to the characteristic parameter library pre-established, determines in the characteristic parameter library and match with first signal characteristic parameter Echo signal characteristic parameter；
According to the mapping relations between the position coordinates in the signal characteristic parameter and first coordinate system pre-established, determine Position coordinates corresponding with the echo signal characteristic parameter are the second position coordinate；
The second position coordinate is sent to the mobile terminal.
15. localization method according to claim 12, which is characterized in that described to send the mobile terminal to mobile terminal Before the second position coordinate in the first coordinate system, further includes:
Determine that multiple target positions are in first coordinate system in the corresponding signal coverage areas of the indoor locating system Position coordinates.
16. localization method according to claim 15, which is characterized in that the determination indoor locating system is corresponding Multiple target positions are after the position coordinates in first coordinate system in signal coverage areas, further includes:
According to the signal characteristic parameter of position coordinates and the target position of the target position in first coordinate system, Establish the mapping relations between the position coordinates in signal characteristic parameter and first coordinate system.
17. localization method according to claim 16, which is characterized in that the target position is by the signal coverage Domain is divided into the grid intersection point position of multiple grids according to predetermined space.
18. localization method according to claim 15, which is characterized in that the determination indoor locating system is corresponding Position coordinates of the target position in first coordinate system in signal coverage areas, comprising:
Reference coordinate of at least one reference position in first coordinate system is obtained, the reference coordinate is based on described complete What ball navigational satellite system determined；
Based on the reference coordinate, position coordinates of the target position in first coordinate system are determined.
19. localization method according to claim 18, which is characterized in that the reference position is located at the indoor positioning system The entrance of building locating for uniting.
20. localization method described in 8 or 19 according to claim 1, which is characterized in that it is described according to the reference coordinate, it determines Position coordinates of the target position in first coordinate system, comprising:
Reference coordinate based on each reference position determines one of the target position in first coordinate system respectively Initial coordinate；
According to the initial coordinate, position coordinates of the target position in first coordinate system are determined.
21. localization method according to claim 20, which is characterized in that the reference based on each reference position is sat Mark, determines an initial coordinate of the target position in first coordinate system respectively, comprising:
Based on first coordinate system, deviation of the target position relative to reference location, the target ginseng are calculated Examining position is one at least one described reference position；
According to the object reference coordinate of the reference location and the deviation, determine the target position described Initial coordinate in one coordinate system relative to the object reference coordinate.
22. localization method according to claim 20, which is characterized in that it is described according to the initial coordinate, determine described in Position coordinates of the target position in first coordinate system, comprising:
Calculate separately the average value between the coordinate value for corresponding to each reference axis in the initial coordinate；
According to the average value, position coordinates of the target position in first coordinate system are determined.
23. a kind of indoor locating system, which is characterized in that the indoor locating system includes:
Sending module, for sending second position coordinate of the mobile terminal in the first coordinate system to mobile terminal, so that The mobile terminal is positioned according to first position coordinate and the second position coordinate；
Wherein, the first position coordinate are as follows: the satellite that the mobile terminal is sent according to the satellite of Global Navigation Satellite System Signal determines position coordinates of the mobile terminal in first coordinate system；The satellite-signal includes that the satellite exists Position coordinates in first coordinate system.
24. indoor locating system according to claim 23, which is characterized in that the sending module includes:
Receiving submodule, it is described for receiving the feedback information comprising the first signal characteristic parameter of the mobile terminal feedback The signal characteristic of the positioning signal for the indoor locating system that first signal characteristic parameter is detected by the mobile terminal Parameter；
Sending submodule, for according to first signal characteristic parameter, Xiang Suoshu mobile terminal to send the mobile terminal and exists Second position coordinate in first coordinate system.
25. indoor locating system according to claim 24, which is characterized in that the sending submodule includes:
First determination unit, for according to the characteristic parameter library that pre-establishes, determining in the characteristic parameter library with described first The echo signal characteristic parameter that signal characteristic parameter matches；
Second determination unit, for according to the position coordinates in the signal characteristic parameter that pre-establishes and first coordinate system it Between mapping relations, determine that corresponding with echo signal characteristic parameter position coordinates are the second position coordinate；
Transmission unit, for sending the second position coordinate to the mobile terminal.
26. indoor locating system according to claim 23, which is characterized in that the indoor locating system further include:
Determining module, for determining that multiple target positions are described in the corresponding signal coverage areas of the indoor locating system Position coordinates in one coordinate system.
27. indoor locating system according to claim 26, which is characterized in that the indoor locating system further include:
Module is established, for according to position coordinates of the target position in first coordinate system and the target position Signal characteristic parameter establishes the mapping relations between the position coordinates in signal characteristic parameter and first coordinate system.
28. indoor locating system according to claim 27, which is characterized in that the target position is to cover the signal Cover area is divided into the grid intersection point position of multiple grids according to predetermined space.
29. indoor locating system according to claim 26, which is characterized in that the determining module includes:
Acquisition submodule, for obtaining reference coordinate of at least one reference position in first coordinate system, the reference Coordinate is determined based on the Global Navigation Satellite System；
Determine that submodule member determines position of the target position in first coordinate system for being based on the reference coordinate Set coordinate.
30. indoor locating system according to claim 29, which is characterized in that the reference position is located at described indoor fixed The entrance of building locating for the system of position.
31. the indoor locating system according to claim 29 or 30, which is characterized in that the determining submodule includes:
Third determination unit determines the target position described respectively for the reference coordinate based on each reference position An initial coordinate in first coordinate system；
4th determination unit, for determining position of the target position in first coordinate system according to the initial coordinate Set coordinate.
32. indoor locating system according to claim 31, which is characterized in that the third determination unit includes:
First computation subunit calculates the target position relative to reference location for being based on first coordinate system Deviation, the reference location is one at least one described reference position；
First determine subelement, for according to the reference location object reference coordinate and the deviation, determine Initial coordinate of the target position in first coordinate system relative to the object reference coordinate.
33. indoor locating system according to claim 31, which is characterized in that the 4th determination unit includes:
Second computation subunit, for calculating separately being averaged between the coordinate value for corresponding to each reference axis in the initial coordinate Value；
Second determines subelement, for determining position of the target position in first coordinate system according to the average value Set coordinate.
34. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium Program realizes the positioning as described in any one of claim 1 to 5,12 to 22 when the computer program is executed by processor The step of method.
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