CN109932686B - Positioning method, mobile terminal and indoor positioning system - Google Patents

Positioning method, mobile terminal and indoor positioning system Download PDF

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CN109932686B
CN109932686B CN201910253451.9A CN201910253451A CN109932686B CN 109932686 B CN109932686 B CN 109932686B CN 201910253451 A CN201910253451 A CN 201910253451A CN 109932686 B CN109932686 B CN 109932686B
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CN109932686A (en
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马士强
赵登
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Vivo Mobile Communication Co Ltd
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Abstract

The invention discloses a positioning method, a mobile terminal and an indoor positioning system, wherein the method comprises the following steps: determining a first position coordinate of the mobile terminal in a first coordinate system according to a satellite signal sent by a satellite of a global navigation satellite system, wherein the satellite signal comprises the position coordinate of the satellite in the first coordinate system; receiving a second position coordinate of the mobile terminal in the first coordinate system, which is sent by an indoor positioning system; and positioning according to the first position coordinate and the second position coordinate. The invention can realize the flexible switching between the positioning of the mobile terminal in the outdoor environment based on the global navigation satellite system and the positioning of the mobile terminal in the indoor environment based on the indoor positioning system, and the quick positioning.

Description

Positioning method, mobile terminal and indoor positioning system
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning method, a mobile terminal, and an indoor positioning system.
Background
Positioning systems have a wide range of applications, for example: in the scenes of navigation, shopping, finance, internet of things, engineering construction and the like, a positioning system is required to acquire the current position data. Currently, positioning systems are mainly classified into outdoor positioning systems and indoor positioning systems. The outdoor positioning system is wide in coverage, and can ensure effective positioning of outdoor environment (such as the outside of a building); the problem that a navigation satellite signal of an outdoor positioning system is weak or the navigation satellite signal cannot be received may exist in an indoor environment (such as the interior of a building), so that the indoor positioning system can effectively solve the problem that the positioning cannot be carried out through the outdoor positioning system in the indoor environment, and the coverage range of the positioning system is ensured by supplementing the indoor positioning and the outdoor positioning. However, when the mobile terminal is switched between the indoor environment and the outdoor environment, there are problems of positioning deviation and slow positioning.
Disclosure of Invention
The invention provides a positioning method, a mobile terminal and an indoor positioning system, and aims to solve the problems of positioning deviation and slow positioning when the mobile terminal is switched between an indoor environment and an outdoor environment.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a positioning method, which is applied to a mobile terminal, and the method includes:
determining a first position coordinate of the mobile terminal in a first coordinate system according to a satellite signal sent by a satellite of a global navigation satellite system, wherein the satellite signal comprises the position coordinate of the satellite in the first coordinate system;
receiving a second position coordinate of the mobile terminal in the first coordinate system, which is sent by an indoor positioning system;
and positioning according to the first position coordinate and the second position coordinate.
In a second aspect, an embodiment of the present invention further provides a mobile terminal, where the mobile terminal includes:
the mobile terminal comprises a determining module, a determining module and a processing module, wherein the determining module is used for determining a first position coordinate of the mobile terminal in a first coordinate system according to a satellite signal sent by a satellite of a global navigation satellite system, and the satellite signal comprises the position coordinate of the satellite in the first coordinate system;
the receiving module is used for receiving a second position coordinate of the mobile terminal in the first coordinate system, which is sent by an indoor positioning system;
and the positioning module is used for positioning according to the first position coordinate and the second position coordinate.
In a third aspect, an embodiment of the present invention further provides a mobile terminal, including a processor, a memory, and a computer program stored on the memory and executable on the processor, where the computer program, when executed by the processor, implements the steps of the positioning method described above.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the positioning method described above.
In a fifth aspect, an embodiment of the present invention further provides a positioning method, which is applied to an indoor positioning system, and the method includes:
sending a second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal so that the mobile terminal can be positioned according to the first position coordinate and the second position coordinate;
wherein the first location coordinates are: the mobile terminal determines the position coordinate of the mobile terminal in the first coordinate system according to satellite signals sent by satellites of a global navigation satellite system; the satellite signal comprises position coordinates of the satellite in the first coordinate system.
In a sixth aspect, an embodiment of the present invention further provides an indoor positioning system, where the indoor positioning system includes:
the sending module is used for sending the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal so that the mobile terminal can be positioned according to the first position coordinate and the second position coordinate;
wherein the first location coordinates are: the mobile terminal determines the position coordinate of the mobile terminal in the first coordinate system according to satellite signals sent by satellites of a global navigation satellite system; the satellite signal comprises position coordinates of the satellite in the first coordinate system.
In a seventh aspect, an embodiment of the present invention further provides an indoor positioning system, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and when executed by the processor, the computer program implements the steps of the positioning method described above.
In an eighth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements the steps of the positioning method described above.
In an embodiment of the invention, the mobile terminal is capable of determining a first position coordinate of said mobile terminal in a first coordinate system based on a global navigation satellite system, and determining second location coordinates of the mobile terminal in a first coordinate system based on an indoor positioning system, thus in the case where the mobile terminal is in a position to receive both the satellite signals of the global navigation satellite system and the positioning signals of the indoor positioning system, can perform positioning based on the first position coordinate and the second position coordinate in the same coordinate system, and avoid switching between positioning based on a global navigation satellite system in an outdoor environment and positioning based on an indoor positioning system in an indoor environment, the problem that the positioning error is large or the positioning cannot be carried out in a short time is solved, and the flexible switching between the positioning of the mobile terminal in an indoor environment and an outdoor environment and the quick positioning are realized.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 shows a flow chart of a mobile terminal side positioning method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a global navigation satellite system according to an embodiment of the present invention;
FIG. 3 shows a block diagram of a mobile terminal of an embodiment of the invention;
fig. 4 is a schematic diagram of a hardware structure of a mobile terminal according to an embodiment of the present invention;
FIG. 5 is a flowchart of a side positioning method of an indoor positioning system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an effective signal coverage area of an indoor positioning system according to an embodiment of the present invention;
fig. 7 shows a block diagram of an indoor positioning system according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a positioning method, which is applied to a mobile terminal, and the method includes:
step 11: first position coordinates of the mobile terminal in a first coordinate system are determined according to satellite signals transmitted by satellites of a global navigation satellite system.
Wherein the satellite signal comprises position coordinates of the satellite in the first coordinate system.
Specifically, the outdoor positioning employs a Global Navigation Satellite System (GNSS), which includes: global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo Satellite Navigation System (Galileo), and BeiDou Satellite Navigation System (BDS). In addition, the system also comprises a regional system and an enhancement system, wherein the regional system comprises: Quasi-Zenith Satellite System (QZSS), Indian Regional Navigation Satellite System (IRNSS), and the enhanced systems include: wide Area Augmentation System (WAAS), Multi-Functional Satellite Augmentation System (MSAS), European Geostationary Navigation Overlay Service (EGNOS), assisted Geostationary Navigation (gan), NIG-golast-1 in nini, and the like.
Outdoor positioning: the ground monitoring system is responsible for monitoring the working state of the satellites and measuring the running orbit of the satellites, providing time reference, controlling the operation of the satellites and sending information such as satellite ephemeris, clock error, control instructions and the like to the satellites. The user receiving equipment receives satellite signals sent by the satellites uninterruptedly, analyzes ephemeris parameters and time information, and calculates and solves the three-dimensional position coordinates, the direction, the movement speed and the time of the user.
The above step 11 is explained below with reference to specific examples:
referring to FIG. 2, an example of a global navigation satellite system is shown, wherein the first coordinate of the first satellite in the first coordinate system is (x)1，y1，z1) The second coordinate of the second satellite in the first coordinate system is (x)2，y2，z2) The third coordinate of the third satellite in the first coordinate system is (x)3，y3，z3) The fourth coordinate of the fourth satellite in the first coordinate system is (x)4，y4，z4)。
And solving to obtain x, y and z, namely the first position coordinate of the mobile terminal in a first coordinate system, according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate through a formula (1).
Figure BDA0002012938080000051
Wherein d isi＝c*tiI ═ l, 2, 3, 4; di is the distance between the ith satellite and the receiver, tiThe time elapsed for the satellite signal of the ith satellite to reach the receiver; v. oftiIs the clock error of the satellite clock, c is the speed of light, vt0And the clock error of the receiver is represented by x, the coordinate value of the first position coordinate on an x axis, y, the coordinate value of the first position coordinate on a y axis and z, and the coordinate value of the first position coordinate on a z axis.
Thus, in the first coordinate, the second coordinate, the third coordinate and the fourth coordinate are known, and di、vtiC are known, x, y, z and v can be solved by formula (1)t0Thereby obtaining the first position coordinates (x, y, z).
Alternatively, the first Coordinate System may adopt World Geodetic System-1984Coordinate System (WGS-84), and the WGS-84 is a geocentric Coordinate System, i.e. the origin of coordinates is the earth centroid, the Z-axis of the geocentric space rectangular Coordinate System points to the International de i' heart, BIH, 1984.0 defines the direction of protocol earth polar (CTP), the X-axis points to the intersection of the meridian plane of the null sub of BIH 1984.0 and the equator, and the Y-axis, the Z-axis and the X-axis are perpendicular to each other to form a right-hand Coordinate System.
Step 12: and receiving a second position coordinate of the mobile terminal in the first coordinate system, which is sent by an indoor positioning system.
The indoor positioning system can be implemented in a wireless fidelity (WiFi), bluetooth, Radio Frequency Identification (RFID) and other local area networks.
The step 12 may include:
feeding back feedback information containing a first signal characteristic parameter to the indoor positioning system, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal;
and receiving a second position coordinate sent by the indoor positioning system according to the first signal characteristic parameter.
For example: the first signal characteristic parameter may be a signal strength of a positioning signal of the indoor positioning system detected by the mobile terminal.
Specifically, WiFi fingerprint location is used:
WiFi fingerprint positioning is to measure the signal characteristic parameters (such as signal strength of each Wi-Fi) at each position in advance and store the signal characteristic parameters in a fingerprint database. When the Wi-Fi signal processing method is used for indoor positioning, a first signal characteristic parameter of a Wi-Fi signal currently received by a mobile terminal is matched with a fingerprint database to obtain a target signal characteristic parameter matched with the first signal characteristic parameter, and then a second position coordinate corresponding to the target signal characteristic parameter is determined according to a mapping relation between the signal characteristic parameter and a position coordinate in a first coordinate system.
Step 13: and positioning according to the first position coordinate and the second position coordinate.
Wherein, the step 13 may specifically include:
and if the deviation value of the first position coordinate relative to the second position coordinate is greater than a preset threshold value, positioning according to the second position coordinate.
In this embodiment, the first position coordinate is a position coordinate of the mobile terminal in the first coordinate system determined based on the global navigation satellite system, the second position coordinate is a position coordinate of the mobile terminal in the first coordinate system determined based on the indoor positioning system, and the second position coordinate is calculated by selecting a plurality of reference positions based on the first coordinate system by the indoor positioning system, and has higher accuracy.
Alternatively, the deviation value of the first position coordinate relative to the second position coordinate may be expressed in terms of a relative distance between the first position coordinate and the second position coordinate.
Such as: the first position coordinate is (x)1，y1，z1) And the second position coordinate is (x)2，y2，z2)；
Deviation values of the first position coordinate and the second position coordinate in the x-axis direction: delta1＝(x1-x2)；
Deviation values of the first position coordinate and the second position coordinate in the y-axis direction: delta2＝(y1-y2)；
Deviation values of the first position coordinate and the second position coordinate in the z-axis direction: delta3＝(z1-z2)；
The deviation value of the first position coordinate relative to the second position coordinate is:
Figure BDA0002012938080000071
if the deviation value of the first position coordinate relative to the second position coordinate is smaller than or equal to a preset threshold value, determining a third position coordinate according to the first position coordinate and the second position coordinate; and positioning according to the third position coordinate.
In this embodiment, the first position coordinate is a position coordinate of the mobile terminal in the first coordinate system determined based on the global navigation satellite system, the second position coordinate is a position coordinate of the mobile terminal in the first coordinate system determined based on the indoor positioning system, and the second position coordinate is calculated by the indoor positioning system based on the first coordinate system by selecting a plurality of reference positions, which has higher accuracy; when the deviation value of the first position coordinate relative to the second position coordinate is smaller than or equal to a preset threshold value, the accuracy of the first position coordinate is close to that of the second position coordinate, and then a third position coordinate is determined according to the first position coordinate and the second position coordinate and is positioned according to the third position coordinate, so that the positioning accuracy is optimized.
Optionally, the determining a third position coordinate according to the first position coordinate and the second position coordinate may include: calculating center position coordinates of the first position coordinates and the second position coordinates; determining the center position coordinate as the third position coordinate.
Such as: the first position coordinate is (x)1，y1，z1) And the second position coordinate is (x)2，y2，z2)；
Coordinate value of the third position coordinate on the x axis: x is the number of3＝(x1+x2)/2；
Coordinate value of the third position coordinate on the y axis: y is3＝(y1+y2)/2；
Coordinate value of the third position coordinate on the z axis: z is a radical of3＝(z1+z2)/2；
The deviation value of the third position coordinate (i.e. the center position coordinate of the first position coordinate and the second position coordinate) is (x)3，y3，z3)。
In the above solution, the mobile terminal is capable of determining a first position coordinate of the mobile terminal in a first coordinate system based on a global navigation satellite system, and determining second location coordinates of the mobile terminal in a first coordinate system based on an indoor positioning system, thus in the case where the mobile terminal is in a position to receive both the satellite signals of the global navigation satellite system and the positioning signals of the indoor positioning system, can perform positioning based on the first position coordinate and the second position coordinate in the same coordinate system, and avoid switching between positioning based on a global navigation satellite system in an outdoor environment and positioning based on an indoor positioning system in an indoor environment, the problem that the positioning error is large or the positioning cannot be carried out in a short time occurs, and the flexible switching between the positioning carried out by the outdoor environment and the positioning carried out by the indoor environment of the global navigation satellite system and the quick positioning are realized.
The above method is described below with reference to specific scenarios:
scene one: when the mobile terminal is in an outdoor scene and can only receive satellite signals sent by satellites of a global navigation satellite system, determining a first position coordinate of the mobile terminal in a first coordinate system according to the satellite signals for positioning. The satellite signal comprises position coordinates of the satellite in the first coordinate system.
Specifically, when the mobile terminal is located outdoors through a global navigation satellite system, satellite signals sent by satellites are acquired in real time, and first position coordinates representing the mobile terminal in a first coordinate system (such as a WGS-84 coordinate system) are determined according to the satellite signals: posoutdoor(B, L, H). The Global Navigation Satellite System may be a GPS positioning System, a Global Navigation Satellite System (GNSS), or the like.
Scene two: when the mobile terminal moves from an outdoor scene to an indoor scene and can receive satellite signals sent by a satellite of the global navigation satellite system and positioning signals sent by an indoor positioning system, positioning is carried out according to a first position coordinate of the mobile terminal in a first coordinate system determined based on the global navigation satellite system and a second position coordinate of the mobile terminal in the first coordinate system determined based on the indoor positioning system.
In particular, when the mobile terminal moves from outside the building to the entrance of the buildingWhen the mobile terminal is within the range of a Wireless Access Point (AP) and does not enter the interior of a building, the mobile terminal determines a first position coordinate Pos of the mobile terminal in a first coordinate system from a global navigation satellite systemoutdoorDetermining a second position coordinate Pos of the mobile terminal in the first coordinate system through an indoor positioning systemindoor＝(Bn，Ln，Hn)。
Calculating a deviation value δ ═ Pos of the first position coordinate relative to the second position coordinateoutdoor-PosindoorThe position coordinate in the first coordinate system determined by the indoor positioning system is calculated and determined for multiple times based on multiple reference points, so that the accuracy is high. If delta is larger than a preset threshold value, namely the positioning parameter deviation of the global navigation satellite system relative to the positioning parameter deviation of the indoor positioning system is larger, the credibility of the first position coordinate is considered to be lower, and Pos is usedindoor＝(Bn，Ln，Hn) As a positioning parameter for the mobile terminal; otherwise, the center position coordinate between the first position coordinate and the second position coordinate is used as the positioning parameter, and the specific method for determining the center position coordinate is as described in the above embodiments, and is not described herein again.
Scene three: and when the mobile terminal is in an indoor scene and can only receive the positioning signal sent by the indoor positioning system, positioning according to the second position coordinate of the mobile terminal in the first coordinate system, which is sent by the indoor positioning system.
Specifically, when the mobile terminal completely enters the room, the mobile terminal cannot receive the satellite signal sent by the global navigation satellite system, and can only receive the positioning signal sent by the indoor positioning system, and then the mobile terminal is completely positioned by the indoor positioning system. Such as: feeding back feedback information containing a first signal characteristic parameter to an indoor positioning system, wherein the first signal characteristic parameter is the signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal; receiving a second position coordinate sent by the indoor positioning system according to the first signal characteristic parameter, wherein the second position coordinate is a bit in a first coordinate system (such as a WGS-84 coordinate system)Coordinate position Posindoor＝(Bn，Ln，Hn)。
Scene four: when the mobile terminal moves from an indoor scene to an outdoor scene and can receive both a satellite signal sent by a satellite of the global navigation satellite system and a positioning signal sent by an indoor positioning system, positioning is carried out according to a first position coordinate of the mobile terminal in a first coordinate system determined based on the global navigation satellite system and a second position coordinate of the mobile terminal in the first coordinate system determined based on the indoor positioning system.
Specifically, when the mobile terminal leaves the room through the entrance of the building but does not leave the signal coverage of the AP at the entrance, the mobile terminal determines, on the one hand, a first position coordinate Pos of the mobile terminal in a first coordinate system from the global navigation satellite systemoutdoorDetermining a second position coordinate Pos of the mobile terminal in the first coordinate system through an indoor positioning systemindoor＝(Bn，Ln，Hn)。
Calculating a deviation value δ ═ Pos of the first position coordinate relative to the second position coordinateoutdoor-PosindoorThe position coordinate in the first coordinate system determined by the indoor positioning system is calculated and determined for multiple times based on multiple reference points, so that the accuracy is high. If delta is larger than a preset threshold value, namely the positioning parameter deviation of the global navigation satellite system relative to the positioning parameter deviation of the indoor positioning system is larger, the credibility of the first position coordinate is considered to be lower, and Pos is usedindoor＝(Bn，Ln，Hn) As a positioning parameter for the mobile terminal; otherwise, the center position coordinate between the first position coordinate and the second position coordinate is used as the positioning parameter, and the specific method for determining the center position coordinate is as described in the above embodiments, and is not described herein again.
As shown in fig. 3, an embodiment of the present invention further provides a mobile terminal 300, where the mobile terminal 300 includes:
a determining module 310, configured to determine a first position coordinate of the mobile terminal in a first coordinate system according to a satellite signal sent by a satellite of a global navigation satellite system, where the satellite signal includes the position coordinate of the satellite in the first coordinate system;
a receiving module 320, configured to receive a second position coordinate, in the first coordinate system, of the mobile terminal sent by an indoor positioning system;
and the positioning module 330 is configured to perform positioning according to the first position coordinate and the second position coordinate.
Wherein the receiving module 320 may include:
the feedback sub-module is used for feeding back feedback information containing a first signal characteristic parameter to the indoor positioning system, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal;
and the receiving submodule is used for receiving the second position coordinate sent by the indoor positioning system according to the first signal characteristic parameter.
Wherein the positioning module 330 may include:
and the first positioning sub-module is used for positioning according to the second position coordinate if the deviation value of the first position coordinate relative to the second position coordinate is greater than a preset threshold value.
Wherein the positioning module 330 may further include:
the determining submodule is used for determining a third position coordinate according to the first position coordinate and the second position coordinate if the deviation value of the first position coordinate relative to the second position coordinate is smaller than or equal to a preset threshold value;
and the second positioning submodule is used for positioning according to the third position coordinate.
Wherein the determining sub-module may include:
a calculation unit configured to calculate center position coordinates of the first position coordinates and the second position coordinates;
a determination unit configured to determine the center position coordinate as the third position coordinate.
The mobile terminal provided by the embodiment of the present invention can implement each process implemented by the mobile terminal in the method embodiment of fig. 1, and is not described herein again in order to avoid repetition.
In the mobile terminal 300 of the above solution, the mobile terminal is capable of determining the first position coordinates of the mobile terminal in the first coordinate system based on the global navigation satellite system, and determining second location coordinates of the mobile terminal in a first coordinate system based on an indoor positioning system, thus in the case where the mobile terminal is in a position to receive both the satellite signals of the global navigation satellite system and the positioning signals of the indoor positioning system, can perform positioning based on the first position coordinate and the second position coordinate in the same coordinate system, and avoid switching between positioning based on a global navigation satellite system in an outdoor environment and positioning based on an indoor positioning system in an indoor environment, the problem that the positioning error is large or the positioning cannot be carried out in a short time is solved, and the flexible switching between the positioning in the outdoor environment and the positioning in the indoor environment and the quick positioning are realized.
Fig. 4 is a schematic diagram of a hardware structure of a mobile terminal implementing various embodiments of the present invention.
The mobile terminal 400 includes, but is not limited to: radio frequency unit 401, network module 402, audio output unit 403, input unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, processor 410, and power supply 411. Those skilled in the art will appreciate that the mobile terminal architecture shown in fig. 4 is not intended to be limiting of mobile terminals, and that a mobile terminal may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. In the embodiment of the present invention, the mobile terminal includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted mobile terminal, a wearable device, a pedometer, and the like.
The radio frequency unit 401 is configured to receive a second position coordinate, in the first coordinate system, of the mobile terminal sent by an indoor positioning system;
a processor 410, configured to determine a first position coordinate of the mobile terminal in a first coordinate system according to a satellite signal sent by a satellite of a global navigation satellite system, where the satellite signal includes the position coordinate of the satellite in the first coordinate system; and positioning according to the first position coordinate and the second position coordinate.
The mobile terminal 400 in the above solution, the mobile terminal is capable of determining the first position coordinates of the mobile terminal in the first coordinate system based on the global navigation satellite system, and determining second location coordinates of the mobile terminal in a first coordinate system based on an indoor positioning system, thus in the case where the mobile terminal is in a position to receive both the satellite signals of the global navigation satellite system and the positioning signals of the indoor positioning system, can perform positioning based on the first position coordinate and the second position coordinate in the same coordinate system, and avoid switching between positioning based on a global navigation satellite system in an outdoor environment and positioning based on an indoor positioning system in an indoor environment, the problem that the positioning error is large or the positioning cannot be carried out in a short time is solved, and the flexible switching between the positioning in the outdoor environment and the positioning in the indoor environment and the quick positioning are realized.
It should be understood that, in the embodiment of the present invention, the radio frequency unit 401 may be used for receiving and sending signals during a message sending and receiving process or a call process, and specifically, receives downlink data from a base station and then processes the received downlink data to the processor 410; in addition, the uplink data is transmitted to the base station. Typically, radio unit 401 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. Further, the radio unit 401 can also communicate with a network and other devices through a wireless communication system.
The mobile terminal provides the user with wireless broadband internet access through the network module 402, such as helping the user send and receive e-mails, browse web pages, and access streaming media.
The audio output unit 403 may convert audio data received by the radio frequency unit 401 or the network module 402 or stored in the memory 409 into an audio signal and output as sound. Also, the audio output unit 403 may also provide audio output related to a specific function performed by the mobile terminal 400 (e.g., a call signal reception sound, a message reception sound, etc.). The audio output unit 403 includes a speaker, a buzzer, a receiver, and the like.
The input unit 404 is used to receive audio or video signals. The input Unit 404 may include a Graphics Processing Unit (GPU) 4041 and a microphone 4042, and the Graphics processor 4041 processes image data of a still picture or video obtained by an image capturing apparatus (such as a camera) in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display unit 406. The image frames processed by the graphic processor 4041 may be stored in the memory 409 (or other storage medium) or transmitted via the radio frequency unit 401 or the network module 402. The microphone 4042 may receive sound, and may be capable of processing such sound into audio data. The processed audio data may be converted into a format output transmittable to a mobile communication base station via the radio frequency unit 401 in case of the phone call mode.
The mobile terminal 400 also includes at least one sensor 405, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor that can adjust the brightness of the display panel 4061 according to the brightness of ambient light, and a proximity sensor that can turn off the display panel 4061 and/or the backlight when the mobile terminal 400 is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), detect the magnitude and direction of gravity when stationary, and can be used to identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), and vibration identification related functions (such as pedometer, tapping); the sensors 405 may also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be described in detail herein.
The display unit 406 is used to display information input by the user or information provided to the user. The Display unit 406 may include a Display panel 4061, and the Display panel 4061 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
The user input unit 407 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the mobile terminal. Specifically, the user input unit 407 includes a touch panel 4071 and other input devices 4072. Touch panel 4071, also referred to as a touch screen, may collect touch operations by a user on or near it (e.g., operations by a user on or near touch panel 4071 using a finger, a stylus, or any suitable object or attachment). The touch panel 4071 may include two parts, a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 410, receives a command from the processor 410, and executes the command. In addition, the touch panel 4071 can be implemented by using various types such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. In addition to the touch panel 4071, the user input unit 407 may include other input devices 4072. Specifically, the other input devices 4072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a track ball, a mouse, and a joystick, which are not described herein again.
Further, the touch panel 4071 can be overlaid on the display panel 4061, and when the touch panel 4071 detects a touch operation thereon or nearby, the touch operation is transmitted to the processor 410 to determine the type of the touch event, and then the processor 410 provides a corresponding visual output on the display panel 4061 according to the type of the touch event. Although in fig. 4, the touch panel 4071 and the display panel 4061 are two separate components to implement the input and output functions of the mobile terminal, in some embodiments, the touch panel 4071 and the display panel 4061 may be integrated to implement the input and output functions of the mobile terminal, which is not limited herein.
The interface unit 408 is an interface through which an external device is connected to the mobile terminal 400. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 408 may be used to receive input (e.g., data information, power, etc.) from external devices and transmit the received input to one or more elements within the mobile terminal 400 or may be used to transmit data between the mobile terminal 400 and external devices.
The memory 409 may be used to store software programs as well as various data. The memory 409 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 409 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 410 is a control center of the mobile terminal, connects various parts of the entire mobile terminal using various interfaces and lines, and performs various functions of the mobile terminal and processes data by operating or executing software programs and/or modules stored in the memory 409 and calling data stored in the memory 409, thereby integrally monitoring the mobile terminal. Processor 410 may include one or more processing units; preferably, the processor 410 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 410.
The mobile terminal 400 may further include a power supply 411 (e.g., a battery) for supplying power to various components, and preferably, the power supply 411 may be logically connected to the processor 410 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system.
In addition, the mobile terminal 400 includes some functional modules that are not shown, and thus, are not described in detail herein.
Preferably, an embodiment of the present invention further provides a mobile terminal, which includes a processor 410, a memory 409, and a computer program that is stored in the memory 409 and can be run on the processor 410, and when being executed by the processor 410, the computer program implements each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not described here again.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
As shown in fig. 5, an embodiment of the present invention further provides a positioning method, which is applied to an indoor positioning system, and the method includes:
step 51: sending a second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal so that the mobile terminal can be positioned according to the first position coordinate and the second position coordinate;
wherein the first location coordinates are: the mobile terminal determines the position coordinate of the mobile terminal in the first coordinate system according to satellite signals sent by satellites of a global navigation satellite system; the satellite signal comprises position coordinates of the satellite in the first coordinate system.
The indoor positioning system can be realized in a WiFi, Bluetooth, RFID and other local area network-based mode. The outdoor positioning adopts one of global navigation satellite systems such as GPS or Beidou.
Optionally, the first coordinate system may adopt WGS-84, where the WGS-84 is an earth center coordinate system, that is, the origin of coordinates is the earth centroid, the Z axis of the earth center space rectangular coordinate system points to the CTP direction defined by BIH, 1984.0, the X axis points to the intersection point of the meridian plane of BIH 1984.0 and the equator of the CTP, and the Y axis is perpendicular to the Z axis and the X axis to form a right-hand coordinate system.
Wherein, the step 51 may specifically include:
receiving feedback information which is fed back by the mobile terminal and contains a first signal characteristic parameter, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal; and sending the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal according to the first signal characteristic parameter.
For example: the first signal characteristic parameter may be a signal strength of a positioning signal of the indoor positioning system detected by the mobile terminal.
Optionally, the sending, to the mobile terminal, the second position coordinate of the mobile terminal in the first coordinate system according to the first signal characteristic parameter may include:
determining a target signal characteristic parameter matched with the first signal characteristic parameter in a characteristic parameter library according to a pre-established characteristic parameter library; determining the position coordinate corresponding to the target signal characteristic parameter as the second position coordinate according to a mapping relation between the pre-established signal characteristic parameter and the position coordinate in the first coordinate system; and sending the second position coordinate to the mobile terminal.
Specifically, WiFi fingerprint location is used:
WiFi fingerprint positioning is to measure the signal characteristic parameters (such as signal strength of each Wi-Fi) at each position in advance and store the signal characteristic parameters in a fingerprint database. And when the mobile terminal is positioned indoors, matching a first signal characteristic parameter of a Wi-Fi signal currently received by the mobile terminal with a fingerprint database to obtain a target signal characteristic parameter matched with the first signal characteristic parameter, further determining a second position coordinate corresponding to the target signal characteristic parameter according to a mapping relation between the signal characteristic parameter and the position coordinate in the first coordinate system, and sending the second position coordinate to the mobile terminal.
In the above scheme, the position coordinate sent by the indoor positioning system to the mobile terminal and the position coordinate of the satellite sent by the satellite of the global navigation satellite system to the mobile terminal belong to the same coordinate system, so that the mobile terminal can confirm the position in the unified coordinate system, so that the mobile terminal can determine the first position coordinate of the mobile terminal in the first coordinate system based on the global navigation satellite system, and determine the second position coordinate of the mobile terminal in the first coordinate system based on the indoor positioning system; under the condition that the mobile terminal can receive satellite signals of a global navigation satellite system and positioning signals of an indoor positioning system, positioning can be carried out based on a first position coordinate and a second position coordinate in the same coordinate system, the problem that when positioning is carried out in an outdoor environment based on the global navigation satellite system and positioning is carried out in an indoor environment based on the indoor positioning system, positioning errors are large or positioning cannot be carried out in a short time is solved, flexible switching between positioning in the outdoor environment and positioning in the indoor environment is realized, and quick positioning is realized.
Further, the step 51 may further include:
and determining position coordinates of a plurality of target positions in the first coordinate system in a signal coverage area corresponding to the indoor positioning system.
In this embodiment, based on a first coordinate system of a global navigation satellite system, such as a general WGS-84 coordinate system, position coordinates of a plurality of target positions in the indoor positioning system in the first coordinate system are established, that is, the position coordinates determined by the indoor positioning system are unified into the first coordinate system of the global navigation satellite system, so that the mobile terminal can perform positioning based on the first position coordinates and the second position coordinates in the same coordinate system under the condition that the mobile terminal can receive both satellite signals of the global navigation satellite system and positioning signals of the indoor positioning system, and the problem that positioning errors are large or positioning cannot be performed when outdoor positioning is performed based on the global navigation satellite system and indoor positioning is performed based on the indoor positioning system is avoided.
Specifically, determining the position coordinates of the plurality of target positions in the first coordinate system in the signal coverage area corresponding to the indoor positioning system may include:
acquiring reference coordinates of at least one reference position in the first coordinate system, the reference coordinates being determined based on the global navigation satellite system; based on the reference coordinates, position coordinates of the target position in the first coordinate system are determined.
Optionally, the target position is a grid intersection point position at which the signal coverage area is divided into a plurality of grids at predetermined intervals; the reference position is located at an entrance and an exit of a building where the indoor positioning system is located.
It should be understood that the reference location may be located outside of the building in which the indoor positioning system is located.
Wherein, the reference position of the outside of the building where the indoor positioning system is located may be: the indoor positioning system comprises a position which is outside the building and can receive satellite signals, and/or a position which is within a preset distance range from the building where the indoor positioning system is located, and/or a position which can receive satellite signals with strength exceeding a preset threshold.
The above method is described below with reference to specific scenarios:
an example of an effective signal coverage area for an indoor positioning system is given in figure 6. In which a certain number of AP groups are arranged in a building (such as an indoor parking lot or an indoor mall) so that the AP groups satisfy an indoor space covering the entire building. The valid signal coverage area is an area where the mobile terminal can detect that the signal strength of the AP group exceeds a preset strength threshold.
For example: the building has four entrances and exits: an entrance A, an entrance E, an entrance H and an entrance L; then an entrance A, an entrance E, an entrance H and an entrance L of the building can be selected as reference positions; it should be noted that the reference positions may also be other positions outside the building that can receive satellite signals transmitted by satellites of the global navigation satellite system, and the number of the reference positions may also be set according to the requirement of the calculation accuracy, for example, the calculation accuracy is higher the number of the reference positions selected within the predetermined threshold is.
Receiving ephemeris data of a navigation satellite in a global navigation satellite system through a satellite receiver with higher accuracy, and respectively calculating a position coordinate (B) in a first coordinate system corresponding to the entrance A according to the ephemeris dataa，La，Ha) Position coordinates (B) in a first coordinate system corresponding to the entrance (E)e，Le，He) Position coordinates (B) in a first coordinate system corresponding to the doorwayh，Lh，Hh) Position coordinates (B) in a first coordinate system corresponding to the entrance (L)l，Ll，Hl). Preferably, the average value of the test area may be performed a plurality of times for each entrance to improve the calculation accuracy of the position coordinates.
The inside area of the building and the effective signal coverage area of the AP at the entrance and exit are meshed according to a certain distance (for example, the distance is 1m), and a plurality of meshes are obtained by being divided as shown by a dotted line in fig. 6. Optionally, an intersection of adjacent grids is used as the target position n, where n is 1, 2, 3 … …; as shown in FIG. 6, the target positions n may correspond to the intersections 1-116, respectively. It should be noted that the specific arrangement of the spacing may be set according to specific positioning requirements, and the invention is not limited thereto.
Further, the determining the position coordinates of the target position in the first coordinate system according to the reference coordinates includes:
respectively determining an initial coordinate of the target position in the first coordinate system based on the reference coordinate of each reference position; and determining the position coordinates of the target position in the first coordinate system according to the initial coordinates.
Specifically, the determining an initial coordinate of the target position in the first coordinate system based on the reference coordinate of each reference position includes:
calculating an offset value of the target position relative to a target reference position based on the first coordinate system, the target reference position being one of the at least one reference position; and determining the initial coordinate of the target position in the first coordinate system relative to the target reference coordinate according to the target reference coordinate of the target reference position and the deviation value.
For example: measuring and calculating the relative difference value delta of the target position n in the x-axis direction in the first coordinate systemanThe relative difference beta of the target position n in the y-axis direction in the first coordinate systemanRelative difference gamma of target position n in the direction of z-axis in the first coordinate systeman。
According to the position coordinates (B) of the doorway Aa，La，Ha) And a relative difference value deltaan、βan、γanCalculating the initial coordinates (B) of the target position n by the formula (2)an，Lan，Han)。
Figure BDA0002012938080000181
Will be based on the position coordinates (B) of the doorway Aa，La，Ha) The initial coordinate (B) of the target position n is calculatedan，Lan，Han) Form a data set, such as: set Saindoor＝{(Ba1，La1，Ha1)，(Ba2，La2，Ha2)，...，(Ban，Lan，Han)}；
Similarly, the position coordinates (B) of the entrance E can be based one，Le，He) Calculating to obtain the initial coordinate (B) of the target position nen，Len，Hen) Form a data set, such as: set Seindoor＝{(Be1，Le1，He1)，(Be2，Le2，He2)，...，(Ben，Len，Hen)}；
Position coordinates (B) based on the doorway Hh，Lh，Hh) Calculating to obtain the initial coordinate (B) of the target position nhn，Lhn，Hhn) Composition numberAccording to a set, such as: set Shindoor＝{(Bh1，Lh1，Hh1)，(Bh2，Lh2，Hh2)，...，(Bhn，Lhn，Hhn)}；
Position coordinates (B) based on the doorway Ll，Ll，Hl) Calculating to obtain the initial coordinate (B) of the target position nln，Lln，Hln) Form a data set, such as: set Slindoor＝{(Bl1，Ll1，Hl1)，(Bl2，Ll2，Hl2)，...，(Bln，Lln，Hln)}。
Specifically, the determining the position coordinates of the target position in the first coordinate system according to the initial coordinates includes:
respectively calculating an average value between coordinate values corresponding to each coordinate axis in the initial coordinates; and determining the position coordinates of the target position in the first coordinate system according to the average value.
For example: position coordinates based on the doorway A (B)a，La，Ha) The initial coordinate (B) of the target position n is calculatedan，Lan，Han) Position coordinates based on the doorway E (B)e，Le，He) Calculating to obtain the initial coordinate (B) of the target position nen，Len，Hen) Position coordinates (B) based on the doorway Hh，Lh，Hh) Calculating to obtain the initial coordinate (B) of the target position nhn，Lhm，Hhn) And position coordinates (B) based on the doorway Ll，Ll，Hl) Calculating to obtain the initial coordinate (B) of the target position nln，Lln，Hln) Calculating the position coordinate (B) of the target position n in the first coordinate system by formula (3)n，Ln，Hn)。
Figure BDA0002012938080000191
Based on the position coordinates (B) of the target position n in the first coordinate systemn，Ln，Hn) Form a coordinate parameter set Sindoor＝{(B1，L1，H1)，(B2，L2，H2)，...，(Bn，Ln，Hn)}。
In this embodiment, the initial coordinates of the target position calculated based on the plurality of reference positions are averaged to serve as the position coordinates of the target position in the first coordinate system, so as to ensure the accuracy of the position coordinates of each target position in the first coordinate system.
Furthermore, on the basis of determining the position coordinates of a plurality of target positions in the first coordinate system in the signal coverage area corresponding to the indoor positioning system, a mapping relationship between the signal characteristic parameters and the position coordinates in the first coordinate system may be established according to the position coordinates of the target positions in the first coordinate system and the signal characteristic parameters of the target positions.
For example: measuring signal characteristic parameters WFP such as signal strength of AP signals at each target positionnObtaining location fingerprint data to form a data set, e.g. set WFPindoor＝{WFP1，WFP2，...，WFPn}。
According to the target position, SindoorAnd WFPindoorForm a one-to-one mapping, i.e. (B)1，L1，H1) And WFP1Mapping, (B)2，L2，H2) And WFP2Mapping, (B)n，Ln，Hn) And WFPnMapping and storing the mapping data into a central controller of the indoor positioning system.
In this embodiment, a mapping relationship between the signal characteristic parameter and the position coordinate in the first coordinate system is established according to the target position, so that the indoor positioning system determines the target position where the mobile terminal is located according to the signal characteristic parameter fed back by the mobile terminal, and the position coordinate in the first coordinate system corresponding to the target position is obtained.
As shown in fig. 7, an embodiment of the present invention further provides an indoor positioning system 700, where the indoor positioning system 700 includes:
a sending module 710, configured to send the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal, so that the mobile terminal performs positioning according to the first position coordinate and the second position coordinate;
wherein the first location coordinates are: the mobile terminal determines the position coordinate of the mobile terminal in the first coordinate system according to a satellite signal sent by a satellite of a global navigation satellite system; the satellite signal comprises position coordinates of the satellite in the first coordinate system.
Wherein the sending module 710 may include:
the receiving submodule is used for receiving feedback information which is fed back by the mobile terminal and contains a first signal characteristic parameter, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system and is detected by the mobile terminal;
and the sending submodule is used for sending the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal according to the first signal characteristic parameter.
Wherein the transmitting sub-module may include:
the first determining unit is used for determining a target signal characteristic parameter matched with the first signal characteristic parameter in a characteristic parameter library according to the pre-established characteristic parameter library;
a second determining unit, configured to determine, according to a mapping relationship between a pre-established signal characteristic parameter and a position coordinate in the first coordinate system, a position coordinate corresponding to the target signal characteristic parameter as the second position coordinate;
and the sending unit is used for sending the second position coordinate to the mobile terminal.
Wherein the indoor positioning system 700 may further include:
the determining module is used for determining the position coordinates of a plurality of target positions in a signal coverage area corresponding to the indoor positioning system in the first coordinate system before sending the second position coordinates of the mobile terminal in the first coordinate system to the mobile terminal.
Wherein the indoor positioning system 700 may further include:
the establishing module is used for establishing a mapping relation between the signal characteristic parameters and the position coordinates in the first coordinate system according to the position coordinates of the target position in the first coordinate system and the signal characteristic parameters of the target position after determining the position coordinates of a plurality of target positions in the first coordinate system in a signal coverage area corresponding to the indoor positioning system.
Optionally, the target position is a grid intersection point position at which the signal coverage area is divided into a plurality of grids according to a predetermined interval.
Wherein the determining module may include:
an acquisition sub-module for acquiring reference coordinates of at least one reference position in the first coordinate system, the reference coordinates being determined based on the global navigation satellite system;
a determining sub-module element for determining the position coordinates of the target position in the first coordinate system based on the reference coordinates.
Optionally, the reference position is located at an entrance and an exit of a building where the indoor positioning system is located.
Wherein the determining sub-module may include:
a third determining unit, configured to determine an initial coordinate of the target location in the first coordinate system based on the reference coordinate of each reference location;
and the fourth determining unit is used for determining the position coordinates of the target position in the first coordinate system according to the initial coordinates.
Wherein the third determining unit may include:
a first calculating subunit, configured to calculate, based on the first coordinate system, an offset value of the target position relative to a target reference position, where the target reference position is one of the at least one reference position;
and the first determining subunit is used for determining an initial coordinate of the target position in the first coordinate system relative to the target reference coordinate according to the target reference coordinate of the target reference position and the deviation value.
Wherein the fourth determining unit may include:
the second calculating subunit is used for respectively calculating an average value between coordinate values corresponding to each coordinate axis in the initial coordinates;
and the second determining subunit is used for determining the position coordinates of the target position in the first coordinate system according to the average value.
The indoor positioning system provided by the embodiment of the present invention can implement each process implemented by the mobile terminal in the method embodiment of fig. 5, and is not described herein again to avoid repetition.
In the indoor positioning system 700 in the above solution, the position coordinate sent by the indoor positioning system to the mobile terminal and the position coordinate of the satellite sent by the satellite of the global navigation satellite system to the mobile terminal belong to the same coordinate system, so that the mobile terminal is ensured to perform position confirmation in the unified coordinate system, so that the mobile terminal can determine the first position coordinate of the mobile terminal in the first coordinate system based on the global navigation satellite system, and determine the second position coordinate of the mobile terminal in the first coordinate system based on the indoor positioning system; under the condition that the mobile terminal can receive satellite signals of a global navigation satellite system and positioning signals of an indoor positioning system, positioning can be carried out based on a first position coordinate and a second position coordinate in the same coordinate system, the problem that when the mobile terminal is switched between outdoor positioning based on the global navigation satellite system and indoor positioning based on the indoor positioning system, positioning errors are large or positioning cannot be carried out in a short time is solved, flexible switching between indoor positioning and indoor positioning of the mobile terminal is achieved, and rapid positioning is achieved.
Preferably, an embodiment of the present invention further provides an indoor positioning system, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the computer program implements each process of the positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a mobile terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (28)

1. A positioning method is applied to a mobile terminal, and is characterized in that the method comprises the following steps:
under the condition that the mobile terminal can receive satellite signals sent by satellites of a global navigation satellite system and positioning signals of an indoor positioning system, determining first position coordinates of the mobile terminal in a first coordinate system according to the satellite signals, wherein the satellite signals comprise the position coordinates of the satellites in the first coordinate system;
receiving a second position coordinate of the mobile terminal in the first coordinate system, which is sent by the indoor positioning system;
determining a positioning parameter of the mobile terminal according to the first position coordinate and the second position coordinate so as to perform positioning;
under the condition that the mobile terminal can receive the positioning signal and cannot receive the satellite signal, determining a positioning parameter of the mobile terminal according to a second position coordinate of the mobile terminal in the first coordinate system, which is sent by the indoor positioning system, so as to perform positioning;
wherein, the receiving the second position coordinate of the mobile terminal in the first coordinate system sent by the indoor positioning system includes:
feeding back feedback information containing a first signal characteristic parameter to the indoor positioning system, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal;
receiving a second position coordinate sent by the indoor positioning system according to the first signal characteristic parameter; wherein the second location coordinate is: the positioning system determines a target signal characteristic parameter matched with the first signal characteristic parameter in a characteristic parameter library according to a pre-established characteristic parameter library; and determining the position coordinate corresponding to the target signal characteristic parameter according to the mapping relation between the pre-established signal characteristic parameter and the position coordinate in the first coordinate system.
2. The method according to claim 1, wherein the determining the location parameters of the mobile terminal according to the first location coordinates and the second location coordinates for location determination comprises:
and if the deviation value of the first position coordinate relative to the second position coordinate is greater than a preset threshold value, determining the positioning parameters of the mobile terminal according to the second position coordinate so as to perform positioning.
3. The method according to claim 1, wherein the determining the location parameters of the mobile terminal according to the first location coordinates and the second location coordinates for location determination comprises:
if the deviation value of the first position coordinate relative to the second position coordinate is smaller than or equal to a preset threshold value, determining a third position coordinate according to the first position coordinate and the second position coordinate;
and determining the positioning parameters of the mobile terminal according to the third position coordinates so as to perform positioning.
4. The method of claim 3, wherein said determining a third location coordinate from the first location coordinate and the second location coordinate comprises:
calculating center position coordinates of the first position coordinates and the second position coordinates;
determining the center position coordinate as the third position coordinate.
5. A mobile terminal, characterized in that the mobile terminal comprises:
the mobile terminal comprises a determining module, a determining module and a processing module, wherein the determining module is used for determining a first position coordinate of the mobile terminal in a first coordinate system according to a satellite signal under the condition that the mobile terminal can receive the satellite signal sent by a satellite of a global navigation satellite system and a positioning signal of an indoor positioning system, and the satellite signal comprises the position coordinate of the satellite in the first coordinate system;
the receiving module is used for receiving a second position coordinate of the mobile terminal in the first coordinate system, which is sent by the indoor positioning system;
the positioning module is used for determining positioning parameters of the mobile terminal according to the first position coordinate and the second position coordinate to perform positioning under the condition that the mobile terminal can receive satellite signals sent by satellites of a global navigation satellite system and positioning signals of an indoor positioning system; or the positioning module determines the positioning parameters of the mobile terminal according to the second position coordinate of the mobile terminal in the first coordinate system sent by the indoor positioning system to perform positioning under the condition that the mobile terminal can receive the positioning signal and cannot receive the satellite signal;
wherein the receiving module comprises:
the feedback sub-module is used for feeding back feedback information containing a first signal characteristic parameter to the indoor positioning system, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal;
the receiving submodule is used for receiving a second position coordinate sent by the indoor positioning system according to the first signal characteristic parameter; wherein the second location coordinate is: the positioning system determines a target signal characteristic parameter matched with the first signal characteristic parameter in a characteristic parameter library according to a pre-established characteristic parameter library; and determining the position coordinate corresponding to the target signal characteristic parameter according to the mapping relation between the pre-established signal characteristic parameter and the position coordinate in the first coordinate system.
6. The mobile terminal of claim 5, wherein the positioning module comprises:
and the first positioning sub-module is used for determining the positioning parameters of the mobile terminal according to the second position coordinate to perform positioning if the deviation value of the first position coordinate relative to the second position coordinate is greater than a preset threshold value.
7. The mobile terminal of claim 5, wherein the positioning module comprises:
the determining submodule is used for determining a third position coordinate according to the first position coordinate and the second position coordinate if the deviation value of the first position coordinate relative to the second position coordinate is smaller than or equal to a preset threshold value;
and the second positioning submodule is used for determining the positioning parameters of the mobile terminal according to the third position coordinate so as to perform positioning.
8. The mobile terminal of claim 7, wherein the determining sub-module comprises:
a calculation unit configured to calculate center position coordinates of the first position coordinates and the second position coordinates;
a determination unit configured to determine the center position coordinate as the third position coordinate.
9. A mobile terminal, characterized in that it comprises a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the positioning method according to any one of claims 1 to 4.
10. A positioning method is applied to an indoor positioning system, and is characterized by comprising the following steps:
sending a second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal, so that the mobile terminal can determine a positioning parameter of the mobile terminal according to the first position coordinate and the second position coordinate for positioning under the condition that the mobile terminal can receive a satellite signal sent by a satellite of a global navigation satellite system and a positioning signal of an indoor positioning system; determining a positioning parameter of the mobile terminal according to a second position coordinate of the mobile terminal in the first coordinate system, which is sent by the indoor positioning system, under the condition that the mobile terminal can receive the positioning signal and cannot receive the satellite signal, so as to perform positioning;
wherein the first location coordinates are: the mobile terminal determines the position coordinate of the mobile terminal in the first coordinate system according to the satellite signal; the satellite signal comprises position coordinates of the satellite in the first coordinate system;
wherein the sending the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal comprises:
receiving feedback information which is fed back by the mobile terminal and contains a first signal characteristic parameter, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system detected by the mobile terminal;
according to the first signal characteristic parameter, sending a second position coordinate of the mobile terminal in a first coordinate system to the mobile terminal;
wherein, the sending the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal according to the first signal characteristic parameter includes:
determining a target signal characteristic parameter matched with the first signal characteristic parameter in a characteristic parameter library according to a pre-established characteristic parameter library;
determining the position coordinate corresponding to the target signal characteristic parameter as the second position coordinate according to a mapping relation between the pre-established signal characteristic parameter and the position coordinate in the first coordinate system;
and sending the second position coordinate to the mobile terminal.
11. The method according to claim 10, wherein before sending the second location coordinates of the mobile terminal in the first coordinate system to the mobile terminal, further comprising:
and determining position coordinates of a plurality of target positions in the first coordinate system in a signal coverage area corresponding to the indoor positioning system.
12. The method of claim 11, wherein determining the position coordinates of the plurality of target locations in the first coordinate system in the signal coverage area corresponding to the indoor positioning system further comprises:
and establishing a mapping relation between the signal characteristic parameters and the position coordinates in the first coordinate system according to the position coordinates of the target position in the first coordinate system and the signal characteristic parameters of the target position.
13. The positioning method according to claim 12, wherein the target position is a grid intersection position where the signal coverage area is divided into a plurality of grids at predetermined intervals.
14. The method of claim 11, wherein the determining the position coordinates of the target location in the first coordinate system in the signal coverage area corresponding to the indoor positioning system comprises:
acquiring reference coordinates of at least one reference position in the first coordinate system, the reference coordinates being determined based on the global navigation satellite system;
based on the reference coordinates, position coordinates of the target position in the first coordinate system are determined.
15. The method of claim 14, wherein the reference location is at an entrance to a building in which the indoor positioning system is located.
16. The method according to claim 14 or 15, wherein the determining the position coordinates of the target position in the first coordinate system according to the reference coordinates comprises:
respectively determining an initial coordinate of the target position in the first coordinate system based on the reference coordinate of each reference position;
and determining the position coordinates of the target position in the first coordinate system according to the initial coordinates.
17. The method according to claim 16, wherein the determining an initial coordinate of the target position in the first coordinate system based on the reference coordinate of each reference position comprises:
calculating an offset value of the target position relative to a target reference position based on the first coordinate system, the target reference position being one of the at least one reference position;
and determining the initial coordinate of the target position in the first coordinate system relative to the target reference coordinate according to the target reference coordinate of the target reference position and the deviation value.
18. The method according to claim 16, wherein said determining location coordinates of said target location in said first coordinate system based on said initial coordinates comprises:
respectively calculating an average value between coordinate values corresponding to each coordinate axis in the initial coordinates;
and determining the position coordinates of the target position in the first coordinate system according to the average value.
19. An indoor positioning system, comprising:
the mobile terminal comprises a sending module, a receiving module and a processing module, wherein the sending module is used for sending a second position coordinate of the mobile terminal in a first coordinate system to the mobile terminal so that the mobile terminal can determine a positioning parameter according to the first position coordinate and the second position coordinate for positioning under the condition of receiving a satellite signal sent by a satellite of a global navigation satellite system and a positioning signal of an indoor positioning system; determining a positioning parameter according to a second position coordinate of the mobile terminal in the first coordinate system sent by the indoor positioning system to perform positioning under the condition that the mobile terminal can receive the positioning signal and cannot receive the satellite signal;
wherein the first location coordinates are: the mobile terminal determines the position coordinate of the mobile terminal in the first coordinate system according to the satellite signal; the satellite signal comprises position coordinates of the satellite in the first coordinate system;
wherein the sending module comprises:
the receiving submodule is used for receiving feedback information which is fed back by the mobile terminal and contains a first signal characteristic parameter, wherein the first signal characteristic parameter is a signal characteristic parameter of a positioning signal of the indoor positioning system and is detected by the mobile terminal;
the sending submodule is used for sending the second position coordinate of the mobile terminal in the first coordinate system to the mobile terminal according to the first signal characteristic parameter;
wherein the transmission submodule includes:
the first determining unit is used for determining a target signal characteristic parameter matched with the first signal characteristic parameter in a characteristic parameter library according to the pre-established characteristic parameter library;
a second determining unit, configured to determine, according to a mapping relationship between a pre-established signal characteristic parameter and a position coordinate in the first coordinate system, a position coordinate corresponding to the target signal characteristic parameter as the second position coordinate;
and the sending unit is used for sending the second position coordinate to the mobile terminal.
20. The indoor positioning system of claim 19, further comprising:
and the determining module is used for determining the position coordinates of a plurality of target positions in the first coordinate system in the signal coverage area corresponding to the indoor positioning system.
21. The indoor positioning system of claim 20, further comprising:
and the establishing module is used for establishing a mapping relation between the signal characteristic parameters and the position coordinates in the first coordinate system according to the position coordinates of the target position in the first coordinate system and the signal characteristic parameters of the target position.
22. The indoor positioning system of claim 21, wherein the target location is a grid intersection location that divides the signal coverage area into a plurality of grids at predetermined intervals.
23. The indoor positioning system of claim 20, wherein the determining module comprises:
an acquisition sub-module for acquiring reference coordinates of at least one reference position in the first coordinate system, the reference coordinates being determined based on the global navigation satellite system;
a determining sub-module element for determining the position coordinates of the target position in the first coordinate system based on the reference coordinates.
24. The indoor positioning system of claim 23, wherein the reference location is located at an entrance to a building in which the indoor positioning system is located.
25. The indoor positioning system of claim 23 or 24, wherein the determination submodule comprises:
a third determining unit, configured to determine an initial coordinate of the target location in the first coordinate system based on the reference coordinate of each reference location;
and the fourth determining unit is used for determining the position coordinates of the target position in the first coordinate system according to the initial coordinates.
26. The indoor positioning system of claim 25, wherein the third determination unit comprises:
a first calculating subunit, configured to calculate, based on the first coordinate system, an offset value of the target position relative to a target reference position, where the target reference position is one of the at least one reference position;
and the first determining subunit is used for determining an initial coordinate of the target position in the first coordinate system relative to the target reference coordinate according to the target reference coordinate of the target reference position and the deviation value.
27. The indoor positioning system of claim 25, wherein the fourth determination unit comprises:
the second calculating subunit is used for respectively calculating an average value between coordinate values corresponding to each coordinate axis in the initial coordinates;
and the second determining subunit is used for determining the position coordinates of the target position in the first coordinate system according to the average value.
28. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the positioning method according to any one of claims 1 to 4, 10 to 18.
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