CN110113764A - Localization method, device, equipment and the computer readable storage medium of terminal device - Google Patents
Localization method, device, equipment and the computer readable storage medium of terminal device Download PDFInfo
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- CN110113764A CN110113764A CN201910353731.7A CN201910353731A CN110113764A CN 110113764 A CN110113764 A CN 110113764A CN 201910353731 A CN201910353731 A CN 201910353731A CN 110113764 A CN110113764 A CN 110113764A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000004807 localization Effects 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 7
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- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 11
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/22—Traffic simulation tools or models
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a kind of localization method of terminal device, device, equipment and computer readable storage mediums, the method comprising the steps of: obtaining the first receiving time of the first signal of each gateway receiving terminal apparatus transmitting, and obtain the second receiving time that each gateway receives the second signal of beat point device transmitting, wherein, it receives first signal and the gateway of the second signal is at least three；Obtain the first position data and the corresponding second position data of each gateway of the beat point device；The location data of terminals of the terminal device is calculated according to the first position data, the second position data, first receiving time and second receiving time, and the terminal device position is determined according to the location data of terminals.The present invention provides a kind of new wireless location algorithms, effectively prevent requirement of the TDOA algorithm in wireless location to gateway time precise synchronization for a long time.
Description
Technical field
The present invention relates to the field of locating technology of financial technology (Fintech) more particularly to a kind of positioning of terminal device
Method, apparatus, equipment and computer readable storage medium.
Background technique
With the development of computer technology, more and more technology (big data, distribution, block chain Blockchain, people
Work intelligence etc.) it applies in financial field, traditional financial industry gradually changes to financial technology (Fintech), but due to finance
The safety of industry, requirement of real-time, also to technology, more stringent requirements are proposed.Financial transaction on line is more and more frequent, uses
Family can install the APP(Application of each financial institution, application program in the terminal), then disappeared by APP
Take, in the positioning function for carrying out often using terminal in process of consumption by APP.It, can be in financial machine if user is in market
The eating and drinking establishment nearest from oneself is selected to have a meal in the APP of structure, at this time, it may be necessary to use the positioning function of terminal.
The localization method used in terminal at present is based on TDOA(Time Difference of Arrival, when arrival
Between it is poor) LoRa(Long Range Radio, remote-wireless electricity) location technology.The premise of LoRa positioning is all LoRa
Gateway shared one it is identical when base, and need three LoRa gateways at least to receive the data-signal of terminal transmission.When one
A terminal device emits one piece of data signal, and all LoRa gateways in the network range of place can all receive this section of letter
Number, and it is transferred to network server, network server comes by comparing signal strength, arrival time, signal-to-noise ratio and other parameters
The most probable position of computing terminal equipment.It is positioned, is not needed additional by the LoRa location technology based on TDOA
Hardware support, but require the time between each LoRa gateway accurately to synchronize, therefore each LoRa gateway receives number
It is believed that number an accurate timestamp can be carried, it is then sent to network server and carries out positioning terminal position.Terminal positioning essence
Exactness is higher, and the timing tracking accuracy between each LoRa gateway is higher, can obtain by experiment, between each LoRa gateway when
Between be preferably synchronized within tens nanoseconds, however in the deployment of practical large-scale application, such precise synchronization is difficult
With what is reached, it follows that the LoRa location technology setting accuracy based on TDOA is low.
Summary of the invention
The main purpose of the present invention is to provide a kind of localization method of terminal device, device, equipment and computer-readable
Storage medium, it is intended to solve the existing technical restriction synchronous to gateway time high precision based on the wireless location technology of TDOA.
To achieve the above object, the present invention provides a kind of localization method of terminal device, the positioning side of the terminal device
Method comprising steps of
The first receiving time of the first signal of each gateway receiving terminal apparatus transmitting is obtained, and obtains each gateway and receives
Second receiving time of the second signal of beat point device transmitting, wherein receive first signal and the second signal
Gateway is at least three；
Obtain the first position data and the corresponding second position data of each gateway of the beat point device；
According to the first position data, the second position data, first receiving time and second receiving time
The location data of terminals of the terminal device is calculated, and determines that the terminal device institute is in place according to the location data of terminals
It sets.
Preferably, described according to the first position data, the second position data, first receiving time and institute
Stating the step of the second receiving time calculates the location data of terminals of the terminal device includes:
Calculate the time difference between first receiving time of each gateway and corresponding each second receiving time；
According to the first position data and each second position data corresponding calculating beat point device and each net
The distance between pass difference；
Location model is established according to the time difference, the range difference and the second position data, according to the location model
Calculate the location data of terminals of the terminal device.
Preferably, when the reception first signal and the gateway of the second signal are three, the positioning mould
Type are as follows:
△ t1=△ t+ | dist(RX1, D1)-dist(RX1, D2) | ÷ c;
△ t2=△ t+ | dist(RX2, D1)-dist(RX2, D2) | ÷ c;
△ t3=△ t+ | dist(RX3, D1)-dist(RX3, D2) | ÷ c;
Wherein, the △ t1 is the time difference between the first receiving time and the second receiving time of first gateway, institute
The time difference between the first receiving time and the second receiving time that △ t2 is second gateway is stated, the △ t3 is described
Time difference between the first receiving time and the second receiving time of third gateway, the △ t are the hair of first signal
It penetrating the time difference between time and the launch time of the second signal, the RX1 is the second position data of first gateway,
The RX2 is the second position data of second gateway, and the RX3 is the second position data of third gateway, and the D1 is
The first position data of the beat point device, the D2 are the location data of terminals, dist(x, y) it indicates between x and y
Distance, the c are the light velocity.
Preferably, described according to the first position data, the second position data, first receiving time and institute
After stating the step of the second receiving time calculates the location data of terminals of the terminal device, further includes:
Obtain the corresponding preset fingerprint library of each gateway, and the received signals fingerprint feature of detection first signal, wherein described
Terminal device region is provided with the beat point device of preset quantity；
Detecting in the preset fingerprint library whether there is and the consistent finger print information of received signals fingerprint feature；
If detect in the preset fingerprint library exist with the consistent finger print information of received signals fingerprint feature, execute described
The step of determining the terminal device position according to the location data of terminals.
Preferably, believe in the detection preset fingerprint library with the presence or absence of with the consistent fingerprint of the received signals fingerprint feature
After the step of breath, further includes:
Do not exist and the consistent finger print information of received signals fingerprint feature if detecting in the preset fingerprint library, it is determined that described
Terminal positioning failure, and failed message is sent to the terminal device, to export the failed message according to the terminal device
Warning terminal user positioning failure.
Preferably, described according to the first position data, the second position data, first receiving time and institute
The location data of terminals that the second receiving time calculates the terminal device is stated, and the end is determined according to the location data of terminals
After the step of end equipment position, further includes:
The location information of the terminal device position is sent to the terminal device, so that the terminal device is receiving
The location information is exported after to the location information.
In addition, to achieve the above object, the present invention also provides a kind of positioning device of terminal device, the terminal device
Positioning device includes:
Module is obtained, the first receiving time of the first signal for obtaining each gateway receiving terminal apparatus transmitting, and obtain
Take each gateway to receive the second receiving time of the second signal of beat point device transmitting, wherein receive first signal and
The gateway of the second signal is at least three；First position data and each gateway for obtaining the beat point device are corresponding
Second position data；
Computing module, for according to the first position data, the second position data, first receiving time and described
Second receiving time calculates the location data of terminals of the terminal device；
Determining module, for determining the terminal device position according to the location data of terminals.
In addition, to achieve the above object, the present invention also provides a kind of positioning device of terminal device, the terminal device
Positioning device includes memory, processor and is stored in the terminal device that can be run on the memory and on the processor
Finder, the finder of the terminal device realizes determining for terminal device as described above when being executed by the processor
The step of position method.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
It is stored with the finder of terminal device on storage medium, is realized such as when the finder of the terminal device is executed by processor
The step of localization method of the upper terminal device.
The present invention is obtained the signal of the beat point device and terminal device transmitting, is led to by one beat point device of setting
The first receiving time and the second receiving time for obtaining and receiving beat point device and terminal device to induction signal are crossed, according to first
The first position data of receiving time, the second receiving time and beat point device and the second position data of each gateway calculate
The location data of terminals of terminal device does not need the transmitting of comparison terminal equipment during location data of terminals is calculated
Signal reaches the time of each gateway, that is, does not need to require the precise synchronization that carry out the time between each gateway, avoid length
Requirement of the TDOA algorithm in wireless location to gateway time precise synchronization since phase improves the essence of wireless location technology positioning
Exactness improves the accuracy of positioning.
Detailed description of the invention
Fig. 1 is the flow diagram of the localization method preferred embodiment of terminal device of the present invention；
Fig. 2 is the position view between terminal device in the embodiment of the present invention, beat point device and gateway；
Fig. 3 is the functional schematic module map of the positioning device preferred embodiment of terminal device of the present invention；
Fig. 4 is the structural schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of localization method of terminal device, and referring to Fig.1, Fig. 1 is the positioning side of terminal device of the present invention
The flow diagram of method preferred embodiment.
The embodiment of the invention provides the embodiments of the localization method of terminal device, it should be noted that although in process
Logical order is shown in figure, but in some cases, it can be to be different from shown or described by sequence execution herein
Step.
The localization method of terminal device is applied in server or positioning device, and positioning device may include such as hand
Machine, tablet computer, laptop, palm PC, personal digital assistant (Personal Digital Assistant, PDA)
The fixed terminals such as equal mobile terminals, and number TV, desktop computer, server can take for network server or cloud
Business device.In each embodiment of the localization method of terminal device, for ease of description, omission executing subject is illustrated each
Embodiment.The localization method of terminal device includes:
Step S10, obtains the first receiving time of the first signal of each gateway receiving terminal apparatus transmitting, and obtains each
Gateway receives the second receiving time of the second signal of beat point device transmitting, wherein receives first signal and described the
The gateway of binary signal is at least three.
In embodiments of the present invention, there is three LoRa gateways, a beat point device and terminal device, at least in order to just
In description, LoRa gateway is referred to as gateway.Specifically, it can refer to Fig. 2, in Fig. 2, click indicates beat point device, end
Device indicates that terminal device, RX1 indicate first gateway (gateway), and RX2 indicates that second gateway, RX3 indicate third
Gateway.The terminal device is the setting for needing to position, and can be mobile phone, tablet computer and personal computer etc..Beat point device can
It for SDR(Software Defination Radio) hardware device, or is signal simulator, beat point device is for emitting
Radio signal.In beat point device, signal emission parameter is pre-set, signal emission parameter includes but is not limited to emit
Frequency, signal strength and signal amplitude.When terminal device needs to position, each gateway can receive the letter of terminal device transmitting
Number, in embodiments of the present invention, the signal that terminal device emits is denoted as the first signal.Since beat point device is according to setting
Good signal emission parameter transmitting signal, therefore each gateway can also receive the signal of beat point device transmitting, in this reality
It applies in example, the signal that beat point device emits is denoted as second signal.The receiving time that each gateway receives the first signal is obtained,
And the receiving time for receiving the first signal is denoted as the first receiving time and/or each gateway and receives connecing for second signal
Between time receiving, and the receiving time for receiving second signal is denoted as the second receiving time.It is understood that implementing in the present invention
At least there are three gateways in example, i.e. the gateway of reception the first signal and the second signal is at least three, therefore, each gateway
Can there are first receiving time and the second receiving time.Due between terminal device and beat point device and each gateway
Barrier between the not identical and/or terminal device of distance and beat point device and each gateway is different, and each gateway is corresponding
First receiving time may be identical, it is also possible to which different, corresponding second receiving time of each gateway may be identical, it is also possible to no
Together.
It should be noted that the second receiving time can receive after the first signal received first for each gateway
The time of binary signal can also receive the time of a last received second signal before the first signal for each gateway.In order to
Location efficiency is improved to be set as most being followed by before each gateway receives the first signal by the second receiving time in the present embodiment
The receiving time for that second signal received, in order to which subsequent calculating operation can be carried out immediately after receiving the first signal.
Step S20 obtains the first position data and the corresponding second position data of each gateway of the beat point device.
The position data of the position data and each gateway that obtain beat point device is stored in advance in the present embodiment
The position data of beat point is denoted as first to distinguish by the position data of the position data of beat point device and each gateway
The position data of each gateway is denoted as second position data, it is to be understood that each gateway can have one by position data
Second position data.In embodiments of the present invention, for ease of calculation, it in each gateway and beat point device region, builds
A plane coordinate system is found, which is arranged according to specific needs, as can be in place by one of gateway institute
It installs and is set to origin, beat point device position can also be set to origin, or in each gateway and beat point device institute
A position is randomly selected as origin in region.In the present embodiment, first position data and second position data can use seat
Mark is to indicate.In other embodiments, first position data and second position data can be indicated with longitude and latitude.
It is understood that in embodiments of the present invention, step S10 can be first carried out, then step S20 is executed, can also first held
Row step S20, then execute step S10.
Step S30, according to the first position data, the second position data, first receiving time and described
Second receiving time calculates the location data of terminals of the terminal device, and determines the terminal according to the location data of terminals
Equipment position.
After getting first position data, second position data, the first receiving time and the second receiving time, according to
The location data of terminals of one position data, second position data, the first receiving time and the second receiving time computing terminal equipment,
Specifically, location model is established according to first position data, second position data, the first receiving time and the second receiving time,
It, can be using location data of terminals as unknown number, by first position data, second position data, first in the location model
Receiving time and the second receiving time are solved as datum, obtain location data of terminals, and according to gained terminal location
Data determine terminal device position.It is understood that if first position data and second position data are with coordinate come table
Show, then the location data of terminals calculated is also coordinate value；If first position data and second position data with longitude and latitude come
It indicates, then the location data of terminals calculated is also longitude and latitude.In embodiments of the present invention, be stored in advance each gateway and
The position data of each position in beat point device region, the position data that the clothes shop A has such as been stored in advance is (x0, y0), B
The position data in sweets shop is (x1, y2), and the position data of C shoes store is (x2, y2).Therefore, terminal location number is being calculated
According to rear, resulting location data of terminals will be calculated and compared with pre-stored position data, that is, can determine terminal device institute
In position.If the location data of terminals being calculated is (x1, y2), then it can determine that terminal device position is sweets shop.
Further, it is described according to the first position data, the second position data, first receiving time and
The step of second receiving time calculates the location data of terminals of the terminal device include:
Step a calculates the time between first receiving time of each gateway and corresponding each second receiving time
Difference.
Further, after getting the first receiving time and the second receiving time, when calculating the reception of each gateway first
Between time difference between corresponding each second receiving time.Specifically, it is illustrated by taking three gateways as an example and calculates the time difference
Process, if the first receiving time of first gateway is denoted as t11, the second receiving time of first gateway is denoted as t12,
First receiving time of two gateways is denoted as t21, and the second receiving time of second gateway is denoted as t22, and the of third gateway
One receiving time is denoted as t31, and the second receiving time of third gateway is denoted as t32, then the first receiving time of first gateway
With time difference △ t1=t11- t12 of the second receiving time, the first receiving time of second gateway and the second receiving time
Time difference △ t2=t21- t22, the first receiving time of third gateway and time difference △ t3=t31- of the second receiving time
t32.In order to improve the efficiency of computing terminal position data, during calculating the time difference, big receiving time is subtracted small
Receiving time, or time absolute value of the difference between the first receiving time and the second receiving time is calculated, when making to calculate resulting
Between difference be a positive value.
Step b is set according to the first position data and the corresponding calculating beat point of each second position data
The distance between standby and each gateway is poor.
It is calculated between beat point device and each gateway according to first position data and each second position data are corresponding
Range difference specifically can calculate the Euclidean distance between first position data and each second position data, by the Euclidean distance
To should be used as, the distance between beat point device and each gateway are poor.In embodiments of the present invention, it is indicated a little with dist(i, j)
Euclidean distance between i and point j specifically indicates the second position data of first gateway with RX1, indicates second with RX2
The second position data of gateway indicate the second position data of third gateway with RX3, indicate the of beat point device with D1
One position data, therefore, the distance between beat point device and first gateway difference are represented by dist(RX1, D1), beat point
The distance between equipment and second gateway difference are represented by dist(RX2, D1), between beat point device and third gateway
Range difference is represented by dist(RX3, D1).
Step c establishes location model according to the time difference, the range difference and the second position data, according to institute
State the location data of terminals that location model calculates the terminal device.
After time difference and range difference is calculated, the pre-stored light velocity is obtained, the light velocity refers to light wave or electromagnetic wave
Spread speed in vacuum or medium, then according to calculating resulting time difference, range difference, the light velocity of acquisition and the second position
Data establish location model, and the location data of terminals of terminal device is calculated according to the location model.
Further, when the reception first signal and the gateway of the second signal are three, the positioning
Model are as follows:
△ t1=△ t+ | dist(RX1, D1)-dist(RX1, D2) | ÷ c;
△ t2=△ t+ | dist(RX2, D1)-dist(RX2, D2) | ÷ c;
△ t3=△ t+ | dist(RX3, D1)-dist(RX3, D2) | ÷ c;
Wherein, the △ t1 is the time difference between the first receiving time and the second receiving time of first gateway, institute
The time difference between the first receiving time and the second receiving time that △ t2 is second gateway is stated, the △ t3 is described
Time difference between the first receiving time and the second receiving time of third gateway, the △ t are the hair of first signal
It penetrating the time difference between time and the launch time of the second signal, the RX1 is the second position data of first gateway,
The RX2 is the second position data of second gateway, and the RX3 is the second position data of third gateway, and the D1 is
The first position data of the beat point device, the D2 are the location data of terminals, dist(x, y) it indicates between x and y
Distance.Dist(RX1, D1) it is that the distance between beat point device and first gateway are poor, dist(RX2, D1) it is that beat point is set
It is standby poor with the distance between second gateway, dist(RX3, D1) it is that the distance between beat point device and third gateway are poor,
C is the light velocity, is a known quantity, dist(RX1, D2) it is that first gateway and the distance between terminal device are poor, dist(RX2,
D2) poor for second gateway and the distance between terminal device, dist(RX3, D2) between third gateway and terminal device
Range difference.In location model, only △ t and D2 is unknown number, remaining is all datum, and D2 is deposited by coordinate representation
In two unknown numerical value, one is unknown abscissa, and one is unknown ordinate, therefore not with three equation solutions three
Know number, △ t and D2 can be calculated, D2 is the terminal location number for the terminal device to be obtained in the present embodiment
According to.
Further, the localization method of the terminal device further include:
The location information of the terminal device position is sent to the terminal device, for the terminal device by step d
The location information is exported after receiving the location information.
After determining terminal device position according to location data of terminals, by the location information of terminal device position
It is sent to terminal device, after terminal device receives the location information, its position is determined according to the location information, and defeated
Location information out, to inform its present position of terminal user according to the location information.Wherein, location information can be longitude and latitude
Information is spent, or is specific address, which may include shops's title, as location information can take for the city B, the A province area the C street D E F
Dress shop.
The present embodiment obtains the signal of the beat point device and terminal device transmitting by one beat point device of setting,
Beat point device and terminal device are received to the first receiving time and the second receiving time of induction signal by obtaining, according to the
The first position data of one receiving time, the second receiving time and beat point device and the second position data of each gateway calculate
The location data of terminals of terminal device out does not need the transmitting of comparison terminal equipment during location data of terminals is calculated
Signal reach time of each gateway, i.e., do not require the precise synchronization that carry out the time between each gateway, improve wireless
The accuracy of positioning.
Further, the localization method second embodiment of terminal device of the present invention is proposed.
The localization method first embodiment of the localization method second embodiment and terminal device of the terminal device
Difference is, the localization method of the terminal device further include:
Step e obtains the corresponding preset fingerprint library of each gateway, and obtains the received signals fingerprint feature of first signal,
In, the terminal device region is provided with the beat point device of preset quantity.
It in the present embodiment, can be in each gateway location in order to detect whether be calculated location data of terminals accurate
Preset quantity beat point device, i.e. the beat point device in terminal device region setting preset quantity is arranged in domain, and will be each
The finger print information of a beat point device is stored into preset fingerprint library.Wherein, preset quantity can be according to the face of gateway region
Size is accumulated to be arranged, gateway region area is bigger, and preset quantity is bigger, and gateway region area is smaller, preset quantity
It is smaller.If gateway region area is fixed, preset quantity is bigger, and the detection whether accurate accuracy of location data of terminals is got over
It is high.Finger print information beat point device emits signal strength and signal multidiameter configuration of signal etc., which includes beat point
When equipment emits second signal, the signal emissive porwer and gateway of second signal receive the second letter of beat point device transmitting
Number when, the signal receiving strength of second signal.It is understood that can be calculated by signal emissive porwer and signal receiving strength
Second signal is emitting the signal intensity attenuation value into gateway procedures from beat point device out.If beat point device transmitting letter
Number signal emissive porwer be a, signal receiving strength when gateway receives the signal is b, then in the gateway, signal strength
Pad value can indicate with two signal strength differences, i.e. signal intensity attenuation value=a-b.It is understood that for same
The same signal that beat point device emits in the same time, the corresponding signal intensity attenuation value of each gateway may be identical, can also
It can be different.In embodiments of the present invention, there are a preset fingerprint libraries, preset fingerprint to be previously stored in library for each gateway
The corresponding finger print information of each beat point device.
The corresponding preset fingerprint library of each gateway is obtained, and obtains the received signals fingerprint feature of the first signal, wherein signal
Fingerprint characteristic includes but is not limited to the signal strength and signal multidiameter configuration of the first signal, and the signal strength of the first signal includes letter
Number receiving intensity and signal emissive porwer.For a gateway, the signal intensity attenuation value of the first signal is set equal to terminal
The signal emissive porwer that preparation penetrates the first signal subtracts the signal receiving strength that the gateway receives the first signal.
It should be noted that in embodiments of the present invention, step e, then computing terminal position data can also be first carried out.
Step f is detected in each preset fingerprint library and is believed with the presence or absence of with the consistent fingerprint of the received signals fingerprint feature
Breath.
After the received signals fingerprint feature in the preset fingerprint library and the first signal that get each gateway, each default finger is detected
It whether there is and the consistent finger print information of received signals fingerprint feature in line library.Wherein, if believing in some beat point device finger print information
Difference number between emissive porwer and signal receiving strength be equal to the first signal signal emissive porwer and signal receiving strength it
Between difference, and beat point device transmitting signal signal multidiameter configuration it is consistent with the signal multidiameter configuration of the first signal, then may be used
Determine in preset fingerprint library exist with the consistent finger print information of received signals fingerprint feature, if believing in some beat point device finger print information
Difference number between emissive porwer and signal receiving strength is not equal to the signal emissive porwer and signal receiving strength of the first signal
Between difference and/or beat point device transmitting signal signal multidiameter configuration and the signal multidiameter configuration of the first signal it is different
It causes, then can determine in preset fingerprint library and be not present and the consistent finger print information of received signals fingerprint feature.Or some beat point is set
Difference in standby finger print information between signal emissive porwer and signal receiving strength is denoted as the first difference, the signal hair of the first signal
The difference penetrated between intensity and signal receiving strength is denoted as the second difference, if the difference between the first difference and the second difference is less than
The signal multidiameter configuration similarity of the signal multidiameter configuration and the first signal of preset threshold and/or beat point device transmitting signal
Greater than default similarity, then it can determine in preset fingerprint library and exist and the consistent finger print information of received signals fingerprint feature；If first is poor
Difference between value and the second difference is more than or equal to preset threshold, and the signal multidiameter configuration of beat point device transmitting signal
Be less than or preset similarity with the signal multidiameter configuration similarity of the first signal, then can determine in preset fingerprint library there is no with
The consistent finger print information of received signals fingerprint feature.Wherein, preset threshold and default similarity are arranged according to specific needs, at this
Preset threshold and default similarity are not particularly limited in embodiment.
Step g, if detect in the preset fingerprint library exist with the consistent finger print information of received signals fingerprint feature,
Execute the described the step of terminal device position is determined according to the location data of terminals.
If detect in preset fingerprint library exist with the consistent finger print information of received signals fingerprint feature, according to calculate it is resulting
Location data of terminals determines terminal device position.It is understood that with the consistent finger print information pair of received signals fingerprint feature
The beat point device position answered is terminal device position.
Further, the localization method of the terminal device further include:
Step h, if detect in the preset fingerprint library do not exist with the consistent finger print information of received signals fingerprint feature, really
The fixed terminal positioning failure, and failed message is sent to the terminal device, to export the mistake according to the terminal device
It loses message notifying terminal user and positions failure.
Further, believe if detecting and all not existing in each preset fingerprint library with the consistent fingerprint of received signals fingerprint feature
Breath, it is determined that terminal positioning failure, and the failed message of positioning failure is generated, which is sent to terminal device.When
After terminal device receives the failed message, the failed message is exported, is lost with being positioned according to the failed message warning terminal user
It loses.In the present embodiment, the way of output for not limiting terminal device output failed message, as terminal device can by voice or
The modes such as text export the failed message.
The present embodiment is by the corresponding preset fingerprint library of each gateway of acquisition, and obtains the first signal and send out from terminal device
The signal intensity attenuation degree being incident upon in each gateway procedures exists and signal intensity attenuation journey in detecting preset fingerprint library
When spending consistent signal intensity attenuation fingerprint, the operation that terminal device position is determined according to location data of terminals is just executed,
Otherwise it determines terminal positioning failure, further increases the accuracy of terminal device positioning.
In addition, the present invention also provides a kind of positioning device of terminal device, the positioning of the terminal device fills referring to Fig. 3
It sets and includes:
Module 10 is obtained, the first receiving time of the first signal for obtaining each gateway receiving terminal apparatus transmitting, and
Obtain the second receiving time that each gateway receives the second signal of beat point device transmitting, wherein receive first signal
It is at least three with the gateway of the second signal；First position data and each gateway for obtaining the beat point device are corresponding
Second position data；
Computing module 20, for according to the first position data, the second position data, first receiving time and institute
State the location data of terminals that the second receiving time calculates the terminal device；
Determining module 30, for determining the terminal device position according to the location data of terminals.
Further, the computing module 20 be also used to calculate first receiving time of each gateway with it is corresponding each
Time difference between second receiving time；According to the first position data and each second position data to accrued
It is poor to calculate the distance between the beat point device and each gateway；According to the time difference, the range difference and the second
It sets data and establishes location model, the location data of terminals of the terminal device is calculated according to the location model.
Further, when the reception first signal and the gateway of the second signal are three, the positioning
Model are as follows:
△ t1=△ t+ | dist(RX1, D1)-dist(RX1, D2) | ÷ c;
△ t2=△ t+ | dist(RX2, D1)-dist(RX2, D2) | ÷ c;
△ t3=△ t+ | dist(RX3, D1)-dist(RX3, D2) | ÷ c;
Wherein, the △ t1 is the time difference between the first receiving time and the second receiving time of first gateway, institute
The time difference between the first receiving time and the second receiving time that △ t2 is second gateway is stated, the △ t3 is described
Time difference between the first receiving time and the second receiving time of third gateway, the △ t are the hair of first signal
It penetrating the time difference between time and the launch time of the second signal, the RX1 is the second position data of first gateway,
The RX2 is the second position data of second gateway, and the RX3 is the second position data of third gateway, and the D1 is
The first position data of the beat point device, the D2 are the location data of terminals, dist(x, y) it indicates between x and y
Distance, the c are the light velocity.
Further, the acquisition module 10 is also used to obtain the corresponding preset fingerprint library of each gateway, and detection institute
State the received signals fingerprint feature of the first signal, wherein the terminal device region is provided with the beat point device of preset quantity；
The positioning device of the terminal device further include:
Detection module is believed for detecting in the preset fingerprint library with the presence or absence of with the consistent fingerprint of the received signals fingerprint feature
Breath；
Execution module, if believing for detecting in the preset fingerprint library to exist with the consistent fingerprint of the received signals fingerprint feature
Breath, then execute described the step of determining the terminal device position according to the location data of terminals.
Further, do not exist and the signal if the determining module 30 is also used to detect in the preset fingerprint library
The consistent finger print information of fingerprint characteristic, it is determined that the terminal positioning failure；
The positioning device of the terminal device further include:
First sending module, for sending failed message to the terminal device, to export the mistake according to the terminal device
It loses message notifying terminal user and positions failure.
Further, the positioning device of the terminal device further include:
Second sending module, for the location information of the terminal device position to be sent to the terminal device, for
The terminal device exports the location information after receiving the location information.
It should be noted that the localization method of each embodiment of the positioning device of terminal device and above-mentioned terminal device
Each embodiment is essentially identical, and in this not go into detail.
In addition, the present invention also provides a kind of positioning devices of terminal device.As shown in figure 4, Fig. 4 is embodiment of the present invention side
The structural schematic diagram for the hardware running environment that case is related to.
It should be noted that Fig. 4 can be the structural schematic diagram of the hardware running environment of the positioning device of terminal device.This
The positioning device of inventive embodiments terminal device can be PC, the terminal devices such as portable computer.
As shown in figure 4, the positioning device of the terminal device may include: processor 1001, such as CPU, memory 1005,
User interface 1003, network interface 1004, communication bus 1002.Wherein, communication bus 1002 is for realizing between these components
Connection communication.User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), can
Selecting user interface 1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include mark
Wireline interface, the wireless interface (such as WI-FI interface) of standard.Memory 1005 can be high speed RAM memory, be also possible to stablize
Memory (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of preceding
State the storage device of processor 1001.
Optionally, the positioning device of terminal device can also include camera, RF(Radio Frequency, radio frequency) electricity
Road, sensor, voicefrequency circuit, WiFi module etc..
It will be understood by those skilled in the art that the positioning device structure of terminal device shown in Fig. 4 was not constituted to end
The restriction of the positioning device of end equipment may include perhaps combining certain components or not than illustrating more or fewer components
Same component layout.
As shown in figure 4, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe the finder of module, Subscriber Interface Module SIM and terminal device.Wherein, operating system manages and controls terminal device
The program of positioning device hardware and software resource supports the operation of the finder and other softwares or program of terminal device.
In the positioning device of terminal device shown in Fig. 4, user interface 1003 can be used for connecting each gateway and terminal
Equipment carries out data communication with each gateway and terminal device respectively；Network interface 1004 is mainly used for connecting background server,
Data communication is carried out with background server；Processor 1001 can be used for calling determining for the terminal device stored in memory 1005
Position program, and the step of executing the localization method of terminal device as described above.
The positioning device specific embodiment of terminal device of the present invention and each embodiment of localization method of above-mentioned terminal device
Essentially identical, details are not described herein.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with the finder of terminal device, realized when the finder of the terminal device is executed by processor as described above
The step of localization method of terminal device.
Each embodiment of localization method of computer readable storage medium specific embodiment of the present invention and above-mentioned terminal device
Essentially identical, details are not described herein.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (11)
1. a kind of localization method of terminal device, which is characterized in that the localization method of the terminal device the following steps are included:
The first receiving time of the first signal of each gateway receiving terminal apparatus transmitting is obtained, and obtains each gateway and receives
Second receiving time of the second signal of beat point device transmitting, wherein receive first signal and the second signal
Gateway is at least three；
Obtain the first position data and the corresponding second position data of each gateway of the beat point device；
According to the first position data, the second position data, first receiving time and second receiving time
The location data of terminals of the terminal device is calculated, and determines that the terminal device institute is in place according to the location data of terminals
It sets.
2. the localization method of terminal device as described in claim 1, which is characterized in that described according to the first position number
According to, the second position data, first receiving time and second receiving time calculate the terminal of the terminal device
The step of position data includes:
Calculate the time difference between first receiving time of each gateway and corresponding each second receiving time；
According to the first position data and each second position data corresponding calculating beat point device and each net
The distance between pass difference；
Location model is established according to the time difference, the range difference and the second position data, according to the location model
Calculate the location data of terminals of the terminal device.
3. the localization method of terminal device as claimed in claim 2, which is characterized in that when it is described receive first signal and
When the gateway of the second signal is three, the location model are as follows:
△ t1=△ t+ | dist(RX1, D1)-dist(RX1, D2) | ÷ c;
△ t2=△ t+ | dist(RX2, D1)-dist(RX2, D2) | ÷ c;
△ t3=△ t+ | dist(RX3, D1)-dist(RX3, D2) | ÷ c;
Wherein, the △ t1 is the time difference between the first receiving time and the second receiving time of first gateway, institute
The time difference between the first receiving time and the second receiving time that △ t2 is second gateway is stated, the △ t3 is described
Time difference between the first receiving time and the second receiving time of third gateway, the △ t are the hair of first signal
It penetrating the time difference between time and the launch time of the second signal, the RX1 is the second position data of first gateway,
The RX2 is the second position data of second gateway, and the RX3 is the second position data of third gateway, and the D1 is
The first position data of the beat point device, the D2 are the location data of terminals, dist(x, y) it indicates between x and y
Distance, the c are the light velocity.
4. the localization method of terminal device as described in claim 1, which is characterized in that described according to the first position number
According to, the second position data, first receiving time and second receiving time calculate the terminal of the terminal device
After the step of position data, further includes:
Obtain the corresponding preset fingerprint library of each gateway, and the received signals fingerprint feature of detection first signal, wherein described
Terminal device region is provided with the beat point device of preset quantity；
Detecting in the preset fingerprint library whether there is and the consistent finger print information of received signals fingerprint feature；
If detect in the preset fingerprint library exist with the consistent finger print information of received signals fingerprint feature, execute described
The step of determining the terminal device position according to the location data of terminals.
5. the localization method of terminal device as claimed in claim 4, which is characterized in that in the detection preset fingerprint library
After the step of with the presence or absence of finger print information consistent with the received signals fingerprint feature, further includes:
Do not exist and the consistent finger print information of received signals fingerprint feature if detecting in the preset fingerprint library, it is determined that described
Terminal positioning failure, and failed message is sent to the terminal device, to export the failed message according to the terminal device
Warning terminal user positioning failure.
6. such as the localization method of the described in any item terminal devices of Claims 1-4, which is characterized in that described according to described the
One position data, the second position data, first receiving time and second receiving time calculate the terminal and set
Standby location data of terminals, and after the step of determining the terminal device position according to the location data of terminals, also
Include:
The location information of the terminal device position is sent to the terminal device, so that the terminal device is receiving
The location information is exported after to the location information.
7. a kind of positioning device of terminal device, it is characterised in that the positioning device of terminal device includes:
Module is obtained, the first receiving time of the first signal for obtaining each gateway receiving terminal apparatus transmitting, and obtain
Take each gateway to receive the second receiving time of the second signal of beat point device transmitting, wherein receive first signal and
The gateway of the second signal is at least three；First position data and each gateway for obtaining the beat point device are corresponding
Second position data；
Computing module, for according to the first position data, the second position data, first receiving time and described
Second receiving time calculates the location data of terminals of the terminal device；
Determining module, for determining the terminal device position according to the location data of terminals.
8. the positioning device of terminal device as claimed in claim 7, which is characterized in that the computing module is also used to calculate respectively
Time difference between first receiving time of a gateway and corresponding each second receiving time；According to described first
It sets data and corresponding calculating the distance between the beat point device and each gateway of each second position data is poor；According to
The time difference, the range difference and the second position data establish location model, calculate institute according to the location model
State the location data of terminals of terminal device.
9. the positioning device of terminal device as claimed in claim 8, which is characterized in that when it is described receive first signal and
When the gateway of the second signal is three, the location model are as follows:
△ t1=△ t+ | dist(RX1, D1)-dist(RX1, D2) | ÷ c;
△ t2=△ t+ | dist(RX2, D1)-dist(RX2, D2) | ÷ c;
△ t3=△ t+ | dist(RX3, D1)-dist(RX3, D2) | ÷ c;
Wherein, the △ t1 is the time difference between the first receiving time and the second receiving time of first gateway, institute
The time difference between the first receiving time and the second receiving time that △ t2 is second gateway is stated, the △ t3 is described
Time difference between the first receiving time and the second receiving time of third gateway, the △ t are the hair of first signal
It penetrating the time difference between time and the launch time of the second signal, the RX1 is the second position data of first gateway,
The RX2 is the second position data of second gateway, and the RX3 is the second position data of third gateway, and the D1 is
The first position data of the beat point device, the D2 are the location data of terminals, dist(x, y) it indicates between x and y
Distance, the c are the light velocity.
10. a kind of positioning device of terminal device, which is characterized in that the positioning device of the terminal device includes memory, place
Reason device and the finder for being stored in the terminal device that can be run on the memory and on the processor, the terminal are set
The positioning such as terminal device described in any one of claims 1 to 6 is realized when standby finder is executed by the processor
The step of method.
11. a kind of computer readable storage medium, which is characterized in that be stored with terminal on the computer readable storage medium and set
It realizes when the finder of standby finder, the terminal device is executed by processor such as any one of claims 1 to 6 institute
The step of localization method for the terminal device stated.
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Application publication date: 20190809 |