CN110082799A - Positioning correction method, device and intelligent wearable device - Google Patents
Positioning correction method, device and intelligent wearable device Download PDFInfo
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- CN110082799A CN110082799A CN201910356197.5A CN201910356197A CN110082799A CN 110082799 A CN110082799 A CN 110082799A CN 201910356197 A CN201910356197 A CN 201910356197A CN 110082799 A CN110082799 A CN 110082799A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/19—Sporting applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention discloses a kind of positioning correction method, which includes: the first position coordinate that satellite positioning signal determines the first user terminal based on the received；According to the signal-to-noise ratio of the satellite positioning signal, judge whether the first user terminal is in blind location area；If being in blind location area, peripherad at least three second users terminal issues hot spot connection request；After successful connection, the distance between according to the position coordinates of each second user terminal and its with first user terminal, the second position coordinate of first user terminal is calculated；According to the coordinate difference of the first position coordinate and second position coordinate, the positioning correcting value of the satellite positioning signal is calculated.The low technical problem of positioning accuracy caused by positioning correction method of the present invention can effectively solve the problem that because of blind location area.In addition, invention additionally discloses a kind of position corrector and intelligent wearable devices.
Description
Technical field
The present invention relates to location and navigation technology fields, and in particular to a kind of positioning correction method, device and intelligence wearing are set
It is standby.
Background technique
In recent years, with the fast development of satellite positioning tech, provided position service function, such as positioning in real time and
Route guidance etc., has been widely used in daily life.Wherein, satellite positioning tech is based on global navigation satellite system
System (Global Navigation Satellite System, GNSS) and receiver are positioned, and are mainly passed through satellite and are connect
The bi-directional communication function of receipts machine positions the position of the receiver in global range to realize with determining the position of receiver.
Global Satellite Navigation System mainly includes big-dipper satellite, GPS satellite, GLONASS satellite and Galilean satellite et al.
Make satellite, basic principle are as follows: artificial satellite emits the radio signal Jing Guo coded modulation to earth surface, wherein coding
In be loaded with artificial satellite transmitting signal and its accurate location (ephemeris) in space；Receiver on ground receives artificial defend
The radio signal of star transmitting, and measure radio signal and emit from artificial satellite to the propagation time of receiver；According to survey
Propagation time for measuring, which calculates, obtains the distance between receiver and artificial satellite, since the position of artificial satellite is it is known that therefore,
In conjunction with the position of the distance between receiver and artificial satellite and artificial satellite, the location information of receiver can be got.
It is well known that receiver can the straightway nothing for receiving artificial satellite launch under spacious outdoor environment
Line electric signal, however, the radio signal of artificial satellite transmitting can be by high building or overhead public affairs under built-up urban environment
The buildings such as road are blocked and are reflected, the radio signal received so as to cause receiver there are biggish position error,
And then influence the positioning accuracy of Global Satellite Navigation System.
Summary of the invention
It is a primary object of the present invention to propose a kind of positioning correction method, to solve because being positioned caused by blind location area
The low technical problem of precision.
In order to solve the above technical problems, the present invention proposes a kind of positioning correction method, which includes: basis
Received satellite positioning signal determines the first position coordinate of the first user terminal；According to the noise of the satellite positioning signal
Than judging whether the first user terminal is in blind location area；If being in blind location area, peripherad at least three second user
Terminal issues hot spot connection request；After successful connection, according to the position coordinates of each second user terminal and its with it is described
The second position coordinate of first user terminal is calculated in the distance between first user terminal；According to described first
The positioning correcting value of the satellite positioning signal is calculated in the coordinate difference for setting coordinate and second position coordinate.
Preferably, described after successful connection, according to the position coordinates of each second user terminal and its with described
The distance between one user terminal, the step of second position coordinate of first user terminal is calculated include: obtain it is each
The position coordinates of the second user terminal；According to the signal strength of each second user terminal, and according to signal decay mode
Type obtains each second user terminal at a distance from first user terminal；By the position of each second user terminal
Coordinate and its default equation of substitution at a distance from first user terminal, are calculated the second of first user terminal
Position coordinates, the default equation are as follows: (xn-x)2+(yn-y)2=dn 2, wherein (the xn, yn) it is each second user
The position coordinates of terminal, (x, y) are the second position coordinate of first user terminal, and the d is each second use
Family terminal is at a distance from first user terminal.
Preferably, after first user terminal and each second user terminal successful connection, and in the basis
Position coordinates of each second user terminal and its distance between with first user terminal, are calculated described first
Before the step of second position coordinate of user terminal, the positioning correction method further include: whole according to each second user
The signal-to-noise ratio for holding received satellite positioning signal is chosen three from each second user terminal and is used for calculating described first
The second user terminal of the second position coordinate of family terminal.
Preferably, if described be in blind location area, peripherad at least three second users terminal issues hot spot connection
The step of request includes: the plantar pressure data group for obtaining first user；To discrete in the plantar pressure data group
Pressure value makees continuous treatment, to obtain plantar pressure variation model；The plantar pressure variation model and reference model are made
It compares, to obtain comparison result；When the comparison result meets the condition of triggering hot spot connection request, search in pre-determined distance
Second user terminal concurrence go out connection request.
The present invention also proposes a kind of position corrector, which includes: first position coordinate obtaining module,
The first position coordinate of the first user terminal is determined for satellite positioning signal based on the received；Blind location area judgment module is used
In the signal-to-noise ratio according to the satellite positioning signal, judge whether the first user terminal is in blind location area；Hot spot connection request
Module, for when first user terminal is in blind location area, peripherad at least three second users terminal to issue heat
Point connection request；Second position coordinate obtaining module is used for after successful connection, according to the position of each second user terminal
Coordinate and its distance between with first user terminal, is calculated the second position coordinate of first user terminal；
Positioning correcting value obtains module, according to the coordinate difference of the first position coordinate and second position coordinate, is calculated described
The positioning correcting value of satellite positioning signal.
Preferably, the second position coordinate obtaining module includes: first information acquiring unit, for obtaining each described
The position coordinates of two user terminals；Second information acquisition unit, for the signal strength according to each second user terminal, and
According to signal attenuation model, each second user terminal is obtained at a distance from first user terminal；Computing unit is used for
Default equation is substituted by the position coordinates of each second user terminal and its at a distance from first user terminal, is calculated
Obtain the second position coordinate of first user terminal, the default equation are as follows: (xn-x)2+(yn-y)2=dn 2, wherein
(the xn, yn) be each second user terminal position coordinates, (x, y) be first user terminal second
Coordinate is set, the d is each second user terminal at a distance from first user terminal.
Preferably, the position corrector further include: hot spot chooses module, for according to each second user terminal
The signal-to-noise ratio of received satellite positioning signal chooses three for calculating first user from each second user terminal
The second user terminal of the second position coordinate of terminal.
Preferably, the hot spot connection request module includes: pressure data acquiring unit, for obtaining first user
The plantar pressure data group of terminal；Pressure model acquiring unit, for pressure value discrete in the plantar pressure data group
Make continuous treatment, to obtain plantar pressure variation model；Pressure model comparing unit is used for the plantar pressure changing pattern
Type compares with reference model, to obtain comparison result；Hot spot connects start unit, triggers for meeting in the comparison result
When the condition of hot spot connection request, the second user terminal concurrence searched in pre-determined distance goes out connection request.
Present invention further propose that a kind of intelligent wearable device, which includes processor and memory, institute
It states memory and is stored with computer program, the processor realizes the above method claim when executing the computer program
Either step.
Preferably, the intelligent wearable device is intelligent shoe, and the intelligent shoe includes sole, the periphery knot with the sole
Close the controller to form the vamp in shoe body space and be arranged on the outside of the vamp；The intelligent shoe further includes multiple
The pressure sensor being arranged in the sole and the touch screen being arranged on the controller, the pressure sensor with it is described
Controller is electrically connected.
The beneficial effect of technical solution of the present invention is: using the second user terminal for being in non-locating blind area, to being in
The satellite positioning signal of first user terminal of blind location area is corrected, to obtain the positioning correcting value of the positioning signal, and
The received positioning signal of the first SS later is corrected by the positioning correcting value, to avoid due to blind location area
Caused position error, and then user is guided accurately to arrive at the destination.
Detailed description of the invention
Fig. 1 is the flow chart of positioning correction method first embodiment of the present invention；
Fig. 2 is the flow chart of positioning correction method second embodiment of the present invention；
Fig. 3 is the flow chart of positioning correction method 3rd embodiment of the present invention；
Fig. 4 is the flow chart of positioning correction method fourth embodiment of the present invention；
Fig. 5 is the functional block diagram of one embodiment of position corrector of the present invention；
Fig. 6 is the structural schematic diagram of one embodiment of intelligent wearable device of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention, based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, protection scope of the present invention is belonged to.
In order to solve the above technical problems, the present invention proposes a kind of intelligent wearable device, which can be intelligence
Can wrist-watch or intelligent shoe, including but not limited to this, those skilled in the art can select according to the actual situation.
It should be noted that intelligent wearable device proposed by the invention includes processor and memory, in memory
It is stored with preset computer program, processor is realized when executing the computer program to the satellite in blind location area
The correction of positioning signal.
It is understood that blind location area refers to the satellite that geographical location locating for user issues satellite navigation system
Position signal has the region of larger interference.The building such as high buildings and large mansions and sky way, when user is in the region, satellite
Positioning signal will be blocked and be reflected by high buildings and large mansions, so that multipath effect occur, and then generate position error.
In embodiments of the present invention, intelligent wearable device is intelligent shoe, and referring to Fig. 6, which includes sole 10 and shoes
The controller 40 that the periphery at bottom 10 is combined to form the vamp 30 in shoe body space and be arranged on the outside of vamp 30.
It is understood that the above-mentioned processor referred to and memory are arranged in controller 40, controller 40 passes through number
It is electrically connected respectively with signal receiver and pressure sensor 20 according to line, i.e., signal receiver and pressure sensor 20 detect
Signal will be sent to processor by data line, and processor is then analyzed and processed received signal and executes corresponding calculating
Machine program, to realize the correction to satellite positioning signal.
It should be noted that user directly can carry out location navigation using intelligent shoe when outgoing, with leading according to generation
Air route line and auditory tone cues advance.Specifically, obtaining the current location information of user by signal receiver, and pass through touch screen 41
Destination information is inputted, and then according to the current location information and destination information of user, generates corresponding navigation routine.
Assuming that user A wearing intelligent shoe is outgoing and is navigated using intelligent shoe, and after user enters blind location area, intelligence
Shoes can judge that user is currently in blind location area, and determine user A's according to the signal-to-noise ratio of present satellites positioning signal
First location information；Then, the peripherad other users of intelligent shoe issue hot spot connection request, such as user B, user C, user D
And user E etc., to establish communication connection, and the location information and distance of other users are obtained, recycles triangulation location
The second location information of user A is calculated in principle；Then, according to the first location information and second location information of user A, really
The positioning correcting value of satellite positioning signal in the fixed blind location area；Finally, will be utilized during user A continues to move ahead
Positioning correcting value is corrected received satellite positioning signal, to guide user A accurately to arrive at the destination.
Further, user can also be navigated when outgoing by other intelligent terminals for having location navigation function,
Such as mobile phone and plate, after it enters to blind location area, by intelligent shoe proposed by the invention to the satellite in the region
Positioning signal is corrected, after positioning correcting value is calculated, through wireless communication, such as bluetooth BLE, ZigBee or
GPRS etc., sends it to intelligent terminal, by intelligent terminal according to the positioning correcting value to received satellite positioning signal
It is corrected.
It is understood that the above-mentioned other users referred to should be the user in non-locating blind area, receive
Satellite positioning signal in noise jamming it is smaller, the location information thereby determined that is more accurate.
Based on intelligent wearable device set forth above, the present invention also proposes a kind of positioning correction method, and referring to Fig. 1, this is fixed
Bit correction method includes:
Step S10, satellite positioning signal determines the first position coordinate of the first user terminal based on the received；
In the present embodiment, the sustainable satellite positioning signal for receiving satellite navigation and location system and issuing of the first user terminal,
To carry out location navigation using the satellite positioning signal.
It should be noted that the above-mentioned satellite navigation and location system referred to can be big-dipper satellite, GPS satellite, GLONASS
The artificial satellites such as satellite and Galilean satellite, including but not limited to this.
For ease of understanding, simple elaboration is done to satellite positioning principle below: according to the position coordinates of each artificial satellite, transmitting
The receiving time of time and satellite positioning signal, and according to default equation, the first position of the first user terminal is calculated
Coordinate presets equation are as follows: (xi-x)2+(yi-y)2+(zi-z)2+(t-ti)c2=di 2, wherein (xi, yi, zi) it is each artificial defend
The position coordinates of star, (x, y, z) are the first position coordinate of the first user terminal, and t is the receiving time of each positioning signal, tiFor
The launch time of each positioning signal, c are the spread speed of positioning signal, diFor each artificial satellite and the first user terminal away from
From.
Step S20 judges whether the first user terminal is in blind location area according to the signal-to-noise ratio of satellite positioning signal；
It is understood that the signal-to-noise ratio for working as the satellite positioning signal that the first user terminal receives is less than preset threshold value
When, then it can make the judgement that the first user terminal is in blind location area.
It should be noted that still can receive satellite navigation system hair when the first user terminal is in blind location area
The satellite positioning signal penetrated, there are biggish noise jammings for the satellite positioning signal only received, so that the first user terminal
Location information there are deviations.
Step S30, if being in blind location area, peripherad at least three second users terminal issues hot spot connection and asks
It asks；
It is understood that second user terminal is the hotspot users in non-locating blind area, received satellite
Noise jamming in the signal of position is smaller, and therefore, the location information determined by the satellite positioning signal is more accurate.
After the first user enters to blind location area, can actively it be taken appropriate measures by the first user to search surrounding
Second user terminal simultaneously issues connection request to it, is such as remained where one is repeatedly by left foot or right crus of diaphragm.The present invention is with intelligent shoe
Example searches the second user terminal of surrounding for corresponding measure is actively taken from the first user and issues connection request to it
Technical solution elaborates.
Specifically, referring to fig. 4, above-mentioned steps S30 includes:
Step S31 obtains the plantar pressure data group of the first user；
In the present embodiment, after the first user wearing intelligent shoe enters to blind location area, intelligent shoe will be sounded an alarm to prompt
First user, such as pass through sound, light and/or vibration mode.
After the first user, which learns, has entered blind location area, the first user need to start according to preset program to be used to second
Family terminal issues the instruction of hot spot connection request, is such as remained where one is five times by left foot or right crus of diaphragm, in the process, is arranged in intelligence
The pressure sensor of energy sole part will acquire multiple discrete pressure values, and multiple discrete pressure value forms the first user's
Plantar pressure data group.
Step S32 makees continuous treatment to pressure value discrete in plantar pressure data group, to obtain plantar pressure variation
Model；
In the present embodiment, after getting plantar pressure data group, the pressure value curve or straight line of various discrete are connected
It connects, to realize the continuous treatment to discrete pressure value, and then obtains the curve with certain variation tendency or straight line variation
Figure.
Variation tendency feature is extracted from above-mentioned curve or straight line variation diagram, is become according to the variation of the plantar pressure data group
Gesture feature generates plantar pressure variation model.
Step S33 compares plantar pressure variation model, with reference model to obtain comparison result；
It is understood that it compares with reference model after obtaining pressure change model, tied with being compared according to it
The peripherad second user terminal of fruit issues hot spot connection request.
Step S34, when comparison result meets the condition of triggering hot spot connection request, second searched in pre-determined distance is used
Family terminal concurrence goes out connection request.
Second user receive the first user terminal sending hot spot connection request after, can automatically with the first user terminal
Communication connection is established, or communication connection can established after second user is agreed to.
Step S40, after successful connection, according to the position coordinates of each second user terminal and its with the first user terminal it
Between distance, the second position coordinate of the first user terminal is calculated；
For the positional accuracy for further increasing the first user terminal, the present invention is used in the first user terminal and multiple second
After family terminal establishes connection, multiple second user terminal is screened first, to choose received satellite positioning signal letter
The second user terminal for making an uproar bigger.
Specifically, referring to Fig. 3, it is proposed by the invention after the first user terminal and each second user terminal successful connection
Positioning correction method further include:
Step S60, according to the signal-to-noise ratio of each received satellite positioning signal of second user terminal, from each second user terminal
The middle second user terminal for choosing three second position coordinates for calculating the first user terminal.
It is understood that the ratio of signal-to-noise ratio is bigger, then show the satellite positioning signal that second user terminal receives
In noise jamming it is smaller, the location information of the second user terminal thereby determined that is more accurate.Therefore, the first user terminal with
After multiple second user terminals establish connection, the biggish three second user terminals of signal-to-noise ratio are therefrom chosen, for determining first
The location information of user terminal.
After filtering out three second user terminals, according to triangulation location principle, the of the first user terminal is calculated
Two position coordinates, referring specifically to Fig. 2, above-mentioned steps S40 includes:
Step S41 obtains the position coordinates of each second user terminal；
In the present embodiment, second user terminal can obtain the position coordinates of its own by satellite navigation system, and with
After first user terminal establishes connection, the first user terminal is sent it to.
Step S42 obtains each second and uses according to the signal strength of each second user terminal, and according to signal attenuation model
Family terminal is at a distance from the first user terminal；
It is understood that the wireless signal strength of second user terminal gradually declines with its propagation distance in space
Subtract, and the wireless signal strength of second user terminal can be detected by the first user terminal, it therefore, can be according to detecting
Signal strength, and according to signal attenuation model, anti-first user terminal of releasing is at a distance from second user terminal.
It should be noted that the above-mentioned signal attenuation model referred to is the reference model established in advance, this refers to mould
Two variables of type are respectively signal strength and distance value, and are stored in the memory of the first user terminal, for calculating the
It is used when one user terminal is at a distance from second user terminal.
Step S43, by the position coordinates of each second user terminal and its default side of substitution at a distance from the first user terminal
The second position coordinate of the first user terminal, the default equation is calculated in formula are as follows:
(xn-x)2+(yn-y)2=dn 2, wherein (xn, yn) be each second user terminal position coordinates, (x, y) be first
The second position coordinate of user terminal, d are each second user terminal at a distance from the first user terminal.
Satellite positioning signal is calculated according to the coordinate difference of first position coordinate and second position coordinate in step S50
Positioning correcting value.
In the present embodiment, after the first position coordinate and second position coordinate for obtaining the first user terminal, first is calculated
The X-axis and Y-axis difference of position coordinates and second position coordinate, the coordinate difference are the satellite positioning signal in blind location area
Positioning correcting value.
It further, can be by calculating the first position coordinate of multiple first user terminals and being averaged for second position coordinate
Value, to improve the accuracy of positioning correcting value.
Based on above-mentioned positioning correction method, present invention further propose that a kind of position corrector, of the invention referring to Fig. 5
The position corrector proposed includes:
First position coordinate obtaining module 1 determines the of the first user terminal for satellite positioning signal based on the received
One position coordinates；
Blind location area judgment module 2 judges whether the first user terminal is located for the signal-to-noise ratio according to satellite positioning signal
In blind location area；
Hot spot connection request module 3, for when the first user terminal is in blind location area, peripherad at least three the
Two user terminals issue hot spot connection request；
Second position coordinate obtaining module 4, for after successful connection, according to the position coordinates of each second user terminal and
The second position coordinate of the first user terminal is calculated in the distance between itself and the first user terminal；
Positioning correcting value obtains module 5 and is calculated according to the coordinate difference of first position coordinate and second position coordinate
The positioning correcting value of satellite positioning signal.
In the above-described embodiments, second position coordinate obtaining module 4 proposed by the invention includes:
First information acquiring unit 41, for obtaining the position coordinates of each second user terminal；
Second information acquisition unit 42, for the signal strength according to each second user terminal, and according to signal decay mode
Type obtains each second user terminal at a distance from the first user terminal；
Computing unit 43, for being substituted by the position coordinates of each second user terminal and its at a distance from the first user terminal
Default equation, is calculated the second position coordinate of the first user terminal, the default equation are as follows:
(xn-x)2+(yn-y)2=dn 2, wherein (xn, yn) be each second user terminal position coordinates, (x, y) is described
The second position coordinate of first user terminal, d are each second user terminal at a distance from the first user terminal.
In one embodiment, position corrector proposed by the invention further include:
Hot spot chooses module 6, for the signal-to-noise ratio according to each received satellite positioning signal of second user terminal, Cong Ge
The second user terminal of three second position coordinates for calculating the first user terminal is chosen in two user terminals.
In the above-described embodiments, hot spot connection request module 3 proposed by the invention includes:
Pressure data acquiring unit 31, for obtaining the plantar pressure data group of the first user；
Pressure model acquiring unit 32, for making continuous treatment to pressure value discrete in plantar pressure data group, with
Obtain plantar pressure variation model；
Pressure model comparing unit 33, for plantar pressure variation model to compare with reference model, to be compared
As a result；
Hot spot connects start unit 34, when for meeting the condition of triggering hot spot connection request in comparison result, searches pre-
If the second user terminal concurrence in distance goes out connection request.
Modules in the position corrector of above-mentioned record can come fully or partially through software, hardware and combinations thereof
It realizes.Above-mentioned each module can be embedded in computer equipment in the form of hardware, can also be stored in memory in a software form,
In order to which computer equipment is called and executes the corresponding function of the above modules.The working principle of above-mentioned each functional module and its
Role can be found in the realization process of positioning correction method shown in Fig. 1 to Fig. 4, and details are not described herein.
Above-described is only part or preferred embodiment of the invention, therefore either text or attached drawing cannot all limit
The scope of protection of the invention processed utilizes description of the invention and accompanying drawing content under all designs with an entirety of the invention
Made equivalent structure transformation, or direct/indirect other related technical areas that are used in are included in the model that the present invention protects
In enclosing.
Claims (10)
1. a kind of positioning correction method characterized by comprising
Satellite positioning signal determines the first position coordinate of the first user terminal based on the received；
According to the signal-to-noise ratio of the satellite positioning signal, judge whether the first user terminal is in blind location area；
If being in blind location area, peripherad at least three second users terminal issues hot spot connection request；
After successful connection, according to the position coordinates of each second user terminal and its between first user terminal
The second position coordinate of first user terminal is calculated in distance；
According to the coordinate difference of the first position coordinate and second position coordinate, determining for the satellite positioning signal is calculated
Bit correction value.
2. positioning correction method according to claim 1, which is characterized in that it is described after successful connection, according to each described
Position coordinates of second user terminal and its distance between with first user terminal, it is whole to be calculated first user
The step of second position coordinate at end includes:
Obtain the position coordinates of each second user terminal；
According to the signal strength of each second user terminal, and according to signal attenuation model, it is whole to obtain each second user
End is at a distance from first user terminal；
Default equation is substituted into the position coordinates of each second user terminal and its at a distance from first user terminal,
The second position coordinate of first user terminal, the default equation is calculated are as follows:
(xn-x)2+(yn-y)2=dn 2, wherein (the xn, yn) be each second user terminal position coordinates, it is described (x,
It y) is the second position coordinate of first user terminal, the d is that each second user terminal and first user are whole
The distance at end.
3. positioning correction method according to claim 1, which is characterized in that in first user terminal and each described the
After two user terminal successful connections, and used in the position coordinates according to each second user terminal and its with described first
The distance between family terminal, before the step of second position coordinate of first user terminal is calculated, the positioning school
Correction method further include:
According to the signal-to-noise ratio of each received satellite positioning signal of second user terminal, selected from each second user terminal
Take the second user terminal of three second position coordinates for calculating first user terminal.
4. positioning correction method according to claim 1, which is characterized in that if described be in blind location area, to surrounding
At least three second user terminals issue hot spot connection request the step of include:
Obtain the plantar pressure data group of first user；
Continuous treatment is made to pressure value discrete in the plantar pressure data group, to obtain plantar pressure variation model；
The plantar pressure variation model is compared with reference model, to obtain comparison result；
When the comparison result meets the condition of triggering hot spot connection request, the second user terminal in search pre-determined distance is simultaneously
Issue connection request.
5. a kind of position corrector characterized by comprising
First position coordinate obtaining module determines the first position of the first user terminal for satellite positioning signal based on the received
Coordinate；
Blind location area judgment module judges whether the first user terminal is located for the signal-to-noise ratio according to the satellite positioning signal
In blind location area；
Hot spot connection request module, for when first user terminal is in blind location area, peripherad at least three the
Two user terminals issue hot spot connection request；
Second position coordinate obtaining module, for after successful connection, according to the position coordinates of each second user terminal and
The second position coordinate of first user terminal is calculated in the distance between itself and first user terminal；
Positioning correcting value obtains module and is calculated according to the coordinate difference of the first position coordinate and second position coordinate
The positioning correcting value of the satellite positioning signal.
6. position corrector according to claim 5, which is characterized in that the second position coordinate obtaining module packet
It includes:
First information acquiring unit, for obtaining the position coordinates of each second user terminal；
Second information acquisition unit, for the signal strength according to each second user terminal, and according to signal attenuation model,
Each second user terminal is obtained at a distance from first user terminal；
Computing unit, for by the position coordinates of each second user terminal and its generation at a distance from first user terminal
Enter default equation, the second position coordinate of first user terminal, the default equation be calculated are as follows:
(xn-x)2+(yn-y)2=dn 2, wherein (the xn, yn) be each second user terminal position coordinates, it is described (x,
It y) is the second position coordinate of first user terminal, the d is that each second user terminal and first user are whole
The distance at end.
7. position corrector according to claim 5, which is characterized in that further include:
Hot spot chooses module, for the signal-to-noise ratio according to each received satellite positioning signal of second user terminal, from each institute
State the second user terminal that three second position coordinates for calculating first user terminal are chosen in second user terminal.
8. position corrector according to claim 5, which is characterized in that the hot spot connection request module includes:
Pressure data acquiring unit, for obtaining the plantar pressure data group of first user；
Pressure model acquiring unit, for making continuous treatment to pressure value discrete in the plantar pressure data group, to obtain
Obtain plantar pressure variation model；
Pressure model comparing unit compares knot for comparing the plantar pressure variation model with reference model to obtain
Fruit；
Hot spot connects start unit, when for meeting the condition of triggering hot spot connection request in the comparison result, searches default
Second user terminal concurrence in distance goes out connection request.
9. a kind of intelligent wearable device, including processor and memory, which is characterized in that the memory is stored with computer journey
Sequence, the processor realize the described in any item method and steps of Claims 1-4 when executing the computer program.
10. intelligent wearable device according to claim 9, which is characterized in that the intelligent wearable device is intelligent shoe, institute
State intelligent shoe include sole, in conjunction with the periphery of the sole to form the vamp in shoe body space and the vamp be arranged in
Controller on outside；
The intelligent shoe further includes multiple pressure sensors being arranged in the sole and the touching that is arranged on the controller
Control screen, the pressure sensor and the controller are electrically connected.
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