CN110177333A - Indoor orientation method, device, system, equipment and storage medium - Google Patents
Indoor orientation method, device, system, equipment and storage medium Download PDFInfo
- Publication number
- CN110177333A CN110177333A CN201910425667.9A CN201910425667A CN110177333A CN 110177333 A CN110177333 A CN 110177333A CN 201910425667 A CN201910425667 A CN 201910425667A CN 110177333 A CN110177333 A CN 110177333A
- Authority
- CN
- China
- Prior art keywords
- wireless aps
- floor
- mobile terminal
- current mobile
- locating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- 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 present invention relates to big data technical fields, disclose a kind of indoor orientation method, comprising: position coordinates, the MAC Address of each wireless aps and the mapping table of floor in each floor where each wireless aps in floor is arranged；Receive the relevant information of wireless aps around the current mobile terminal that mobile terminal uploads；According to the relevant information, floor locating for current mobile terminal is calculated；According to preset distance calculation formula and three-point fix technology, the position in floor locating for current mobile terminal is calculated；Obtain the correction parameter value of the distance calculation formula corresponding with the position in floor locating for current mobile terminal；Distance calculation formula is corrected based on the correction parameter value, and recalculates the position in floor locating for current mobile terminal.The invention also discloses a kind of indoor positioning device, system, equipment and computer readable storage mediums.The present invention improves indoor positioning speed and user experience under the premise of guaranteeing positioning accuracy.
Description
Technical field
The present invention relates to big data technical field more particularly to a kind of indoor orientation method, device, system, equipment and deposit
Storage media.
Background technique
Currently, location technology is very widely used, for example navigate.Existing positioning method is normally based on satellite and is determined
Position, and satellite positioning is usually applicable only to longitude and latitude positioning namely outdoor positioning.And for indoor positioning, the indoor letter of one side
Number bad, position inaccurate, another aspect longitude and latitude positioning method are not particularly suited for the positioning of different floor gaps.Although existing skill
There is also indoor positioning technologies in art, but existing indoor positioning technologies needs are largely calculated, positioning time length and precision is not
Height, application effect are bad.
Summary of the invention
The main purpose of the present invention is to provide a kind of indoor orientation method, device, system, equipment and storage medium, purports
The technical problem that process is complicated and application effect is bad is realized in the existing indoor positioning technologies of solution.
To achieve the above object, the present invention provides a kind of indoor orientation method, and the indoor orientation method includes following step
It is rapid:
Position coordinates in each floor where each wireless aps in floor, the MAC Address of each wireless aps and floor are set
Mapping table；
The relevant information of wireless aps around the current mobile terminal that mobile terminal uploads is received, the relevant information is at least wrapped
Include the MAC Address and signal strength of wireless aps；
According to the relevant information, floor locating for current mobile terminal is calculated；
According to preset distance calculation formula and three-point fix technology, the position in floor locating for current mobile terminal is calculated
It sets；
It obtains the distance corresponding with floor locating for current mobile terminal and the position in locating floor and calculates public affairs
The correction parameter value of formula；
Based on the correction parameter value, the distance calculation formula after correcting is determined, and public affairs are calculated based on the distance after correction
Formula recalculates the position in floor locating for current mobile terminal.
Optionally, described according to the relevant information, calculating floor locating for current mobile terminal includes:
Based on the signal strength of wireless aps each around current mobile terminal, each wireless aps are ranked up, to filter out letter
First wireless aps of the specified number that number intensity ranks first；
Based on the MAC Address of each first wireless aps, the mapping table is searched, with the respective institute of each first wireless aps of determination
In floor；
If the quantity of the wireless aps in each first wireless aps in same floor is more than default accounting, it is determined that described to be in
Floor where the wireless aps of same floor is floor locating for current mobile terminal；
If the quantity of the wireless aps in each first wireless aps in same floor is less than the default accounting, it is determined that each
Floor where the strongest wireless aps of signal strength is floor locating for current mobile terminal in first wireless aps.
Optionally, described according to preset distance calculation formula and three-point fix technology, calculate current mobile terminal institute
Position in place's floor includes:
Based on the signal strength of wireless aps each around current mobile terminal, each wireless aps are ranked up, to filter out letter
Second wireless aps of the specified number that number intensity ranks first；
Signal strength and the distance calculation formula based on each second wireless aps, calculate separately each second wireless aps with
The distance between current mobile terminal；
Based on each second wireless aps in the position coordinates where current mobile terminal in floor, each second wireless aps and current
The distance between mobile terminal calculates the position in floor locating for current mobile terminal by three-point fix technology；
Wherein, the distance calculation formula is as follows:
D=10^ [(abs (db)-A)/(10*n)]；
Wherein, d indicates the distance between signal transmitting terminal and receiving end；Db indicates transmitting terminal received by receiving end
Signal strength；Abs (db) indicates to take the absolute value of db；A is unit signal strength, when indicating 1 meter of transmitting terminal and receiving end interval
Signal strength, be constant；N indicates the environmental attenuation factor, is constant.
Optionally, it described based on floor locating for current mobile terminal and the position in locating floor, obtains corresponding
Before the step of correction parameter value of the distance calculation formula, further includes:
Receive the signal strength for the adjacent wireless aps of same floor that each wireless aps upload in each floor；
Based on the position coordinates where each wireless aps in floor, the nothing adjacent with same floor of each wireless aps in each floor is established
The corresponding relationship of line AP.
Optionally, in the position coordinates based on where each wireless aps in floor, each wireless aps in each floor are established
After the step of corresponding relationship of wireless aps adjacent with same floor, further includes:
Calculate separately the correction parameter value of the corresponding distance calculation formula in different location region in each floor and local
It saves, the correction parameter value is environmental attenuation factor of n and unit signal intensity A；
Wherein, in the following way calculate same floor in the corresponding distance calculation formula in different location region rectify
Positive parameter value, comprising the following steps:
Step A: taking out a sample wireless aps in same floor, adjacent with same floor wireless according to preset wireless aps
The corresponding relationship of AP is searched with the sample wireless aps apart from K nearest wireless aps；
Step B: the signal strength that the K wireless aps mutually detect between any two is obtained, and wireless based on the K
The position coordinates of AP calculate the distance of the K wireless aps between any two；
Step C: the closed area constituted with the position coordinates of the sample wireless aps, the K wireless aps is one
The band of position, the signal strength mutually detected between any two based on the K wireless aps, the K wireless aps are between any two
Distance and the distance calculation formula, calculate the corresponding distance calculation formula of each wireless aps in the K wireless aps
Correction parameter value, and to it is each correction parameter value be ranked up and using sequence middle position correction parameter value as currently
The correction parameter value of the corresponding distance calculation formula in the band of position；
Step D: repeating step A to step C, until there is no the wireless aps for having neither part nor lot in region division, wherein same
A sample wireless aps are only involved in a region division.
Further, to achieve the above object, the present invention also provides a kind of indoor positioning device, the indoor positioning devices
Include:
Setup module, for the MAC of position coordinates in each floor where each wireless aps in floor, each wireless aps to be arranged
The mapping table of address and floor；
Receiving module, it is described for receiving the relevant information of wireless aps around the current mobile terminal that mobile terminal uploads
Relevant information includes at least the MAC Address and signal strength of wireless aps；
First computing module, for calculating floor locating for current mobile terminal according to the relevant information；
Second computing module, for calculating current movement according to preset distance calculation formula and three-point fix technology
Position in floor locating for terminal；
Module is obtained, for obtaining institute corresponding with floor locating for current mobile terminal and the position in locating floor
State the correction parameter value of distance calculation formula；
Rectification module is used to be based on the correction parameter value, the distance calculation formula after determining correction, and is based on after correcting
Distance calculation formula, recalculate the position in floor locating for current mobile terminal.
Optionally, first computing module is specifically used for:
Based on the signal strength of wireless aps each around current mobile terminal, each wireless aps are ranked up, to filter out letter
First wireless aps of the specified number that number intensity ranks first；
Based on the MAC Address of each first wireless aps, the mapping table is searched, with the respective institute of each first wireless aps of determination
In floor；
If the quantity of the wireless aps in each first wireless aps in same floor is more than default accounting, it is determined that described to be in
Floor where the wireless aps of same floor is floor locating for current mobile terminal；
If the quantity of the wireless aps in each first wireless aps in same floor is less than the default accounting, it is determined that each
Floor where the strongest wireless aps of signal strength is floor locating for current mobile terminal in first wireless aps.
Optionally, second computing module is specifically used for:
Based on the signal strength of wireless aps each around current mobile terminal, each wireless aps are ranked up, to filter out letter
Second wireless aps of the specified number that number intensity ranks first；
Signal strength and the distance calculation formula based on each second wireless aps, calculate separately each second wireless aps with
The distance between current mobile terminal；
Based on each second wireless aps in the position coordinates where current mobile terminal in floor, each second wireless aps and current
The distance between mobile terminal calculates the position in floor locating for current mobile terminal by three-point fix technology；
Wherein, the distance calculation formula is as follows:
D=10^ [(abs (db)-A)/(10*n)]；
Wherein, d indicates the distance between signal transmitting terminal and receiving end；Db indicates transmitting terminal received by receiving end
Signal strength；Abs (db) indicates to take the absolute value of db；A is unit signal strength, when indicating 1 meter of transmitting terminal and receiving end interval
Signal strength, be constant；N indicates the environmental attenuation factor, is constant.
Optionally, the receiving module is also used to: it is adjacent wireless to receive the same floor that each wireless aps upload in each floor
The signal strength of AP；
The setup module is also used to: based on the position coordinates where each wireless aps in floor, being established each in each floor
The corresponding relationship of wireless aps wireless aps adjacent with same floor.
Optionally, the indoor positioning device further include:
Third computing module, for calculating separately the corresponding distance calculation formula in different location region in each floor
Correction parameter value simultaneously locally saves, and the correction parameter value is environmental attenuation factor of n and unit signal intensity A；
Wherein, it is corresponding described to calculate different location region in same floor in the following way for the third computing module
The correction parameter value of distance calculation formula, comprising the following steps:
Step A: taking out a sample wireless aps in same floor, adjacent with same floor wireless according to preset wireless aps
The corresponding relationship of AP is searched with the sample wireless aps apart from K nearest wireless aps；
Step B: the signal strength that the K wireless aps mutually detect between any two is obtained, and wireless based on the K
The position coordinates of AP calculate the distance of the K wireless aps between any two；
Step C: the closed area constituted with the position coordinates of the sample wireless aps, the K wireless aps is one
The band of position, the signal strength mutually detected between any two based on the K wireless aps, the K wireless aps are between any two
Distance and the distance calculation formula, calculate the corresponding distance calculation formula of each wireless aps in the K wireless aps
Correction parameter value, and to it is each correction parameter value be ranked up and using sequence middle position correction parameter value as currently
The correction parameter value of the corresponding distance calculation formula in the band of position；
Step D: repeating step A to step C, until there is no the wireless aps for having neither part nor lot in region division, wherein same
A sample wireless aps are only involved in a region division.
Further, to achieve the above object, the present invention also provides a kind of indoor locating system, the indoor locating systems
Include: several mobile terminals, the multiple wireless aps being deployed in different floors and further includes indoor positioning as described above dress
It sets；
The mobile terminal is used for: whether the attitudes vibration for monitoring current mobile terminal meets the triggering for carrying out indoor positioning
Condition；If satisfied, then calling the correlation of wireless aps around the WiFi module interface acquisition current mobile terminal of the mobile terminal
Information, and the relevant information is uploaded into the indoor positioning device；
The wireless aps are used for: being detected the signal strength with wireless aps adjacent in floor and uploaded the indoor positioning dress
It sets.
Further, to achieve the above object, the present invention also provides a kind of indoor positioning device, the indoor positioning devices
Including memory, processor and it is stored in the indoor positioning program that can be run on the memory and on the processor,
The step of indoor positioning program realizes indoor orientation method as described in any one of the above embodiments when being executed by the processor.
Further, to achieve the above object, the present invention also provides a kind of computer readable storage medium, the computers
It is stored with indoor positioning program on readable storage medium storing program for executing, realizes when the indoor positioning program is executed by processor as any of the above-described
The step of indoor orientation method described in item.
Indoor positioning is split as floor location in the present invention and floor position positions two stages progress, and then can protected
Under the premise of demonstrate,proving positioning accuracy, the processing speed of indoor positioning is promoted, meanwhile, further floor position positioning is corrected,
And then promote user experience.In addition, user only need to shake mobile terminal according to predetermined way in the present invention, make mobile whole
The posture at end, which changes to can trigger, carries out indoor positioning, easy user's manipulation, improve user using mobile terminal into
The convenience of row indoor positioning.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the device hardware running environment that indoor positioning device example scheme of the present invention is related to；
Fig. 2 is the flow diagram of one embodiment of indoor orientation method of the present invention；
Fig. 3 is the refinement flow diagram of mono- embodiment of step S20 in Fig. 2；
Fig. 4 is the refinement flow diagram of mono- embodiment of step S30 in Fig. 2；
Fig. 5 is the functional block diagram of one embodiment of indoor positioning device of the present invention；
Fig. 6 is the functional block diagram of one embodiment of indoor locating system of the present invention.
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 described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.
The present invention provides a kind of indoor positioning device.
Referring to Fig.1, Fig. 1 is the structure for the device hardware running environment that indoor positioning device example scheme of the present invention is related to
Schematic diagram.
As shown in Figure 1, the indoor positioning device may include: processor 1001, such as CPU, communication bus 1002, user
Interface 1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is for realizing the connection between these components
Communication.User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user
Interface 1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include having for standard
Line interface, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable storage
Device (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processing
The storage equipment of device 1001.
It will be understood by those skilled in the art that the hardware configuration of indoor positioning device shown in Fig. 1 is not constituted to room
The restriction of interior positioning device may include perhaps combining certain components or different portions than illustrating more or fewer components
Part arrangement.
As shown in Figure 1, as may include operating system, net in a kind of memory 1005 of computer readable storage medium
Network communication module, Subscriber Interface Module SIM and indoor positioning program.Wherein, operating system is to manage and control indoor positioning device
With the program of software resource, network communication module, Subscriber Interface Module SIM, indoor positioning program and other programs or software are supported
Operation；Network communication module is for managing and controlling network interface 1004；Subscriber Interface Module SIM is for managing and controlling user
Interface 1003.
In indoor positioning device hardware configuration shown in Fig. 1, network interface 1004 is mainly used for connecting system background, with
System background carries out data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data with client
Communication；Indoor positioning device calls the indoor positioning program stored in memory 1005 by processor 1001, and executes following
The operation of each embodiment of indoor orientation method.
Based on above-mentioned indoor positioning device hardware configuration, each embodiment of indoor orientation method of the present invention is proposed.
It is the flow diagram of one embodiment of indoor orientation method of the present invention referring to Fig. 2, Fig. 2.In the present embodiment, the room
Interior localization method the following steps are included:
The MAC Address of position coordinates in each floor where each wireless aps in floor, each wireless aps is arranged in step S10
With the mapping table of floor；
In the present embodiment, for convenient for that quickly can carry out indoor positioning in the position to mobile terminal, indoor positioning device is needed
The three-dimensional coordinate system that construct whole building in advance, is then arranged the position coordinates of each wireless aps, for example coordinate can indicate
For (floor, x, y), and the MAC Address of each wireless aps and the mapping table of floor are further set, pass through the mapping relations
Table can inquire all wireless aps of each floor.In addition, indoor positioning device needs to constantly update local data base, to protect
Demonstrate,prove the accuracy of each AP data.
Step S20 receives the relevant information of wireless aps around the current mobile terminal that mobile terminal uploads, the related letter
Breath includes at least the MAC Address and signal strength of wireless aps；
In the present embodiment, mobile terminal needs to acquire the relevant information of wireless aps around it as data acquisition front, than
Such as signal strength of the MAC Address of currently detected wireless aps, wireless aps.After data acquisition, mobile terminal is also needed
The location-server (namely indoor positioning device) that the data of acquisition are uploaded to rear end is subjected to data processing.
Step S30 calculates floor locating for current mobile terminal according to the relevant information；
Step S40 calculates building locating for current mobile terminal according to preset distance calculation formula and three-point fix technology
Position in layer；
In the present embodiment, indoor positioning device uploaded according to mobile terminal its around wireless aps relevant information, to shifting
Dynamic terminal carries out indoor positioning, and position fixing process is split as two stages progress: the first stage is first to carry out floor location, second
Stage is then that specific location positions in floor.The present embodiment is unlimited for the specific implementation of positioning.Such as SSID positioning, three
The location technologies such as point location.
Two parts are positioned since indoor positioning is split as specific location in floor location and floor by the present embodiment, thus can
Under the premise of guaranteeing positioning accuracy, the processing speed of indoor positioning is promoted.
Step S50, obtain it is corresponding with floor locating for current mobile terminal and the position in locating floor described in away from
Correction parameter value from calculation formula；
In the present embodiment, it is contemplated that may be affected by environment during wireless signal transmission and decay, such as by wall
Or other barrier obstructions and lead to signal strength weakening, it is therefore desirable to further the position of mobile terminal is corrected.This
Embodiment realizes the correction to mobile terminal locations especially by the parameter value of correction distance calculation formula.
Step S60 is based on the correction parameter value, the distance calculation formula after determining correction, and based on after correction away from
From calculation formula, the position in floor locating for current mobile terminal is recalculated.
In the present embodiment, after having primarily determined the specific location in floor locating for current mobile terminal, indoor positioning is set
For based on the specific location in floor locating for current mobile terminal, search and distance calculation formula corresponding to position in the floor
Correction parameter value, correct distance calculation formula, and mobile terminal recalculated based on the distance calculation formula after correction again
Specific location in locating floor.In the present embodiment, due to having used the parameter value of the distance calculation formula after correcting, thus
Further the position of mobile terminal can be corrected, promote indoor position accuracy.
Indoor positioning is split as floor location to the present embodiment and floor position positions two stages progress, and then can protect
Under the premise of demonstrate,proving positioning accuracy, the processing speed of indoor positioning is promoted, meanwhile, further floor position positioning is corrected,
And then promote user experience.
It further, is the refinement flow diagram of mono- embodiment of step S30 in Fig. 2 referring to Fig. 3, Fig. 3.Based on above-mentioned reality
Apply example, in the present embodiment, above-mentioned steps S30 includes:
Step S301 is ranked up each wireless aps based on the signal strength of wireless aps each around current mobile terminal, with
Filter out the first wireless aps of the specified number that signal strength ranks first；
Step S302 searches the mapping table based on the MAC Address of each first wireless aps, with each first nothing of determination
Line AP respectively where floor；
Step S303, if the quantity of the wireless aps in each first wireless aps in same floor is more than default accounting, really
Floor where the fixed wireless aps in same floor is floor locating for current mobile terminal；
Step S304, if the quantity of the wireless aps in each first wireless aps in same floor is less than described preset and accounts for
Than, it is determined that floor where the strongest wireless aps of signal strength is floor locating for current mobile terminal in each first wireless aps.
In the present embodiment, it is contemplated that under normal conditions, the strongest wireless aps of the signal that mobile terminal to search arrives generally with shifting
Dynamic terminal be in same floor or contiguous floors, therefore, can be converted to " positioning of mobile terminal place floor " equivalence pair
" determination of the most strong AP of the signal that mobile terminal to search arrives ".In addition, to avoid the erroneous judgement there are contiguous floors, therefore the present embodiment
It is preferred that carrying out comprehensive judgement, such as selection signal strongest 3 or 3 more than one nothings by the strongest wireless aps of multiple signals
Line AP carries out comprehensive judgement.
In the present embodiment, if the quantity of the wireless aps in the strongest multiple AP of signal in same floor is more than default account for
Than, it is determined that floor where the wireless aps in same floor is floor locating for current mobile terminal, for example 3 signals are most
There are 2 in strong AP in same floor, then determines the floor for floor locating for current mobile terminal.And if signal is strongest more
The quantity of wireless aps in a AP in same floor is less than default accounting, then with building where the strongest wireless aps of signal strength
Layer is floor locating for current mobile terminal.For example, 3 strongest AP of signal are located at three different floors, therefore will wherein
Floor where the strongest AP of signal is determined as floor locating for current mobile terminal.
The present embodiment is preferably applied to the indoor positioning scene that each floor all has multiple AP.By by " mobile terminal
Equivalence is converted to " determination of the most strong AP of the signal that mobile terminal to search arrives ", and then can guaranteed for the positioning of place floor "
Indoor positioning speed is substantially improved under the premise of positioning accuracy, to promote user experience.
It is the refinement flow diagram of mono- embodiment of step S40 in Fig. 2 referring to Fig. 4, Fig. 4.Based on the above embodiment, this reality
It applies in example, above-mentioned steps S40 includes:
Step S401 is ranked up each wireless aps based on the signal strength of wireless aps each around current mobile terminal, with
Filter out the second wireless aps of the specified number that signal strength ranks first；
Step S402, signal strength and the distance calculation formula based on each second wireless aps calculate separately each
The distance between two wireless aps and current mobile terminal；
Step S403, based on each second wireless aps in the position coordinates where current mobile terminal in floor, each second nothing
The distance between line AP and current mobile terminal calculate the position in floor locating for current mobile terminal by three-point fix technology
It sets.
Under usual situation, substantially weaken since the blocking of the barriers such as wall floor will lead to wireless aps signal, letter
Number strongest several AP of intensity can be generally thought in same plane region (namely same floor), and therefore, the present embodiment is preferred
Using specific location of the three-point fix technological orientation current mobile terminal in floor, the particular content of three-point fix algorithm is such as
Under:
Known 3 position coordinates (x1, y1), (x2, y2), (x3, y3) and known unknown point coordinate (x0, y0) are to three
Distance d1, d2, d3 of point, ask unknown point coordinate (x0, y0).
Make three circles by radius of d1, d2, d3, according to Pythagorean theorem, obtains the position meter of the i.e. unknown point of intersection point
Calculate formula:
(x1-x0)2+(y1-y0)2=d12；
(x2-x0)2+(y2-y0)2=d22；
(x3-x0)2+(y3-y0)2=d32；
Wherein, distance d1, d2, d3 is calculated by following range formula:
D=10^ [(abs (db)-A)/(10*n)]；
Wherein, d indicates the distance between signal transmitting terminal and receiving end；Db indicates transmitting terminal received by receiving end
Signal strength；Abs (db) indicates to take the absolute value of db；A is unit signal strength, when indicating 1 meter of transmitting terminal and receiving end interval
Signal strength, be constant；N indicates the environmental attenuation factor, is constant.Wherein, n can be adjusted according to the difference of environment,
Namely environment is different, n value is not also identical.
In the present embodiment, A and n are empirical value, the environment of specific value and the hardware node and radio signal propagation that use
It is closely related, so two empirical values must be demarcated in advance in application environment before ranging.By above-mentioned range formula it is found that
Under the premise of A and n is determined, due to the signal strength for each wireless aps that known mobile terminal receives, above-mentioned distance is public
It is linear equation with one unknown about distance d that formula is practical, and the signal strength for each wireless aps that mobile terminal is received substitutes into above-mentioned
Range formula can calculate the distance between mobile terminal and each wireless aps d1, d2, d3.
In the present embodiment, after floor locating for current mobile terminal has been determined, by above-mentioned three-point fix algorithm, based on each
The distance between the position of wireless aps and each wireless aps, can be calculated current mobile terminal in the specific position of current floor
It sets.It should be noted that the selected wireless aps quantity of this phase orientation is preferably greater than three, the AP quantity for calculating is got over
It is more, it is concluded that mobile terminal candidate coordinate it is also more, and then the accuracy of calculating can be promoted.
Further, in another embodiment of indoor orientation method of the present invention, it is contemplated that meeting during wireless signal transmission
It is affected by environment and decay, for example signal strength weakening is led to by wall or other barrier obstructions, it is therefore desirable to further
The position of mobile terminal is corrected.
By above-mentioned three-point fix algorithm and distance calculation formula it is found that in the case where the position AP determines, mobile terminal
Coordinate (x0, y0) it is only related to distance d, and between AP and mobile terminal distance determine in the case where, the seat of mobile terminal
Mark is only related to environmental attenuation factor of n and unit signal intensity A, and therefore, n value and A value are to influence mobile terminal locations positioning accurate
The principal element of degree.Therefore, the present embodiment is specifically based on the mutual inductance characteristic between wireless aps, by correcting environment decay factor n
With the mode of unit signal intensity A, the correction to mobile terminal locations is realized.
The present embodiment is specifically completed the correcting process of mobile terminal jointly by wireless aps and indoor positioning device, wherein nothing
Line AP is for detecting the signal strength of adjacent AP with floor and uploading indoor positioning device；And indoor positioning device is then used for every
One floor carries out band of position division, and calculates the calculating of the distance in each floor after the corresponding correction in each band of position
The parameter value of formula: environmental attenuation factor of n and unit signal intensity A.
In the present embodiment, indoor positioning device needs to calculate separately the corresponding distance in different location region in each floor
The correction parameter value of calculation formula simultaneously locally saves, and the correction parameter value is environmental attenuation factor of n and unit signal intensity A；
In the present embodiment, the corresponding distance meter in different location region in same floor is specifically calculated in the following way
Calculate the correction parameter value of formula, comprising the following steps:
Step A: taking out a sample wireless aps in same floor, adjacent with same floor wireless according to preset wireless aps
The corresponding relationship of AP is searched with the sample wireless aps apart from K nearest wireless aps；
Step B: the signal strength that the K wireless aps mutually detect between any two is obtained, and wireless based on the K
The position coordinates of AP calculate the distance of the K wireless aps between any two；
Step C: the closed area constituted with the position coordinates of the sample wireless aps, the K wireless aps is one
The band of position, the signal strength mutually detected between any two based on the K wireless aps, the K wireless aps are between any two
Distance and the distance calculation formula, calculate the corresponding distance calculation formula of each wireless aps in the K wireless aps
Correction parameter value, and to it is each correction parameter value be ranked up and using sequence middle position correction parameter value as currently
The correction parameter value of the corresponding distance calculation formula in the band of position；
Step D: repeating step A to step C, until there is no the wireless aps for having neither part nor lot in region division, wherein same
A sample wireless aps are only involved in a region division.
In the present embodiment, indoor positioning device first carries out region division to each floor respectively, and a region can be regarded as
Same floor is also divided into multiple and different environmental areas by one environment, and varying environment region corresponds to different environmental attenuations
Factor of n and unit signal intensity A.
The difference of positional distance is specifically based in the present embodiment to discern whether in the same environmental area, for example, certain
One AP detection is to there are 5 other AP around it, then the adjacent AP for selecting 3 distances nearest from the adjacent AP of the AP, with
A quadrangle (position coordinates that the vertex of quadrangle is four AP) are constructed, the surrounded region of the quadrangle constitutes a ring
Border region.When dividing next environmental area, the wireless aps for also having neither part nor lot in region division are selected, then according to above-mentioned side
Formula constructs another quadrangle, to obtain next environmental area.It should be noted that the division of environmental area can be by
Tessellation is also possible to divide by quadrangle or pentagon, and each region that divides can be the AP of corresponding identical quantity,
It is also possible to the AP of corresponding different number, is configured with specific reference to actual needs.
In the present embodiment, after completing the band of position and dividing, it is based on range formula, it is corresponding that the environmental area can be found out
Environmental attenuation factor of n and unit signal intensity A, specific calculation are as follows:
According to formula d=10^ ((abs (db)-A)/(10*n)), the linear equation in two unknowns about d (A, n) is solved, wherein
D is the distance between difference AP coordinate in same environmental area, is known；Db is that difference AP is mutually detected in same environmental area
Obtained signal strength is known.
For example, there are AP1, AP2, AP3 totally three AP in a certain environmental area, it is assumed that be based on tri- AP of AP1, AP2, AP3
Between mutual inductance solve A and n, then AP1 can be corresponded to one group (A, n), and AP2, AP3 also can respectively be corresponded to one group (A, n), then to three
Group (A, n) is ranked up respectively, will sequence in intermediate A and n as this environmental area corresponding A and n, namely after obtaining correction
Environmental attenuation factor of n and unit signal intensity A, and be put into the database of indoor positioning device.
Optionally, in one embodiment, the environmental attenuation factor of n and unit signal intensity A for calculating each environmental area it
Before, further includes:
Receive the signal strength for the adjacent wireless aps of same floor that each wireless aps upload in each floor；
Based on the position coordinates where each wireless aps in floor, the nothing adjacent with same floor of each wireless aps in each floor is established
The corresponding relationship of line AP.
In the present embodiment, therefore needed for the environmental attenuation factor of n and unit signal intensity A convenient for calculating each environmental area
The corresponding relationship of the corresponding all adjacent AP of each wireless aps is stored in advance, consequently facilitating constructing environment region, simultaneously also
The position coordinates of each wireless aps need to be preset, in order to calculate the distance between AP；And it also needs that each is obtained ahead of time
The signal strength for same other wireless aps of floor that wireless aps detect.
The present invention also provides a kind of indoor positioning devices.
It is the functional block diagram of one embodiment of indoor positioning device of the present invention referring to Fig. 5, Fig. 5.In the present embodiment, institute
Stating indoor positioning device includes:
Setup module 10, for position coordinates in each floor where each wireless aps in floor, each wireless aps to be arranged
The mapping table of MAC Address and floor；
Receiving module 20, for receiving the relevant information of wireless aps around the current mobile terminal that mobile terminal uploads, institute
State MAC Address and signal strength that relevant information includes at least wireless aps；
First computing module 30 calculates floor locating for current mobile terminal for being based on the relevant information；
Second computing module 40 calculates in floor locating for current mobile terminal for being based on preset distance calculation formula
Position；
Module 50 is obtained, for obtaining and corresponding to based on floor locating for current mobile terminal and the position in locating floor
The distance calculation formula correction parameter value；
Rectification module 60, for being based on the correction parameter value, the distance calculation formula after determining correction, and based on correction
Distance calculation formula afterwards recalculates the position in floor locating for current mobile terminal.
Based on embodiment description identical with aforementioned present invention indoor orientation method, therefore the present embodiment is fixed to interior
The embodiment content of position device, which is not done, excessively to be repeated.
In the present embodiment, indoor positioning is split as floor location to indoor positioning device and floor position positions two stages
It carries out, and then the processing speed of indoor positioning can be promoted under the premise of guaranteeing positioning accuracy, meanwhile, further to floor position
It sets positioning to be corrected, and then promotes user experience.
The present invention also provides a kind of indoor locating systems.
It is the functional block diagram of one embodiment of indoor locating system of the present invention referring to Fig. 6, Fig. 6.In the present embodiment, institute
Indoor locating system is stated to include: several mobile terminals 100, the multiple wireless aps 200 being deployed in different floors and further include
Indoor positioning device 300 described in above-described embodiment, mobile terminal 100 pass through WiFi signal or mobile communication signal and interior
Positioning device 300 connects, and wireless aps 200 are then connect by network transmission signal with indoor positioning device 300.
In the present embodiment, mobile terminal 100 is used for: whether the attitudes vibration for monitoring current mobile terminal meets progress interior
The trigger condition of positioning；If satisfied, the WiFi module interface of the mobile terminal is then called to acquire nothing around current mobile terminal
The relevant information of line AP, and the relevant information is uploaded into the indoor positioning device；
In the present embodiment, fast to carry out indoor positioning convenient for user, preferably using the attitudes vibration of mobile terminal as touching
Clockwork spring part, to trigger carry out indoor positioning, such as user rocks mobile terminal, so that the posture of mobile terminal becomes
Change, whether mobile terminal is full according to the sensor parameters variation that built-in sensors (such as acceleration transducer) detects mobile terminal
Sufficient preset condition, for example within a preset time, the above acceleration change value is more than preset threshold at least twice, it is determined that works as Forward
Dynamic terminal meets the attitudes vibration of " shaking ", and then triggers and carry out indoor positioning.
Each wireless aps (such as router) has a globally unique MAC Address, and in general wireless aps
It will not move whithin a period of time.Wireless aps device default in the case where opening Wi-Fi can all carry out SSID broadcast, broadcast frame packet
The MAC Address of the wireless aps is contained.Therefore, in the present embodiment, indoor positioning is carried out when the attitudes vibration of mobile terminal meets
When trigger condition, mobile terminal calls WiFi module interface automatically, thus wireless around the WiFi function search for passing through itself
AP signal obtains the MAC information and signal strength information of surrounding AP by receiving the broadcast message that surrounding AP is sent, and then will
The indoor positioning device that these information upload to rear end is handled.
In the present embodiment, wireless aps 200 are detected based on the mutual inductance characteristic between wireless aps with wireless aps adjacent in floor
Signal strength and upload the indoor positioning device, for the environmental attenuation factor convenient for environmental area where calculating each wireless aps
N and unit signal intensity A.
In the present embodiment, user need to only shake mobile terminal, can obtain the current position of user.Pass through mobile terminal
Indoor positioning is completed jointly with indoor positioning device, wherein it is indoor fixed to be mainly used for triggering progress as user terminal for mobile terminal
The relevant information, such as signal strength, the MAC Address of wireless aps etc. of position and acquisition wireless aps；And indoor positioning device is then made
For server-side, it is mainly used for the relevant information of the wireless aps acquired according to mobile terminal, calculates locating for current mobile terminal
Floor and the specific location in the floor.
The present invention also provides a kind of computer readable storage mediums.
In the present embodiment, indoor positioning program, the indoor positioning journey are stored on the computer readable storage medium
The step of indoor orientation method as described in the examples such as any of the above-described is realized when sequence is executed by processor.Wherein, indoor fixed
The method that position program is realized when being executed by processor can refer to each embodiment of indoor orientation method of the present invention, therefore no longer
Excessively repeat.
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), including some instructions are used so that a terminal (can be mobile phone, computer, server or network are set
It is standby etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, it is all using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, directly or indirectly
Other related technical areas are used in, all of these belong to the protection of the present invention.
Claims (9)
1. a kind of indoor orientation method, which is characterized in that the indoor orientation method the following steps are included:
Be arranged position coordinates in each floor where each wireless aps in floor, each wireless aps MAC Address and floor mapping
Relation table；
The relevant information of wireless aps around the current mobile terminal that mobile terminal uploads is received, the relevant information includes at least nothing
The MAC Address and signal strength of line AP；
According to the relevant information, floor locating for current mobile terminal is calculated；
According to preset distance calculation formula and three-point fix technology, the position in floor locating for current mobile terminal is calculated；
Obtain the distance calculation formula corresponding with floor locating for current mobile terminal and the position in locating floor
Correct parameter value；
Based on the correction parameter value, the distance calculation formula after correcting is determined, and based on the distance calculation formula after correction, weight
The new position calculated in floor locating for current mobile terminal.
2. indoor orientation method as described in claim 1, which is characterized in that it is described according to the relevant information, it calculates and works as
Floor locating for preceding mobile terminal includes:
Based on the signal strength of wireless aps each around current mobile terminal, each wireless aps are ranked up, it is strong to filter out signal
Spend the first wireless aps of the specified number to rank first；
Based on the MAC Address of each first wireless aps, search the mapping table, with each first wireless aps of determination respectively where building
Layer；
If the quantity of the wireless aps in each first wireless aps in same floor is more than default accounting, it is determined that described in same
Floor where the wireless aps of floor is floor locating for current mobile terminal；
If the quantity of the wireless aps in each first wireless aps in same floor is less than the default accounting, it is determined that each first
Floor where the strongest wireless aps of signal strength is floor locating for current mobile terminal in wireless aps.
3. indoor orientation method as claimed in claim 1 or 2, which is characterized in that it is described according to preset distance calculation formula with
And three-point fix technology, the position calculated in floor locating for current mobile terminal include:
Based on the signal strength of wireless aps each around current mobile terminal, each wireless aps are ranked up, it is strong to filter out signal
Spend the second wireless aps of the specified number to rank first；
Signal strength and the distance calculation formula based on each second wireless aps calculate separately each second wireless aps and current
The distance between mobile terminal；
Based on each second wireless aps in position coordinates, each second wireless aps and the current movement where current mobile terminal in floor
The distance between terminal calculates the position in floor locating for current mobile terminal by three-point fix technology；
Wherein, the distance calculation formula is as follows:
D=10^ [(abs (db)-A)/(10*n)]；
Wherein, d indicates the distance between signal transmitting terminal and receiving end；Db indicates the signal of transmitting terminal received by receiving end
Intensity；Abs (db) indicates to take the absolute value of db；A is unit signal strength, indicates letter when 1 meter of transmitting terminal and receiving end interval
Number intensity is constant；N indicates the environmental attenuation factor, is constant.
4. indoor orientation method as claimed in claim 3, which is characterized in that described based on floor locating for current mobile terminal
And the position in locating floor, before the step of obtaining the correction parameter value of the corresponding distance calculation formula, further includes:
Receive the signal strength for the adjacent wireless aps of same floor that each wireless aps upload in each floor；
Based on the position coordinates where each wireless aps in floor, the wireless aps adjacent with same floor of each wireless aps in each floor are established
Corresponding relationship.
5. indoor orientation method as claimed in claim 4, which is characterized in that described based on where each wireless aps in floor
Position coordinates, after the step of establishing the corresponding relationship of the wireless aps adjacent with same floor of each wireless aps in each floor, further includes:
It calculates separately the correction parameter value of the corresponding distance calculation formula in different location region in each floor and locally saves,
The correction parameter value is environmental attenuation factor of n and unit signal intensity A；
Wherein, the correction ginseng of the corresponding distance calculation formula in different location region in same floor is calculated in the following way
Numerical value, comprising the following steps:
Step A: a sample wireless aps in same floor are taken out, according to preset wireless aps wireless aps adjacent with same floor
Corresponding relationship is searched with the sample wireless aps apart from K nearest wireless aps；
Step B: the signal strength that the K wireless aps mutually detect between any two is obtained, and based on the K wireless aps
Position coordinates calculate the distance of the K wireless aps between any two；
Step C: a position is in the closed area constituted with the position coordinates of the sample wireless aps, the K wireless aps
Region, the signal strength mutually detected between any two based on the K wireless aps, the K wireless aps between any two away from
From and the distance calculation formula, calculate rectifying for the corresponding distance calculation formula of each wireless aps in the K wireless aps
Positive parameter value, and to it is each correction parameter value be ranked up and using sequence middle position correction parameter value as current location
The correction parameter value of the corresponding distance calculation formula in region；
Step D: repeating step A to step C, until there is no the wireless aps for having neither part nor lot in region division, wherein the same sample
This wireless aps is only involved in a region division.
6. a kind of indoor positioning device, which is characterized in that the indoor positioning device includes:
Setup module, for the MAC Address of position coordinates in each floor where each wireless aps in floor, each wireless aps to be arranged
With the mapping table of floor；
Receiving module, for receiving the relevant information of wireless aps around the current mobile terminal that mobile terminal uploads, the correlation
Information includes at least the MAC Address and signal strength of wireless aps；
First computing module, for calculating floor locating for current mobile terminal according to the relevant information；
Second computing module, for calculating current mobile terminal according to preset distance calculation formula and three-point fix technology
Position in locating floor；
Obtain module, for obtains it is corresponding with floor locating for current mobile terminal and the position in locating floor described in away from
Correction parameter value from calculation formula；
Rectification module, for being based on the correction parameter value, the distance calculation formula after determining correction, and based on after correction away from
From calculation formula, the position in floor locating for current mobile terminal is recalculated.
7. a kind of indoor locating system, which is characterized in that the indoor locating system includes: several mobile terminals, is deployed in not
It with multiple wireless aps in floor and further include indoor positioning device as claimed in claim 6；
The mobile terminal is used for: whether the attitudes vibration for monitoring current mobile terminal meets the triggering item for carrying out indoor positioning
Part；Believe if satisfied, the WiFi module interface of the mobile terminal is then called to acquire the related of wireless aps around current mobile terminal
Breath, and the relevant information is uploaded into the indoor positioning device；
The wireless aps are used for: being detected the signal strength with wireless aps adjacent in floor and uploaded the indoor positioning device.
8. a kind of indoor positioning device, which is characterized in that the indoor positioning device includes memory, processor and is stored in
On the memory and the indoor positioning program that can run on the processor, the indoor positioning program is by the processor
The step of indoor orientation method according to any one of claims 1 to 5 is realized when execution.
9. a kind of computer readable storage medium, which is characterized in that it is indoor fixed to be stored on the computer readable storage medium
Position program, the indoor positioning program realize indoor positioning according to any one of claims 1 to 5 when being executed by processor
The step of method.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425667.9A CN110177333A (en) | 2019-05-21 | 2019-05-21 | Indoor orientation method, device, system, equipment and storage medium |
| PCT/CN2019/102592 WO2020232869A1 (en) | 2019-05-21 | 2019-08-26 | Indoor positioning method, apparatus, system and device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425667.9A CN110177333A (en) | 2019-05-21 | 2019-05-21 | Indoor orientation method, device, system, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110177333A true CN110177333A (en) | 2019-08-27 |
Family
ID=67691721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910425667.9A Pending CN110177333A (en) | 2019-05-21 | 2019-05-21 | Indoor orientation method, device, system, equipment and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110177333A (en) |
| WO (1) | WO2020232869A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111986788A (en) * | 2020-07-31 | 2020-11-24 | 安徽大学 | Intelligent medical system |
| CN111999721A (en) * | 2020-08-21 | 2020-11-27 | 深圳优地科技有限公司 | Floor recognition method, device, system and computer readable storage medium |
| CN112020027A (en) * | 2020-08-17 | 2020-12-01 | 浙江华消科技有限公司 | Indoor object positioning method and electronic equipment |
| CN112312308A (en) * | 2020-10-29 | 2021-02-02 | 广东小天才科技有限公司 | Indoor positioning method and terminal equipment |
| CN113038367A (en) * | 2021-02-26 | 2021-06-25 | 山东鹰格信息工程有限公司 | Non-exposed space rapid positioning method, device and equipment based on 5G technology |
| CN113423137A (en) * | 2021-03-20 | 2021-09-21 | 贵州北斗空间信息技术有限公司 | Indoor and outdoor unified positioning method and system |
| CN113450046A (en) * | 2020-03-27 | 2021-09-28 | 阿里巴巴集团控股有限公司 | Article management method, information processing method, device and electronic equipment |
| CN114189806A (en) * | 2021-12-09 | 2022-03-15 | 北京百度网讯科技有限公司 | Method and device for generating wireless signal fingerprint database and electronic equipment |
| WO2023246895A1 (en) * | 2022-06-23 | 2023-12-28 | 中兴通讯股份有限公司 | Indoor positioning method and apparatus, and electronic device and computer-readable medium |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113747566A (en) * | 2021-08-27 | 2021-12-03 | 深圳市前海智车科技有限公司 | Floor positioning method and system based on Beacon signal, mobile terminal and storage medium |
| CN113984063A (en) * | 2021-10-26 | 2022-01-28 | 深圳市博视系统集成有限公司 | Dynamic building sign guidance system based on Internet of things |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576615A (en) * | 2008-05-05 | 2009-11-11 | 北京银易通网络科技有限公司 | System and method model for hybrid positioning of WSN |
| CN103533153A (en) * | 2013-06-13 | 2014-01-22 | 广州七七八二信息科技有限公司 | Shaking help-seeking mechanism based on mobile terminal |
| CN103687000A (en) * | 2013-12-17 | 2014-03-26 | 上海交通大学无锡研究院 | Wireless sensor network indoor localization distance measurement optimization method based on RSSIs |
| CN104244462A (en) * | 2013-06-14 | 2014-12-24 | 江南大学 | Distance measurement positioning method for wireless sensor network based on RSSI |
| CN104461702A (en) * | 2013-09-16 | 2015-03-25 | 腾讯科技（深圳）有限公司 | Business processing method and business processing device |
| CN105203993A (en) * | 2014-06-30 | 2015-12-30 | 中国地质大学（武汉） | Underground-pipeline three-point position indicator and working method thereof |
| CN105261228A (en) * | 2015-10-08 | 2016-01-20 | 深圳先进技术研究院 | Method and device for searching vehicle in parking lot |
| CN105679077A (en) * | 2016-03-31 | 2016-06-15 | 郑州天迈科技股份有限公司 | Mobile terminal fast positioning query method |
| CN106358291A (en) * | 2016-10-27 | 2017-01-25 | 观宇能源科技（上海）有限公司 | Trilateration positioning method based on signal strength |
| CN107708068A (en) * | 2017-09-29 | 2018-02-16 | 深圳奇迹智慧网络有限公司 | Indoor orientation method, system, computer-readable storage medium and server |
| CN107976191A (en) * | 2017-11-10 | 2018-05-01 | 北京金坤科创技术有限公司 | A kind of indoor positioning navigation system and method towards visually impaired person |
| CN108332749A (en) * | 2017-12-28 | 2018-07-27 | 广州泽祺信息科技有限公司 | A kind of interior dynamic tracing localization method |
| CN109121200A (en) * | 2018-08-31 | 2019-01-01 | 浙江传媒学院 | A kind of base station iBeacon spatial configuration optimal and indoor orientation method |
| CN109246634A (en) * | 2017-05-19 | 2019-01-18 | 富士通株式会社 | Indoor orientation method, indoor positioning device and electronic equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2881708A1 (en) * | 2013-12-05 | 2015-06-10 | Deutsche Telekom AG | System and method for indoor localization using mobile inertial sensors and virtual floor maps |
| CN105898712B (en) * | 2016-06-15 | 2019-04-19 | 西北工业大学 | Indoor three-dimensional localization stepped approach under more floor environment |
| CN108882361B (en) * | 2017-05-12 | 2023-01-03 | 中兴通讯股份有限公司 | Indoor floor height positioning method and device |
| CN109041206A (en) * | 2018-07-03 | 2018-12-18 | 东南大学 | A kind of indoor positioning floor method of discrimination based on improvement fuzzy kernel clustering |
-
2019
- 2019-05-21 CN CN201910425667.9A patent/CN110177333A/en active Pending
- 2019-08-26 WO PCT/CN2019/102592 patent/WO2020232869A1/en active Application Filing
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576615A (en) * | 2008-05-05 | 2009-11-11 | 北京银易通网络科技有限公司 | System and method model for hybrid positioning of WSN |
| CN103533153A (en) * | 2013-06-13 | 2014-01-22 | 广州七七八二信息科技有限公司 | Shaking help-seeking mechanism based on mobile terminal |
| CN104244462A (en) * | 2013-06-14 | 2014-12-24 | 江南大学 | Distance measurement positioning method for wireless sensor network based on RSSI |
| CN104461702A (en) * | 2013-09-16 | 2015-03-25 | 腾讯科技（深圳）有限公司 | Business processing method and business processing device |
| CN103687000A (en) * | 2013-12-17 | 2014-03-26 | 上海交通大学无锡研究院 | Wireless sensor network indoor localization distance measurement optimization method based on RSSIs |
| CN105203993A (en) * | 2014-06-30 | 2015-12-30 | 中国地质大学（武汉） | Underground-pipeline three-point position indicator and working method thereof |
| CN105261228A (en) * | 2015-10-08 | 2016-01-20 | 深圳先进技术研究院 | Method and device for searching vehicle in parking lot |
| CN105679077A (en) * | 2016-03-31 | 2016-06-15 | 郑州天迈科技股份有限公司 | Mobile terminal fast positioning query method |
| CN106358291A (en) * | 2016-10-27 | 2017-01-25 | 观宇能源科技（上海）有限公司 | Trilateration positioning method based on signal strength |
| CN109246634A (en) * | 2017-05-19 | 2019-01-18 | 富士通株式会社 | Indoor orientation method, indoor positioning device and electronic equipment |
| CN107708068A (en) * | 2017-09-29 | 2018-02-16 | 深圳奇迹智慧网络有限公司 | Indoor orientation method, system, computer-readable storage medium and server |
| CN107976191A (en) * | 2017-11-10 | 2018-05-01 | 北京金坤科创技术有限公司 | A kind of indoor positioning navigation system and method towards visually impaired person |
| CN108332749A (en) * | 2017-12-28 | 2018-07-27 | 广州泽祺信息科技有限公司 | A kind of interior dynamic tracing localization method |
| CN109121200A (en) * | 2018-08-31 | 2019-01-01 | 浙江传媒学院 | A kind of base station iBeacon spatial configuration optimal and indoor orientation method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113450046A (en) * | 2020-03-27 | 2021-09-28 | 阿里巴巴集团控股有限公司 | Article management method, information processing method, device and electronic equipment |
| CN111986788A (en) * | 2020-07-31 | 2020-11-24 | 安徽大学 | Intelligent medical system |
| CN112020027A (en) * | 2020-08-17 | 2020-12-01 | 浙江华消科技有限公司 | Indoor object positioning method and electronic equipment |
| CN112020027B (en) * | 2020-08-17 | 2022-09-27 | 浙江华消科技有限公司 | Indoor object positioning method and electronic equipment |
| CN111999721A (en) * | 2020-08-21 | 2020-11-27 | 深圳优地科技有限公司 | Floor recognition method, device, system and computer readable storage medium |
| CN111999721B (en) * | 2020-08-21 | 2024-01-30 | 深圳优地科技有限公司 | Floor recognition method, device and system and computer readable storage medium |
| CN112312308A (en) * | 2020-10-29 | 2021-02-02 | 广东小天才科技有限公司 | Indoor positioning method and terminal equipment |
| CN112312308B (en) * | 2020-10-29 | 2023-12-22 | 广东小天才科技有限公司 | Indoor positioning method and terminal equipment |
| CN113038367A (en) * | 2021-02-26 | 2021-06-25 | 山东鹰格信息工程有限公司 | Non-exposed space rapid positioning method, device and equipment based on 5G technology |
| CN113423137A (en) * | 2021-03-20 | 2021-09-21 | 贵州北斗空间信息技术有限公司 | Indoor and outdoor unified positioning method and system |
| CN114189806A (en) * | 2021-12-09 | 2022-03-15 | 北京百度网讯科技有限公司 | Method and device for generating wireless signal fingerprint database and electronic equipment |
| CN114189806B (en) * | 2021-12-09 | 2023-08-15 | 北京百度网讯科技有限公司 | Method and device for generating wireless signal fingerprint database and electronic equipment |
| WO2023246895A1 (en) * | 2022-06-23 | 2023-12-28 | 中兴通讯股份有限公司 | Indoor positioning method and apparatus, and electronic device and computer-readable medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020232869A1 (en) | 2020-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110177333A (en) | Indoor orientation method, device, system, equipment and storage medium | |
| JP5722408B2 (en) | Management of location database of positioning system based on network | |
| JP6025790B2 (en) | Determining the location of a mobile device using a location database | |
| US20180091939A1 (en) | Geofenced access point measurement data collection | |
| CN104427108B (en) | Mobile terminal and indoor and outdoor positioning switching method thereof | |
| EP3174328B1 (en) | System and method for radio signal coverage mapping | |
| US9398414B2 (en) | Method and devices for determining the position of a mobile communication device | |
| JP5717875B2 (en) | Positioning method | |
| US20130244693A1 (en) | Characterizing an indoor structure based on detected movements and/or position locations of a mobile device | |
| CN110495224A (en) | Support creation radio map | |
| EP2925064A1 (en) | Method and apparatus for locating a mobile device using the mobile device orientation | |
| KR20140068937A (en) | A method and a system for the localisation of a communication device | |
| TWI529406B (en) | Methods and apparatuses for characterizing and affecting mobile device location accuracy and/or uncertainty | |
| CN106461786A (en) | Indoor global positioning system | |
| EP2972493A1 (en) | Server-based mobile device regional candidate position fix mode selection | |
| JP2016519283A (en) | Mobile device positioning in response to externally generated region candidate positioning mode selection | |
| US20150330795A1 (en) | Method to Dynamically Adjust Assistance Data for Improved Indoor Positioning Performance | |
| RU2701864C2 (en) | Method and system for refined positioning through intersection of hyper-zones | |
| EP3116272A1 (en) | Locating method and device | |
| CN108181609A (en) | Localization method, device and the computer readable storage medium of vehicle | |
| CN104581936B (en) | A kind of method and apparatus of positioning | |
| CN115529549A (en) | Bluetooth positioning method, related device, electronic equipment and storage medium | |
| JP2007132917A (en) | Object positioning system and method, and its computer-readable medium | |
| CN108834053A (en) | A kind of localization method, device and equipment | |
| CN109188351A (en) | A kind of wirelessly anti-interference localization method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190827 |
|
| RJ01 | Rejection of invention patent application after publication |