CN111586577B - Positioning method and device, mobile terminal and storage medium - Google Patents
Positioning method and device, mobile terminal and storage medium Download PDFInfo
- Publication number
- CN111586577B CN111586577B CN202010301676.XA CN202010301676A CN111586577B CN 111586577 B CN111586577 B CN 111586577B CN 202010301676 A CN202010301676 A CN 202010301676A CN 111586577 B CN111586577 B CN 111586577B
- Authority
- CN
- China
- Prior art keywords
- positioning
- mobile terminal
- positioning data
- data
- determining
- 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.)
- Active
Links
Images
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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- 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
- H04W4/029—Location-based management or tracking services
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The disclosure relates to a positioning method and device, a mobile terminal and a storage medium. The method is applied to the mobile terminal and comprises the following steps: acquiring first positioning data of the mobile terminal by adopting a first positioning mode; determining whether the mobile terminal enters a first geo-fence range according to the first positioning data; if the mobile terminal enters the first geo-fence range, acquiring second positioning data of the mobile terminal by adopting a second positioning mode; determining whether the mobile terminal enters a second geo-fence range according to the second positioning data; wherein the second geo-fence is within range of the first geo-fence. By the method, the positioning accuracy can be improved.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, a mobile terminal, and a storage medium.
Background
Geo-fencing is an application of Location Based Services (LBS) that uses a virtual fence to enclose a virtual geographic boundary. Fig. 1 is a schematic view of a geo-fence, and as shown in fig. 1, the circle indicated by S is a geo-fence area. The notification message may be automatically received by the mobile terminal when the mobile terminal enters, leaves, or is active within a certain geographic area. For example, when a user enters a certain shopping mall with the mobile terminal, the mobile terminal may automatically receive a coupon push message sent by the shopping mall.
The application of the geo-fence is very wide, and when the geo-fence application is used, the current position of the mobile terminal needs to be determined in real time, and whether the current position triggers the fence information is determined.
Disclosure of Invention
The disclosure provides a positioning method and device, a mobile terminal and a storage medium.
According to a first aspect of the embodiments of the present disclosure, there is provided a positioning method applied in a mobile terminal, the method including:
acquiring first positioning data of the mobile terminal by adopting a first positioning mode;
determining whether the mobile terminal enters a first geo-fence range according to the first positioning data;
if the mobile terminal enters the first geo-fence range, acquiring second positioning data of the mobile terminal in a second positioning mode;
determining whether the mobile terminal enters a second geo-fence range according to the second positioning data; wherein the second geo-fence is within range of the first geo-fence.
Optionally, the obtaining the second positioning data of the mobile terminal by using the second positioning manner includes:
determining a movement parameter of the mobile terminal by using sensing data acquired by a sensor in the mobile terminal, wherein the movement parameter comprises: step counting information and moving direction;
determining a moving step length of the mobile terminal;
determining the first positioning data acquired at the positioning starting time of a second positioning mode;
and acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning starting time of the second positioning mode.
Optionally, the method further includes:
determining the moving state of the mobile terminal according to the distance between the two first positioning data and the time interval between the two first positioning data;
selecting a step length estimation model adaptive to the moving state according to the moving state;
the determining the moving step length of the mobile terminal includes:
and obtaining the moving step length output by the selected step length estimation model.
Optionally, the method further includes:
after the mobile terminal enters the first geo-fence range, continuing to adopt the first positioning mode for positioning;
and when the first positioning mode is continuously adopted for positioning to obtain third positioning data, correcting the second positioning data which is simultaneously obtained with the third positioning data according to the third positioning data.
Optionally, the determining the moving step of the mobile terminal includes:
and determining the moving step length according to the distance between the two third positioning data and the number of moving steps detected by the sensor in the time interval of the two third positioning data.
Optionally, the mobile terminal includes: an acceleration sensor, a gyroscope and an electronic compass;
the determining the mobile parameters of the mobile terminal by using the sensing data acquired by the sensor in the mobile terminal comprises the following steps:
determining the step counting information according to the acceleration acquired by the acceleration sensor;
and determining the moving direction according to the angular speed detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass.
Optionally, the obtaining the second positioning data according to the first positioning data, the moving step length, the step counting information, and the moving direction obtained at the positioning start time of the second positioning mode includes:
and calculating to obtain the second positioning data according to the first positioning data, the moving step length, the step counting information, the moving direction and the height of the mobile terminal which are obtained at the positioning starting time of the second positioning mode.
Optionally, the mobile terminal includes a barometer, and the movement parameter further includes an altitude of the mobile terminal;
the determining the mobile parameters of the mobile terminal by using the sensing data collected by the sensor in the mobile terminal further comprises:
and determining the height of the mobile terminal according to the air pressure value detected by the air pressure meter.
Optionally, the first positioning manner includes at least one of:
a satellite positioning mode;
and (5) assisting positioning by the base station.
According to a second aspect of the embodiments of the present disclosure, there is provided a positioning apparatus applied in a mobile terminal, the apparatus including:
the first positioning module is configured to acquire first positioning data of the mobile terminal in a first positioning mode;
a first determining module configured to determine whether the mobile terminal enters a first geo-fence range according to the first positioning data;
the second positioning module is configured to acquire second positioning data of the mobile terminal in a second positioning mode if the mobile terminal enters the first geo-fence range;
a second determining module configured to determine whether the mobile terminal enters a second geo-fence range according to the second positioning data; wherein the second geo-fence is within range of the first geo-fence.
Optionally, the second positioning module is specifically configured to determine a movement parameter of the mobile terminal by using sensing data acquired by a sensor in the mobile terminal, where the movement parameter includes: step counting information and moving direction; determining a moving step length of the mobile terminal; determining the first positioning data acquired at the positioning starting time of a second positioning mode; and acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning starting time of the second positioning mode.
Optionally, the apparatus further comprises:
a third determining module configured to determine a moving state of the mobile terminal according to a distance between the two first positioning data and a time interval between the two first positioning data;
the selection module is configured to select a step length estimation model adaptive to the moving state according to the moving state;
the second positioning module is specifically configured to obtain the moving step length output by the selected step length estimation model.
Optionally, the apparatus further comprises:
a third positioning module, configured to continue to perform positioning in the first positioning manner after the mobile terminal enters the first geo-fence range;
and the correction module is configured to correct the second positioning data acquired simultaneously with the third positioning data according to the third positioning data when the third positioning data is acquired by continuously adopting the first positioning mode for positioning.
Optionally, the second positioning module is specifically configured to determine the moving step length according to a distance between the two third positioning data and a moving step number detected by the sensor in a time interval between the two third positioning data.
Optionally, the mobile terminal includes: an acceleration sensor, a gyroscope and an electronic compass;
the second positioning module is specifically configured to determine the step counting information according to the acceleration acquired by the acceleration sensor; and determining the moving direction according to the angular speed detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass.
Optionally, the second positioning module is specifically configured to calculate the second positioning data according to the first positioning data, the moving step length, the step counting information, the moving direction and the height of the mobile terminal, which are obtained at the positioning start time of the second positioning mode.
Optionally, the mobile terminal includes a barometer, and the movement parameter further includes a height of the mobile terminal;
the second positioning module is further specifically configured to determine the height of the mobile terminal according to the air pressure value detected by the barometer.
Optionally, the first positioning manner includes at least one of:
a satellite positioning mode;
and (5) assisting positioning by the base station.
According to a third aspect of embodiments of the present disclosure, there is provided a positioning apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the positioning method as described in the first aspect above.
According to a fourth aspect of embodiments of the present disclosure, there is provided a storage medium including:
the instructions in said storage medium, when executed by a processor of a computer, enable the computer to perform the positioning method as described in the first aspect above.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the method comprises the steps of firstly adopting a first positioning mode to determine whether the mobile terminal enters a first geo-fence range, and then adopting a second positioning mode to determine whether the mobile terminal enters a second geo-fence range located in the first geo-fence range after entering the first geo-fence range. Therefore, whether the mobile terminal gradually enters the geofence with the reduced range is determined by adopting different positioning modes, and the positioning accuracy can be improved by utilizing respective advantages of the different positioning modes, so that the use accuracy of the geofence can be improved when the mobile terminal is applied to information push based on the geofence, and the use experience of a user can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic view of a geo-fence.
Fig. 2 is a flow chart illustrating a positioning method according to an embodiment of the disclosure.
Fig. 3 is a schematic illustration of a positioning mode in an embodiment of the present disclosure.
Fig. 4 is a schematic diagram of PDR positioning.
Fig. 5 is an architecture diagram of a PDR based positioning in the present disclosure.
Fig. 6 is a flowchart illustrating a positioning method according to an embodiment of the disclosure
FIG. 7 is a diagram illustrating a positioning device according to an exemplary embodiment.
Fig. 8 is a block diagram of a mobile terminal shown in an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.
Fig. 2 is a flowchart of a positioning method shown in an embodiment of the present disclosure, and as shown in fig. 2, the positioning method applied in a mobile terminal includes the following steps:
and S11, acquiring the first positioning data of the mobile terminal by adopting a first positioning mode.
S12, determining whether the mobile terminal enters into a first geo-fence range according to the first positioning data.
And S13, if the mobile terminal enters the first geo-fence range, acquiring second positioning data of the mobile terminal by adopting a second positioning mode.
S14, determining whether the mobile terminal enters a second geo-fence range according to the second positioning data; wherein the second geo-fence is within range of the first geo-fence.
In an embodiment of the present disclosure, a mobile terminal includes: cell-phone, panel computer or intelligent wearing equipment etc. in addition, mobile terminal still can include the tool of riding instead of walk such as mobile unit, balance car or scooter etc.. The mobile terminal supports a positioning function, and based on the positioning function, the mobile terminal can implement a location-based service.
It should be noted that, in the embodiment of the present disclosure, whether the mobile terminal enters the first geo-fence or the second geo-fence is characterized by whether a user (pedestrian) using the mobile terminal enters the first geo-fence or the second geo-fence. If the mobile terminal belongs to a mobile phone or an intelligent wearable device, the first positioning data or the second positioning data can be obtained based on walking of the user (such as a step counting mode); if the mobile terminal belongs to the transportation tool, the first positioning data or the second positioning data can be obtained based on the movement of the transportation tool.
In the embodiment of the disclosure, the mobile terminal supports two different positioning modes, wherein the indoor positioning stability of the second positioning mode is superior to the indoor positioning stability of the first positioning mode, and the occurrence of positioning failure caused by shielding of indoor buildings and the like when the first positioning mode is adopted for positioning can be reduced.
The first positioning mode may be: various types of positioning manners based on wireless signal transceiving, for example, in one embodiment, the first positioning manner includes at least one of:
a satellite positioning mode;
and (5) assisting positioning by the base station.
In this embodiment, satellite Positioning is Positioning based on the Global Positioning System (GPS), which is characterized by high outdoor accuracy, but cannot be achieved in places near a shelter (building) or indoors. The base station auxiliary positioning is positioning realized by adopting triangular positioning and the like according to signal receiving and transmitting between a mobile terminal and a plurality of base stations, and the base station positioning is characterized in that the positioning precision is not high no matter indoors or outdoors.
In the embodiment of the disclosure, if the first positioning manner is satellite positioning and/or base station assisted positioning, the second positioning manner may be Wireless Fidelity (Wi-Fi) -based positioning, Ultra Wide Band (UWB) positioning, or Pedestrian Dead Reckoning (PDR) -based positioning technology that is applicable indoors.
Compared with the first positioning mode, the second positioning mode has relatively small influence of the signal shielded by the shielding object, so that the indoor positioning stability is higher than that of the first positioning mode. The positioning stability in the room means a single positioning accuracy or a continuous positioning effect in the room. For example, poor indoor positioning accuracy indicates poor indoor positioning stability, and poor indoor positioning accuracy indicates poor stability.
Taking the example that the second positioning mode is PDR positioning, the positioning mode can be based on at least the sensing data of one inertial sensor in the mobile terminal.
Fig. 3 is a schematic illustration of a positioning manner in an embodiment of the present disclosure, and as shown in fig. 3, the first positioning manner is GPS positioning, and the second positioning manner is PDR positioning. The inner circle with radius L1 falls within the scope of a second geo-fence in the disclosed embodiment, centered on the mall coordinates, with a radius of 10 meters (M). The outer circle with radius L2 falls within the scope of a first geofence of the disclosed embodiment, centered around mall coordinates, with a radius of 1000M. When the user enters the outer circle (the first geo-fence) based on GPS positioning, the mobile terminal starts PDR positioning to determine whether the user enters the inner circle (the second geo-fence), if the user enters the second geo-fence, a fence alarm is triggered to give an upper application in the mobile terminal, and the upper application in the mobile terminal is based on the fence alarm, feedback information push and the like.
In steps S11 to S12, the mobile terminal first acquires first positioning data of the mobile terminal in a first positioning manner, and determines whether the mobile terminal enters the first geo-fence range according to the first positioning data. In steps S13 to S14, after the mobile terminal enters the first geo-fence, the second positioning data of the mobile terminal is obtained by using the second positioning method with better indoor positioning stability, and it is determined whether the mobile terminal enters the second geo-fence within the range of the first geo-fence according to the second positioning data.
It can be understood that the indoor positioning effect can be improved by determining whether the mobile terminal enters the geo-fence or not in a positioning mode with better indoor positioning stability; in addition, based on a second positioning mode with better stability, the geofence gradually entering the reduced range is adopted, and when the method is applied to information push application based on the geofence, the use precision of the geofence can be improved, so that the use experience of a user can be improved.
For example, in the example of fig. 3, people who enter the first geo-fence centered in the mall are not all people who intend to enter the mall, and therefore triggering the message push based on the first geo-fence may affect some users who do not want to enter the mall for shopping. And the probability that the people who is in second geo-fence relatively gets into the market shopping can be bigger, therefore triggers message propelling movement based on second geo-fence, can promote geo-fence's use precision, promotes the user and uses experience.
In one embodiment, step S13 includes:
determining a movement parameter of the mobile terminal by using sensing data acquired by a sensor in the mobile terminal, wherein the movement parameter comprises: step counting information and moving direction;
determining a moving step length of the mobile terminal;
determining the first positioning data acquired at the positioning starting time of a second positioning mode;
and acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning starting time of the second positioning mode.
In this embodiment, the second positioning means is PDR positioning. And when the mobile terminal enters the first geo-fence range, the PDR positioning is adopted to obtain second positioning data of the mobile terminal. In the PDR positioning, a built-in sensor is used to perform step counting, step length calculation and direction detection on a user to estimate the trace of a person in a trip in an obstruction.
Specifically, the mobile terminal may determine the step count information using a built-in inertial sensor, for example, obtaining the step count information through an acceleration sensor. The step counting information includes: time to move by one step, number of moving steps, frequency of moving steps, etc. The moving step number is an accumulated value of one or more detected steps in a certain time duration, and the moving step frequency is a moving step number in a unit time duration (e.g., 1 second). The step counting information is obtained, namely the motion trail of the mobile terminal is obtained.
In addition, the mobile terminal may determine the direction of movement using a built-in direction sensor, such as an electronic compass. Of course, the mobile terminal may also incorporate a built-in inertial sensor gyroscope to more accurately determine the direction of movement.
Furthermore, the mobile terminal can also determine the moving step length and the first positioning data (initial positioning data positioned by the second positioning mode) acquired at the positioning starting time of the second positioning mode, and acquire the second positioning data by using the initial positioning data, the moving step length, the step counting information and the moving direction. The moving step length can be obtained based on statistics of the step length of the user within a certain time length, and the moving step length can also adopt an empirical value determined based on human body characteristics.
FIG. 4 is a schematic diagram of PDR positioning, as shown in FIG. 4, S 12 、S 23 And S 34 Namely, the corresponding moving step length of each step of the detected pedestrian; theta.theta. 1 、θ 2 And theta 3 Namely the moving direction of the pedestrian when walking each step; (x) 1 ，y 1 ) To initiate position data, (x) n ，y n ) And second positioning data corresponding to the current moving step. With the second positioning data (x) 4 ，y 4 ) For example, as can be seen from fig. 4, the following formula can be used:
x 4 ＝x 1 +S 12 *cosθ 1 +S 23 *cosθ 2 +S 34 *cosθ 3
y 4 ＝y 1 +S 12 *sinθ 1 +S 23 *sinθ 2 +S 34 *sinθ 3 (1)
it can be understood that, in the embodiment of the present disclosure, when the PDR positioning mode is used for positioning, the motion track of the mobile terminal is determined by fully utilizing the sensor built in the mobile terminal, and the positioning mode based on the motion track is dependent on the motion of the pedestrian, and does not need to depend on a beacon (an external communication node for wireless information interaction with the mobile terminal, such as a satellite point and a base station point), relative to the first positioning mode, such as satellite positioning and base station assisted positioning, etc.; in addition, except initial positioning data, the follow-up second positioning data that obtains also can not receive the interference because of sheltering from of shelter from the thing, therefore this disclosure adopts PDR's second locate mode, and is more convenient, and is higher at indoor positioning stability. Further, if the first positioning method is GPS positioning, the positioning method using PDR can also reduce power consumption in the mobile terminal compared to GPS positioning.
In addition, in an embodiment of the disclosure, when it is determined that the mobile terminal enters the range of the second geo-fence based on the second positioning data, the first positioning mode and/or the second positioning mode may be turned off to save power consumption.
Or, further, when it is determined that the mobile terminal moves outside the first geo-fence based on the third positioning data and/or the second positioning data, the second positioning mode is closed, so as to reduce unnecessary judgment on whether to open the second positioning mode.
When it is determined that the mobile terminal moves to the outside of the first geo-fence and is out of the preset distance from the boundary of the first geo-fence based on the third positioning data and/or the second positioning data, the second positioning mode is closed, and frequent opening and closing of the second positioning mode caused by the fact that the mobile terminal moves back and forth at the boundary of the first geo-fence is reduced. It should be noted that the third positioning data in the present disclosure refers to positioning data obtained by the mobile terminal in the first geo-fence in the first positioning manner.
In an embodiment of the present disclosure, when determining to enter the range of the first geo-fence based on the first positioning manner, the mobile terminal detects whether there is a second geo-fence located within the first geo-fence, and outputs a prompt message of the second geo-fence, where the prompt message is a description message of the second geo-fence, and may be used to prompt, but is not limited to, the range of the second geo-fence or a push message of the second geo-fence. And when the mobile terminal receives an instruction for indicating to start the second positioning mode, acquiring second positioning data of the mobile terminal by adopting the second positioning mode. It can be understood that in this way, the use experience of the user can be improved.
In one embodiment, the mobile terminal comprises: an acceleration sensor, a gyroscope and an electronic compass;
the determining the mobile parameters of the mobile terminal by using the sensing data acquired by the sensor in the mobile terminal comprises the following steps:
determining the step counting information according to the acceleration acquired by the acceleration sensor;
and determining the moving direction according to the angular speed detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass.
In this embodiment, when the step count information is determined using the acceleration collected by the acceleration sensor, for example, a peak detection algorithm may be employed, that is, a maximum value and a minimum value of the acceleration are detected, and when a time interval between the maximum value and the minimum value of the acceleration satisfies a certain time length, it is determined that the movement by one step is detected.
When the moving direction is determined by utilizing the angular velocity detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass, the gyroscope can detect the moving angle of the three-dimensional direction when the mobile terminal moves, and the electronic compass can give the orientation of the mobile terminal in a plane, which can be understood as the placing angle of the mobile terminal in a static state.
It can be understood that, the present disclosure not only has convenience when determining the movement parameter by using the built-in sensor, but also can relatively more accurately determine the moving direction of the mobile terminal by combining the placing angle and the moving angle of the mobile terminal, thereby providing more accurate second positioning data.
In an embodiment, the acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning start time of the second positioning mode includes:
and calculating to obtain the second positioning data according to the first positioning data, the moving step length, the step counting information, the moving direction and the height of the mobile terminal which are obtained at the positioning starting time of the second positioning mode.
In this embodiment, when the second positioning data is obtained, the altitude of the mobile terminal is also combined, so that the mobile terminal can calculate the altitude, such as the floor, of the user carrying the mobile terminal according to the second positioning data including the altitude information, thereby providing a more refined fence application in combination with the altitude information.
When the mobile terminal obtains the height, the obtained motion track of the mobile terminal can be used for comparing the motion track with the stored line information (including the height corresponding table of each longitude and latitude position), so that the height of the mobile terminal is determined. However, this method may not be used indoors. Therefore, it is also possible to employ obtaining the height of the mobile terminal by means of a barometer built in the mobile terminal.
In one embodiment, the mobile terminal comprises a barometer, and the movement parameter further comprises an altitude of the mobile terminal;
the determining the mobile parameters of the mobile terminal by using the sensing data collected by the sensor in the mobile terminal further comprises:
and determining the height of the mobile terminal according to the air pressure value detected by the air pressure meter.
In this embodiment, the mobile terminal determines the height of the mobile terminal by using the air pressure value detected by the barometer, which is convenient and simple, and is suitable for both indoor and outdoor, so that the accuracy of the second positioning data acquired indoors can be further improved.
As mentioned above, when the second positioning data is obtained based on the PDR positioning method, the moving step length of the mobile terminal needs to be determined.
In one embodiment, the method further comprises:
determining the moving state of the mobile terminal according to the distance between the two first positioning data and the time interval between the two first positioning data;
selecting a step length estimation model adaptive to the moving state according to the moving state;
the determining the moving step length of the mobile terminal includes:
and obtaining the moving step length output by the selected step length estimation model.
In this embodiment, the step size of the move may be determined by a step size estimation model. Generally, the moving step length of a person is relatively fixed during walking, but there may be differences in different moving states. Based on the above, the present disclosure determines the moving state of the mobile terminal according to the distance and the time interval between two first positioning data when positioning is performed by using the first positioning method. The moving state includes: a walking state or a running state. The walking state can be further divided into: a fast walking state, a slow walking state such as walking and the like; the running state may include: a sprint state or a sprint state. The determination of the different states may be divided according to the moving speed (moving distance per unit time length) or the moving step frequency (moving step number per unit time length) in combination with a threshold.
For example, when it is determined that the moving speed of the mobile terminal is a first speed greater than a preset threshold value according to the distance between two first positioning data and the time interval, it is determined that the mobile terminal is in a running state; and when the moving speed of the mobile terminal is determined to be a second speed which is less than or equal to a preset threshold value according to the distance between the two pieces of first positioning data and the time interval, determining that the mobile terminal is in a walking state.
In the embodiment of the present disclosure, for example, the basic model is a model related to the height and sex of the human body, and the step length may be different in different moving states, such as a running state, in which the step frequency is relatively fast and the step length is relatively small; while in the walking state the stride frequency is relatively slow and the step size may be relatively long. Thus, on top of the underlying model, different weights can also be set depending on the movement state.
For another example, the step size estimation model is related to not only the height of the human body, but also the step frequency and the personal traits, and the following formula (2) is a step size estimation model:
L＝h*(a*f+b)+c (2)
where L is the step size, h is the height, f is the step frequency, and K ═ { a, b, c } is the set of coefficients for the individual, e.g., the value of K can be determined based on neural network method training.
It can be understood that, in this embodiment, the step length estimation model adapted to the moving state is selected according to the moving state, so that the accuracy of the moving step length estimation can be further improved, and the accuracy of the second positioning data can be further improved.
Fig. 5 is an architecture diagram based on PDR positioning in the present disclosure, as shown in fig. 5, taking a mobile terminal as a smart phone as an example, the smart phone performs step counting through a built-in accelerometer, and estimates a step length of each step by using a step length model; in addition, the smart phone also determines the moving direction through a built-in gyroscope and an electronic compass, determines the moving height through a barometer, and updates the current position of the mobile terminal based on the initial position. The initial position is the first positioning data acquired at the positioning start time of the second positioning method.
In one embodiment, the method further comprises:
after the mobile terminal enters the first geo-fence range, continuing to adopt the first positioning mode for positioning;
and when the first positioning mode is continuously adopted for positioning to obtain third positioning data, correcting the second positioning data which is simultaneously obtained with the third positioning data according to the third positioning data.
In this embodiment, after the mobile terminal enters the first geo-fence range, the first positioning method may still be used to perform positioning to obtain the third positioning data. For example, the first positioning method is GPS positioning, and the second positioning method is PDR positioning. As mentioned above, GPS positioning is highly accurate outdoors, and may not be possible only near a shelter or indoors; the PDR positioning, as shown in the above formula (1), is based on the cumulative positioning of the motion trajectory, so the calculation error will become larger and larger as the number of steps is accumulated. Therefore, this disclosure enters into first geo-fence within range at mobile terminal after, if gathered the third positioning data, then can be according to the higher third positioning data of precision relatively to rectify the second positioning data.
When correcting the second positioning data according to the third positioning data, in an embodiment, the third positioning data can be replaced by the second positioning data acquired at the same time, so as to improve the accuracy of the second positioning data detected to move one step next time.
In another embodiment, the correction parameter may also be determined according to historical third positioning data and historical second positioning data at the same time; and correcting the second positioning data obtained by the second positioning mode at present according to the correction parameters.
For example, the correction parameter is a difference between the historical third positioning data and the historical second positioning data at the same time, and after the current second positioning data is obtained, the difference is added to achieve calibration.
It can be understood that, in this embodiment, after entering the first geo-fence, the first positioning method is still continuously used for positioning, and when the third positioning data is obtained by continuously using the first positioning method for positioning, the second positioning data is corrected, so that the accuracy of obtaining the second positioning data can be improved.
In one embodiment, the determining the moving step size of the mobile terminal includes:
and determining the moving step length according to the distance between the two third positioning data and the number of moving steps detected by the sensor in the time interval of the two third positioning data.
In this embodiment, if the third positioning data can be acquired, the average moving step length can be determined according to the distance between the two third positioning data and the number of moving steps detected by the sensor in the time interval of the two third positioning data. As mentioned above, if the third positioning data can be obtained, the accuracy of the third positioning data may be higher, and the average moving step length obtained based on the third positioning data may relatively better conform to the characteristics of the current pedestrian because the step length between individuals may still be different. It will be appreciated that the average movement step determined based on the third positioning data can improve the accuracy of the second positioning data.
Taking a mobile phone as an example, fig. 6 is a flowchart illustrating a positioning method according to an embodiment of the disclosure, and as shown in fig. 6, the positioning method includes the following steps:
and S21, the mobile phone receives an opening instruction of the application.
The application has a geo-fencing function, and when the mobile phone enters or leaves a set fence area or moves in the fence area, the mobile phone can automatically receive information push sent by a server associated with the application.
S22, the mobile phone receives a first setting instruction of the fence A.
In this embodiment, fence a is a second geo-fence according to an embodiment of the present disclosure.
And S23, the mobile phone receives a second setting instruction of the fence B.
In this implementation, fence B is the first geo-fence of the disclosed embodiment.
And S24, positioning by the mobile phone in a GPS positioning mode.
In this embodiment, the GPS positioning mode belongs to the first positioning mode of the embodiment of the present disclosure.
And S25, the mobile phone determines the trigger of the fence B according to the GPS positioning data.
In this embodiment, the handset determines the fence B trigger from the GPS location data, i.e., the handset determines to enter within range of the first geo-fence from the first location data.
In the embodiment of the present disclosure, taking the mobile phone system as an android system as an example, the trigger event of the fence B can be implemented using an android standard interface, which is specifically as follows:
and S26, determining the initial coordinate by the mobile phone in a PDR positioning mode.
In this embodiment, the PDR positioning manner is the second positioning manner of the embodiment of the present disclosure. The initial coordinates are GPS data provided by the GPS positioning mode acquired at the positioning start time of the second positioning mode.
And S27, the mobile phone determines the step size based on the step size model.
In this embodiment, the step size model is a step size estimation model. It should be noted that the step estimation model is determined after determining the mobile state of the mobile phone based on GPS data provided by a GPS positioning method.
And S28, the mobile phone obtains the PDR positioning data by adopting a PDR positioning mode and then performs distance calculation.
In this embodiment, the PDR locates the data, i.e., the second location data. The mobile phone can calculate the distance between the current position and the center of the mobile phone according to the second positioning data and the preset center coordinates, so as to determine whether to trigger the second geo-fence.
And S29, the mobile phone determines the trigger of the fence A and feeds the trigger back to the application.
In this embodiment, the mobile phone determines the trigger of the fence a according to the PDR positioning data, that is, the mobile phone determines to enter the range of the second geo-fence according to the second positioning data. At this time, the mobile phone can send a notification for triggering the second fence to the application, and the application reports the notification to the server, and then receives information push fed back by the server and displays the information push.
It can be appreciated that the present disclosure uses GPS location to determine whether the mobile terminal enters into fence B, and then uses PDR location to determine whether the mobile terminal enters into fence a located within the range of fence B. Compared with a positioning mode of generally utilizing Google Mobile Service (GMS) and a mode that some positioning software actively acquire a position by using, for example, an android system frame and then calculate whether the position triggers fence information in real time, on one hand, the method adopts different positioning modes to determine whether to gradually enter a geo-fence with a reduced range, so that the range of triggering fence notification can be reduced, and the use precision of the geo-fence is improved; on the other hand, whether the mobile phone enters the geofence with a smaller range is determined by adopting PDR positioning with better indoor positioning stability, the use accuracy of the geofence is improved, and meanwhile, the method is also suitable for being used indoors, so that the use experience of a user can be improved. In addition, the PDR positioning mode is adopted, and compared with a GPS positioning mode, the power consumption of the mobile phone can be reduced.
FIG. 7 is a diagram illustrating a positioning device according to an exemplary embodiment. Referring to fig. 7, the positioning apparatus is applied to a mobile terminal, and includes:
a first positioning module 101 configured to acquire first positioning data of the mobile terminal in a first positioning manner;
a first determining module 102 configured to determine whether the mobile terminal enters a first geo-fence range according to the first positioning data;
a second positioning module 103, configured to acquire second positioning data of the mobile terminal in a second positioning manner if the mobile terminal enters the first geo-fence range;
a second determining module 104, configured to determine whether the mobile terminal enters into a second geo-fence range according to the second positioning data; wherein the second geo-fence is within range of the first geo-fence.
Optionally, the second positioning module 103 is specifically configured to determine a movement parameter of the mobile terminal by using sensing data acquired by a sensor in the mobile terminal, where the movement parameter includes: step counting information and moving direction; determining a moving step length of the mobile terminal; determining the first positioning data acquired at the positioning starting time of a second positioning mode; and acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning starting time of the second positioning mode.
Optionally, the apparatus further comprises:
a third determining module 105 configured to determine a moving state of the mobile terminal according to a distance between two first positioning data and a time interval between the two first positioning data;
a selecting module 106 configured to select, according to the moving state, a step length estimation model adapted to the moving state;
the second positioning module 103 is specifically configured to obtain the moving step length output by the selected step length estimation model.
Optionally, the apparatus further comprises:
a third positioning module 107, configured to continue to perform positioning in the first positioning manner after the mobile terminal enters the first geo-fence range;
and the correction module is configured to correct the second positioning data acquired simultaneously with the third positioning data according to the third positioning data when the third positioning data is acquired by continuously adopting the first positioning mode for positioning.
Optionally, the second positioning module 103 is specifically configured to determine the moving step length according to a distance between the two third positioning data and a moving step number detected by the sensor in a time interval between the two third positioning data.
Optionally, the mobile terminal includes: an acceleration sensor, a gyroscope and an electronic compass;
the second positioning module 103 is specifically configured to determine the step counting information according to the acceleration acquired by the acceleration sensor; and determining the moving direction according to the angular speed detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass.
Optionally, the second positioning module 103 is specifically configured to calculate the second positioning data according to the first positioning data, the moving step length, the step counting information, the moving direction and the height of the mobile terminal, which are obtained at the positioning start time of the second positioning mode.
Optionally, the mobile terminal includes a barometer, and the movement parameter further includes a height of the mobile terminal;
the second positioning module 103 is further specifically configured to determine the altitude of the mobile terminal according to the air pressure value detected by the barometer.
Optionally, the first positioning manner includes at least one of:
a satellite positioning mode;
and (5) assisting positioning by the base station.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
Fig. 8 is a block diagram illustrating a mobile terminal apparatus 800 according to an example embodiment. For example, the device 800 may be a mobile phone, a mobile computer, or the like.
Referring to fig. 8, the apparatus 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operation at the device 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A power supply component 806 provides power to the various components of the device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 800.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed state of the device 800, the relative positioning of components, such as a display and keypad of the apparatus 800, the sensor assembly 814 may also detect a change in position of the apparatus 800 or a component of the apparatus 800, the presence or absence of user contact with the apparatus 800, orientation or acceleration/deceleration of the apparatus 800, and a change in temperature of the apparatus 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as Wi-Fi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the device 800 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
A non-transitory computer readable storage medium having instructions therein, which when executed by a processor of a terminal, enable a mobile terminal to perform a positioning method, the method comprising:
acquiring first positioning data of the mobile terminal by adopting a first positioning mode;
determining whether the mobile terminal enters a first geo-fence range according to the first positioning data;
if the mobile terminal enters the first geo-fence range, acquiring second positioning data of the mobile terminal in a second positioning mode;
determining whether the mobile terminal enters a second geo-fence range according to the second positioning data; wherein the second geo-fence is within range of the first geo-fence.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (18)
1. A positioning method is applied to a mobile terminal, and the method comprises the following steps:
acquiring first positioning data of the mobile terminal by adopting a first positioning mode;
determining whether the mobile terminal enters a first geo-fence range according to the first positioning data;
if the mobile terminal enters the first geo-fence range, acquiring second positioning data of the mobile terminal by adopting a second positioning mode, and continuously positioning by adopting the first positioning mode to obtain third positioning data; the second positioning mode is based on Pedestrian Dead Reckoning (PDR) positioning;
according to the third positioning data, correcting the second positioning data acquired simultaneously with the third positioning data, including: replacing the second positioning data acquired at the same time with the third positioning data; or determining a correction parameter according to the historical third positioning data and the historical second positioning data at the same moment, and correcting the second positioning data acquired by acquiring the second positioning mode currently according to the correction parameter;
determining whether the mobile terminal enters a second geo-fence range according to the corrected second positioning data; wherein the second geo-fence is within range of the first geo-fence.
2. The method according to claim 1, wherein the obtaining the second positioning data of the mobile terminal by using the second positioning manner includes:
determining a movement parameter of the mobile terminal by using sensing data acquired by a sensor in the mobile terminal, wherein the movement parameter comprises: step counting information and a moving direction;
determining a moving step length of the mobile terminal;
determining the first positioning data acquired at the positioning starting time of a second positioning mode;
and acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning starting time of the second positioning mode.
3. The method of claim 2, further comprising:
determining the moving state of the mobile terminal according to the distance between the two first positioning data and the time interval between the two first positioning data;
selecting a step length estimation model adaptive to the moving state according to the moving state;
the determining the moving step length of the mobile terminal includes:
and obtaining the moving step length output by the selected step length estimation model.
4. The method of claim 2, wherein the determining the moving step size of the mobile terminal comprises:
and determining the moving step length according to the distance between the two third positioning data and the number of moving steps detected by the sensor in the time interval of the two third positioning data.
5. The method according to claim 2, wherein the mobile terminal comprises: an acceleration sensor, a gyroscope and an electronic compass;
the determining the mobile parameters of the mobile terminal by using the sensing data acquired by the sensor in the mobile terminal comprises the following steps:
determining the step counting information according to the acceleration acquired by the acceleration sensor;
and determining the moving direction according to the angular speed detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass.
6. The method according to claim 2, wherein said acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning start time of the second positioning mode comprises:
and calculating to obtain the second positioning data according to the first positioning data, the moving step length, the step counting information, the moving direction and the height of the mobile terminal which are obtained at the positioning starting time of the second positioning mode.
7. The method of claim 6, wherein the mobile terminal comprises a barometer, and wherein the movement parameter further comprises an altitude of the mobile terminal;
the determining the mobile parameters of the mobile terminal by using the sensing data collected by the sensor in the mobile terminal further comprises:
and determining the height of the mobile terminal according to the air pressure value detected by the air pressure meter.
8. The method of claim 1, wherein the first positioning mode comprises at least one of:
a satellite positioning mode;
and (4) assisting positioning by the base station.
9. A positioning device, applied in a mobile terminal, the device comprising:
the first positioning module is configured to acquire first positioning data of the mobile terminal in a first positioning mode;
a first determining module configured to determine whether the mobile terminal enters a first geo-fence range according to the first positioning data;
the second positioning module is configured to acquire second positioning data of the mobile terminal in a second positioning mode if the mobile terminal enters the first geo-fence range; wherein the second positioning mode is PDR positioning;
a third positioning module configured to continue positioning in the first positioning manner after the mobile terminal enters the first geo-fence range;
the correction module is configured to correct the second positioning data acquired simultaneously with the third positioning data according to the third positioning data when the third positioning data is acquired by continuing to adopt the first positioning mode for positioning, and includes: replacing the second positioning data acquired at the same time with the third positioning data; or determining a correction parameter according to the historical third positioning data and the historical second positioning data at the same moment, and correcting the second positioning data acquired by acquiring the second positioning mode currently according to the correction parameter;
a second determining module configured to determine whether the mobile terminal enters a second geo-fence range according to the corrected second positioning data; wherein the second geo-fence is within range of the first geo-fence.
10. The apparatus of claim 9,
the second positioning module is specifically configured to determine a movement parameter of the mobile terminal by using sensing data acquired by a sensor in the mobile terminal, where the movement parameter includes: step counting information and moving direction; determining a moving step length of the mobile terminal; determining the first positioning data acquired at the positioning starting time of a second positioning mode; and acquiring the second positioning data according to the first positioning data, the moving step length, the step counting information and the moving direction acquired at the positioning starting time of the second positioning mode.
11. The apparatus of claim 10, further comprising:
a third determining module configured to determine a moving state of the mobile terminal according to a distance between the two first positioning data and a time interval between the two first positioning data;
the selection module is configured to select a step length estimation model adaptive to the moving state according to the moving state;
the second positioning module is specifically configured to obtain the moving step length output by the selected step length estimation model.
12. The apparatus of claim 10,
the second positioning module is specifically configured to determine the moving step length according to a distance between the two third positioning data and a number of moving steps detected by the sensor in a time interval between the two third positioning data.
13. The apparatus according to claim 10, wherein the mobile terminal comprises: an acceleration sensor, a gyroscope and an electronic compass;
the second positioning module is specifically configured to determine the step counting information according to the acceleration acquired by the acceleration sensor; and determining the moving direction according to the angular speed detected by the gyroscope and the orientation of the mobile terminal detected by the electronic compass.
14. The apparatus of claim 10,
the second positioning module is specifically configured to calculate the second positioning data according to the first positioning data, the moving step length, the step counting information, the moving direction and the height of the mobile terminal, which are obtained at the positioning start time of the second positioning mode.
15. The apparatus of claim 14, wherein the mobile terminal comprises a barometer, and wherein the movement parameter further comprises an altitude of the mobile terminal;
the second positioning module is further specifically configured to determine the altitude of the mobile terminal according to the air pressure value detected by the barometer.
16. The apparatus of claim 9, wherein the first positioning mode comprises at least one of:
a satellite positioning mode;
and (5) assisting positioning by the base station.
17. A mobile terminal, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the positioning method of any one of claims 1 to 8.
18. A non-transitory computer-readable storage medium, instructions in which, when executed by a processor of a computer, enable the computer to perform the positioning method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010301676.XA CN111586577B (en) | 2020-04-16 | 2020-04-16 | Positioning method and device, mobile terminal and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010301676.XA CN111586577B (en) | 2020-04-16 | 2020-04-16 | Positioning method and device, mobile terminal and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111586577A CN111586577A (en) | 2020-08-25 |
| CN111586577B true CN111586577B (en) | 2022-09-02 |
Family
ID=72117524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010301676.XA Active CN111586577B (en) | 2020-04-16 | 2020-04-16 | Positioning method and device, mobile terminal and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111586577B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114719842B (en) * | 2022-06-08 | 2022-08-30 | 深圳市乐凡信息科技有限公司 | Positioning method, system, equipment and storage medium based on electronic fence |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215238A (en) * | 2014-08-21 | 2014-12-17 | 北京空间飞行器总体设计部 | Indoor positioning method of intelligent mobile phone |
| CN105493162A (en) * | 2013-03-29 | 2016-04-13 | 华为技术有限公司 | Boundary violation alarm server, monitored terminal, monitoring terminal, system and method |
| US9635500B1 (en) * | 2012-10-16 | 2017-04-25 | Intuit Inc | Adaptive geolocation of users to facilitate use of geofences |
| WO2017068230A1 (en) * | 2015-10-21 | 2017-04-27 | Nokia Technologies Oy | Positioning method |
| CN108645406A (en) * | 2018-04-19 | 2018-10-12 | 北京理工大学 | A kind of indoor autonomic positioning method based on score field pedestrian movement perception |
| CN110087305A (en) * | 2018-11-16 | 2019-08-02 | 上海二三四五网络科技有限公司 | A kind of control method and control device of the accurate geographic position of quick obtaining in the application |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2515522A (en) * | 2013-06-26 | 2014-12-31 | Ibm | Mobile network based geofencing |
| US20190253831A1 (en) * | 2018-02-12 | 2019-08-15 | Futurewei Technologies, Inc. | Method of balance of accuracy and power consumption for geofence |
-
2020
- 2020-04-16 CN CN202010301676.XA patent/CN111586577B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9635500B1 (en) * | 2012-10-16 | 2017-04-25 | Intuit Inc | Adaptive geolocation of users to facilitate use of geofences |
| CN105493162A (en) * | 2013-03-29 | 2016-04-13 | 华为技术有限公司 | Boundary violation alarm server, monitored terminal, monitoring terminal, system and method |
| CN104215238A (en) * | 2014-08-21 | 2014-12-17 | 北京空间飞行器总体设计部 | Indoor positioning method of intelligent mobile phone |
| WO2017068230A1 (en) * | 2015-10-21 | 2017-04-27 | Nokia Technologies Oy | Positioning method |
| CN108645406A (en) * | 2018-04-19 | 2018-10-12 | 北京理工大学 | A kind of indoor autonomic positioning method based on score field pedestrian movement perception |
| CN110087305A (en) * | 2018-11-16 | 2019-08-02 | 上海二三四五网络科技有限公司 | A kind of control method and control device of the accurate geographic position of quick obtaining in the application |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111586577A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9049583B2 (en) | Impending hazard alert | |
| EP3014476B1 (en) | Using movement patterns to anticipate user expectations | |
| US20170364755A1 (en) | Systems and Methods for Tracking Movements of a Target | |
| EP3136710A1 (en) | Method and apparatus for controlling photography of unmanned aerial vehicle | |
| US20150365796A1 (en) | A method of generating an alert message | |
| CN105933862B (en) | Intelligent terminal positioning method and device and mobile terminal | |
| CN106250430B (en) | Method and device for sorting intelligent device list | |
| CN105974357A (en) | Method and device for positioning terminal | |
| US10451434B2 (en) | Information interaction method and device | |
| KR102109739B1 (en) | Method and apparatus for outputing sound based on location | |
| EP3156983A1 (en) | Method and device for transmitting alert message | |
| CN105509735B (en) | Information cuing method, device and terminal | |
| CN109688539B (en) | Terminal positioning method and device, mobile terminal and readable storage medium | |
| CN107202574B (en) | Motion trail information correction method and device | |
| CN109975757A (en) | Indoor positioning air navigation aid, terminal and computer storage medium | |
| US11570745B2 (en) | Positioning method and apparatus | |
| CN112013844A (en) | Method and device for establishing indoor environment map | |
| CN111343714B (en) | Terminal positioning method and device, electronic equipment and storage medium | |
| CN111586577B (en) | Positioning method and device, mobile terminal and storage medium | |
| CN106533907B (en) | Information sending method and device | |
| CN106226797B (en) | Athletic ground information-pushing method and device | |
| CN114466308A (en) | Positioning method and electronic equipment | |
| CN107835304B (en) | Method and device for controlling mobile terminal, mobile terminal and storage medium | |
| JP6076543B2 (en) | LOCATION METHOD, DEVICE, PROGRAM, AND RECORDING MEDIUM | |
| CN110996047A (en) | Pet tracking shooting method, device and system and computer readable storage medium |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |