CN111757284B - Indoor entrance positioning method and electronic equipment - Google Patents

Indoor entrance positioning method and electronic equipment Download PDF

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Publication number
CN111757284B
CN111757284B CN201910806243.7A CN201910806243A CN111757284B CN 111757284 B CN111757284 B CN 111757284B CN 201910806243 A CN201910806243 A CN 201910806243A CN 111757284 B CN111757284 B CN 111757284B
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indoor
electronic device
information
electronic equipment
cluster
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CN111757284A (en
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王梦岩
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Guangdong Genius Technology Co Ltd
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Guangdong Genius Technology Co Ltd
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    • 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
    • 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 embodiment of the invention relates to the technical field of positioning, and discloses an indoor entrance positioning method and electronic equipment, wherein the method comprises the following steps: acquiring last positioning information of the electronic equipment before the GPS signal value is lower than a first specified threshold; acquiring an indoor entrance position within a specified range; performing clustering calculation on the indoor entrance positions in the designated range to obtain a clustering center of each clustering cluster; and determining the accurate indoor entrance position according to the clustering center. According to the embodiment of the invention, the position of the indoor entrance can be accurately found, and the accuracy of indoor positioning of the electronic equipment is improved.

Description

Indoor entrance positioning method and electronic equipment
Technical Field
The invention relates to the technical field of positioning, in particular to an indoor entrance positioning method and electronic equipment.
Background
Currently, most of electronic devices (such as telephone watches) appearing on the market utilize some difference characteristics (such as light stroboscopic or geomagnetic field) indoors and outdoors to perform indoor and outdoor judgment, so as to realize an indoor positioning function of the electronic devices.
However, in practice, it is found that the positioning effect of the electronic device on the indoor and outdoor boundaries (such as entrances) is poor, and when the distance between buildings is small, the electronic device cannot find out the accurate position of the indoor entrance, so that the accuracy of the indoor positioning of the electronic device is easily affected, and the recycling of the positioning data by the electronic device is not facilitated.
Disclosure of Invention
The embodiment of the invention discloses an indoor entrance positioning method and electronic equipment, which can find out the accurate position of an indoor entrance and improve the accuracy of indoor positioning of the electronic equipment.
The first aspect of the embodiment of the invention discloses an indoor entrance positioning method, which comprises the following steps:
acquiring last positioning information of the electronic equipment before the GPS signal value is lower than a first specified threshold;
acquiring an indoor entrance position within a specified range;
performing clustering calculation on the indoor entrance positions in the specified range to obtain a clustering center of each clustering cluster;
and determining the accurate indoor entrance position according to the clustering center.
A second aspect of an embodiment of the present invention discloses an electronic device, including:
the first acquisition unit is used for acquiring the last positioning information of the electronic equipment before the GPS signal value is lower than a first specified threshold value;
a second acquisition unit configured to acquire an indoor entrance position within a specified range;
the first calculating unit is used for carrying out clustering calculation on the indoor entrance positions in the specified range to obtain the clustering centers of all clustering clusters;
and the determining unit is used for determining the accurate indoor entrance position according to the clustering center.
A third aspect of an embodiment of the present invention discloses an electronic device, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the indoor entrance positioning method disclosed by the first aspect of the embodiment of the invention.
A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium, which stores a computer program, where the computer program enables a computer to execute the indoor portal positioning method disclosed in the first aspect of the embodiments of the present invention.
A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the electronic equipment can acquire the last positioning information of the electronic equipment and the indoor entrance position in the specified range before the GPS signal value is lower than the first specified threshold, and perform clustering calculation on the indoor entrance position in the specified range to obtain the clustering center of each clustering cluster, and according to the clustering center, the electronic equipment can determine the accurate indoor entrance position. Therefore, by implementing the embodiment of the invention, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an indoor entrance positioning method disclosed in the embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another indoor access location method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating another indoor access location method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure;
FIG. 5 is a schematic structural diagram of another electronic device according to the disclosure;
FIG. 6 is a schematic structural diagram of another electronic device disclosed in the embodiments of the present invention;
fig. 7 is a schematic structural diagram of another electronic device disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third", "fourth", and the like in the description and the claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses an indoor entrance positioning method and electronic equipment, which can find out the accurate position of an indoor entrance and improve the accuracy of indoor positioning of the electronic equipment. The following detailed description is made with reference to the accompanying drawings.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating an indoor entrance positioning method according to an embodiment of the present invention. As shown in fig. 1, the indoor portal positioning method may include the following steps.
101. The electronic device obtains last positioning information of the electronic device before the GPS signal value is below a first specified threshold.
In the embodiment of the present invention, the electronic device may include an electronic device with a GPS positioning function, such as a mobile phone, a tablet computer, a bracelet, a watch, and smart glasses, which is not limited in the embodiment of the present invention.
In the embodiment of the invention, the electronic equipment can adopt a low-power-consumption GPS module and can be in a constantly-opened state outdoors.
As an alternative implementation manner, in the embodiment of the present invention, the GPS is a satellite system composed of 24 satellites covering the world, and is capable of providing real-time, all-weather, and global navigation services. The user receives the satellite signal through the GPS signal receiver, and obtains the information of the user such as the position, the speed and the like through signal processing, so as to realize the purposes of navigation and positioning by utilizing the GPS.
As an optional implementation manner, in the embodiment of the present invention, the current location information of the electronic device may be obtained by periodically obtaining current geographic location information of the user through a location module, where the location module may receive location information sent by a satellite positioning system, such as but not limited to a GPS positioning system, or may calculate and obtain real-time geographic location information of the user by connecting to a wireless network and using a location of a base station and a relative distance between the base station and the base station.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device detects that the GPS signal value is lower than the first specified threshold, the electronic device may determine whether the current weather condition is bad, and if so, the electronic device may determine that the main cause of the current GPS signal value lower than the first specified threshold is caused by bad weather;
and after the electronic device judges that the main cause of the current GPS signal value being lower than the first specified threshold value is caused by bad weather, the electronic device can prolong the search time of the GPS signal, and if the electronic device cannot acquire the GPS signal after prolonging the search time of the GPS signal, the electronic device can acquire the last positioning information of the electronic device before the GPS signal value is lower than the first specified threshold value.
102. The electronic device acquires an indoor entry location within a specified range.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may obtain a circular area in which the last positioning information is set as a circle center and a preset distance is set as a radius;
and, the electronic device may obtain each indoor entry location within the circular area;
and/or, the electronic device may obtain a rectangular area in which the last positioning information is set as a diagonal intersection and a preset distance is set as a diagonal length;
and, the electronic device may obtain each indoor entry location within the rectangular area.
103. And the electronic equipment performs clustering calculation on the indoor entrance positions in the designated range to obtain the clustering center of each clustering cluster.
In the embodiment of the present invention, the process of grouping a set of physical or abstract objects into a plurality of clusters having similar object components by an electronic device is called cluster calculation. The clusters generated by the clustering computation are a set of data objects that are similar to objects in the same cluster and different from objects in other clusters. In many applications, data objects in a cluster may be treated as a whole. The algorithm of the clustering calculation is many, such as hierarchical clustering algorithm, partition type clustering algorithm, K-means algorithm, etc.
For example, after obtaining the indoor entry position within the specified range, the electronic device may first identify and eliminate noise (an incorrect indoor entry position or an indoor entry position farther from the last positioning information) by using a dbscan algorithm, and then further cluster the indoor entry position data denoised by the dbscan algorithm by using a k-means algorithm to obtain the cluster center of each cluster.
104. And the electronic equipment determines the accurate indoor entrance position according to the clustering center.
As an optional implementation manner, in the embodiment of the present invention, after performing cluster calculation on indoor entry positions within a specified range, the electronic device may obtain a cluster center of one or more cluster clusters;
if the electronic equipment obtains the clustering center of one clustering cluster, the electronic equipment can take each indoor entrance position contained in the clustering center as an accurate indoor entrance position;
and if the electronic equipment obtains the clustering centers of the plurality of clustering clusters, the electronic equipment can detect whether the clustering centers of the plurality of clustering clusters are mostly positioned in the same building or not, and if so, the electronic equipment can determine that the building is an accurate indoor entrance position.
As an optional implementation manner, in the embodiment of the present invention, after the electronic device determines an accurate indoor entry position, the electronic device may further send first query information to query whether a user needs to obtain detailed information of the accurate indoor entry position, and if so, the electronic device may obtain sign building information of an area where the accurate indoor entry position is located and information of a person in charge of the area where the accurate indoor entry position belongs, and push the sign building information and the information of the person in charge;
and the electronic equipment can also detect whether the building where the accurate indoor entry position is located belongs to the scenic spot, if so, the electronic equipment can send second inquiry information to inquire whether the user needs to acquire the electronic guide of the scenic spot, and if the user needs to acquire the electronic guide of the scenic spot, the electronic equipment can push the electronic guide of the scenic spot.
Therefore, by implementing the indoor entrance positioning method described in fig. 1, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic device can be improved.
In addition, by implementing the indoor entry positioning method described in fig. 1, a more accurate indoor entry positioning can be obtained by calculating the indoor entry position within the specified range by using a plurality of clustering algorithms, and the accuracy of the indoor positioning entry is effectively improved.
In addition, by implementing the indoor entry positioning method described in fig. 1, an electronic guide of an accurate indoor entry position can be pushed to a user, and the use experience of the user is improved.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another indoor entry positioning method according to an embodiment of the present invention. As shown in fig. 2, the indoor portal positioning method may include the following steps.
201. The electronic device obtains last positioning information of the electronic device before the GPS signal value is below a first specified threshold.
202. The electronic device detects whether the last positioning information is contained in the indoor entrance fingerprint database, if not, step 203 to step 211 are executed, and if yes, the process is ended.
As an optional implementation manner, in an embodiment of the present invention, if the electronic device detects that the indoor entry fingerprint library includes the last positioning information, the electronic device may directly extract an indoor entry position mapped with the last positioning information from the indoor entry fingerprint library as an accurate indoor entry position.
203. The electronic device acquires an indoor entry location within a specified range.
204. And the electronic equipment performs clustering calculation on the indoor entrance positions in the designated range to obtain the clustering center of each clustering cluster.
205. And the electronic equipment determines the accurate indoor entrance position according to the clustering center.
206. And the electronic equipment stores the mapping relation between the last positioning information and the accurate indoor entrance position into an indoor entrance fingerprint database.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device is located at the last positioning location again, the electronic device may directly obtain the indoor entry location mapped with the last positioning information from the indoor entry fingerprint database as an accurate indoor entry location, and a clustering calculation step is not required to be performed again, so that power consumption of the electronic device can be effectively reduced.
As an optional implementation manner, in an embodiment of the present invention, after the electronic device stores the mapping relationship between the last positioning information and the accurate indoor entry position in an indoor entry fingerprint library, the electronic device may further store detailed information of the accurate indoor entry position in the indoor entry fingerprint library, where the detailed information of the accurate indoor entry position at least includes landmark building information of an area where the accurate indoor entry position is located and information of a person in charge of the area where the accurate indoor entry position belongs.
207. The method comprises the steps that the electronic equipment obtains first identification information of peripheral WiFi hotspots of the electronic equipment; the first identification information at least comprises Mac address information of peripheral WiFi hotspots and received signal strength information of the peripheral WiFi hotspots.
As an optional implementation manner, in an embodiment of the present invention, the first Identification information of the WiFi hotspots around the smart device may further include an International Mobile identity (IMSI) of the first electronic device.
As an alternative implementation manner, in the embodiment of the present invention, the electronic device may perform step 207 after obtaining the positioning request signal, where the positioning request of the electronic device may be sent manually by the user through the electronic device, or automatically sent by the electronic device.
For example, when the user needs to perform indoor positioning on the electronic device, the user may send a positioning request signal to the electronic device in a voice manner, the electronic device may detect whether a preset keyword related to an intention of performing indoor positioning on the electronic device exists in the voice input by the user, for example, "search", "position", and the like, and when the preset keyword related to the intention of performing indoor positioning on the electronic device exists in the voice input by the user, the electronic device may perform step 207.
For another example, when the user needs to perform indoor positioning on the electronic device, the user may manually send a positioning request signal to the electronic device through a touch screen, and when the electronic device receives the indoor positioning request signal sent by the user, the electronic device may perform step 207.
For another example, when the user needs to perform indoor positioning on the electronic device, the user may send an indoor positioning request signal to the electronic device by manually turning on a physical key switch disposed on the electronic device, and when the electronic device receives the indoor positioning request signal sent by the user, the electronic device may execute step 207.
For another example, after the electronic device stores the mapping relationship between the last positioning information and the accurate indoor entry position in the indoor entry fingerprint database, the user does not need to send any instruction to the electronic device, and the system of the electronic device may default to start the indoor positioning function, and execute step 207.
208. And the electronic equipment calculates the current position information of the electronic equipment according to the Mac address information of the peripheral WiFi hotspots and the received signal intensity information of the peripheral WiFi.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may calculate and obtain the location distance between the electronic device and the routing device by using a calculation formula of a signal strength RSSI of WiFi, where the calculation formula of the RSSI is d ═ 10^ ((abs (RSSI) -a)/(10 × n)), where d is the calculated location distance between the electronic device and the routing device, RSSI is signal strength information (negative value) of peripheral WiFi received by the electronic device, a is signal strength when the electronic device is 1 meter away from the routing device, and n is an environmental attenuation factor;
and after the electronic equipment calculates the position distance between the electronic equipment and the routing equipment, the electronic equipment can obtain the position information of the routing equipment according to the Mac address information of the peripheral WiFi hotspots, and further can obtain the current position information of the electronic equipment according to the position distance between the electronic equipment and the routing equipment and the position information of the routing equipment.
209. The electronic equipment acquires second identification information of peripheral electronic equipment of the electronic equipment; the second identification information at least includes location information of the peripheral electronic device and bluetooth signal strength information of the peripheral electronic device received by the electronic device.
As an optional implementation manner, in the embodiment of the present invention, if the electronic device can obtain the current location information of the electronic device in step 207 to step 208, the electronic device may directly perform step 211 without performing step 209 to step 210;
and if the electronic device can obtain the current location information of the electronic device in steps 207 to 208, the electronic device may also continue to perform steps 209 to 210 to doubly confirm the current location information of the electronic device, and after the step 210 is completed, the electronic device may synthesize a result obtained by WiFi indoor positioning and a result obtained by bluetooth indoor positioning to obtain a final result;
and if the electronic device cannot obtain the current location information of the electronic device in steps 207 to 208, the electronic device may obtain the current location information of the electronic device in steps 209 to 210.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may perform scanning in a bluetooth manner to obtain location information of other electronic devices and bluetooth signal strength information of peripheral electronic devices received by the electronic device.
As an optional implementation manner, in the embodiment of the present invention, after the electronic device determines the current location information, the identification information of the electronic device may also be obtained by the peripheral electronic device, so that the peripheral electronic device may perform indoor positioning by using the identification information.
210. And the electronic equipment calculates the current position information of the electronic equipment according to the position information and the Bluetooth signal intensity information.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may calculate and obtain the location distance between the electronic device and the peripheral electronic device by using a calculation formula of a bluetooth signal strength information RSSI, where d is 10^ ((abs (RSSI) -a)/(10 × n)), where d is the calculated location distance between the electronic device and the peripheral electronic device, RSSI is bluetooth signal strength information (negative value) of the peripheral electronic device received by the electronic device, a is a signal strength when the electronic device is 1 meter away from the peripheral electronic device, and n is an environmental attenuation factor.
As an optional implementation manner, in the embodiment of the present invention, before the electronic device calculates the current location information of the electronic device according to the location information and the location distance of the peripheral electronic device, the electronic device may further obtain a relative angle between the electronic device and the peripheral electronic device;
and after the electronic device acquires the relative angle between the electronic device and the peripheral electronic device, the electronic device may set the position information of the peripheral electronic device as three-dimensional coordinates, and set the position distance between the electronic device and the peripheral electronic device as a spatial straight-line distance, and the relative angle between the electronic device and the peripheral electronic device may include the relative orientation between the electronic device and the peripheral electronic device, and the electronic device may obtain the position information of the electronic device by using a three-dimensional calculation method according to the three-dimensional coordinates, the spatial straight-line distance between the electronic device and the peripheral electronic device, and the relative orientation between the electronic device and the peripheral electronic device.
211. The electronic equipment outputs the current position information to a display screen of the electronic equipment.
As an optional implementation manner, in the embodiment of the present invention, before the electronic device outputs the current location information to the display screen of the electronic device, the electronic device may obtain an indoor electronic map of a building corresponding to the current location;
the electronic equipment can mark the current position information on the indoor electronic map and output the indoor electronic map to a display interface of the electronic equipment;
the electronic equipment can also detect whether the number of real-time personnel in the area of the building corresponding to the current position exceeds a specified threshold value, and if so, the electronic equipment can judge that the area is doing activities;
and the electronic equipment can acquire detailed information of the event, wherein the detailed information at least comprises the content of the event, the hosting property of the event and a navigation route for reaching the area;
and the electronic equipment can also output the content of the event, the holding property of the event and the navigation route reaching the area to a display interface of the electronic equipment.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may pre-install a client, where the client is installed and operated in an APP (application program) form, the electronic device installed with the client may periodically perform data acquisition and report, where the acquired and reported data are the identification information of the user, the first identification information of the peripheral WiFi hotspot, and the second identification information of the peripheral electronic device, and may update the current positioning result of the electronic device in real time.
Therefore, by implementing the indoor entrance positioning method described in fig. 2, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic device can be improved.
In addition, with the indoor entry location method described in fig. 2, when the electronic device is located at the last location again, the electronic device may directly obtain the indoor entry location mapped with the last location information from the indoor entry fingerprint database as an accurate indoor entry location, and a clustering calculation step is not required to be performed again, which may effectively reduce power consumption of the electronic device.
In addition, by implementing the indoor entry positioning method described in fig. 2, the current positioning result of the intelligent device can be updated in time, which is beneficial to improving the accuracy of high indoor positioning of the intelligent device.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating another indoor entry positioning method according to an embodiment of the present invention. As shown in fig. 3, the indoor portal positioning method may include the following steps.
301. The electronic device obtains last positioning information of the electronic device before the GPS signal value is below a first specified threshold.
302. The electronic equipment detects whether the last positioning information is contained in the indoor entrance fingerprint database, if not, the step 303 to the step 309 are executed, and if yes, the process is ended.
303. The electronic device acquires an indoor entry location within a specified range.
304. The electronic equipment sorts the distance value between each indoor entrance position in the designated range and the last positioning information from small to large.
In the embodiment of the present invention, the electronic device may identify and eliminate noise (an incorrect indoor entry position or an indoor entry position farther from the last positioning information) by using clustering operation (for example, DBSCAN algorithm) to obtain the position of the indoor entry to be determined.
305. And the electronic equipment selects each indoor entrance position in a specified range with the distance value smaller than the second specified threshold value as the position of the indoor entrance to be determined.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may integrate, by using the DBSCAN algorithm, each indoor entry position within the specified range and the distance value of the last positioning information into one set, and may classify, from the set, an indoor entry position whose distance value is smaller than the second specified threshold, as a class, and may set the classified indoor entry position as the pending indoor entry position.
306. The electronic equipment selects K objects from the positions of the inlets in the chamber to be determined as initial clustering centers, wherein K is a natural number greater than 1.
In the embodiment of the invention, the electronic equipment can further perform clustering calculation on the indoor entrance position data subjected to denoising by the dbscan algorithm by using the K-means algorithm to obtain a corresponding clustering calculation result, so as to obtain the clustering center of each clustering cluster.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may randomly select K objects from the positions of the inlets in the chamber to be determined as an initial clustering center; and/or the electronic device may select K objects as far as possible from the entrance positions in the room to be clustered as initial clustering centers; and/or, the electronic device may cluster the indoor entry positions to be determined by using a hierarchical clustering algorithm or a Canopy algorithm to obtain K clusters, and then select a point from each cluster, where the point may be a central point of the cluster or a point closest to the central point of the cluster;
the idea of selecting K objects as far as possible from each other as the initial clustering center is as follows: the electronic equipment can randomly select a point from the position of the indoor entrance to be determined as a first initial cluster center point, then select the point farthest from the point as a second initial cluster center point, then select the point farthest from the first two points as a third initial cluster center point, and so on until K initial cluster center points are selected.
307. The electronic equipment distributes the position of the indoor entrance to be determined to the cluster where the nearest initial cluster center is located according to the principle of minimum distance; and the minimum distance is the minimum distance between the position of the inlet in the chamber to be determined and the initial clustering center.
As an optional implementation manner, in the embodiment of the present invention, after the electronic device allocates the position of the entrance in the room to be clustered to the cluster where the nearest initial cluster center is located according to the principle of the minimum distance, the electronic device may obtain K cluster clusters.
308. And the electronic equipment calculates the average distance between the position of each to-be-determined indoor entrance in the cluster and the initial cluster center so as to obtain a new cluster center.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may converge the position of each entrance to be determined, so as to obtain a class to which the entrance belongs, where a formula of the convergence is
Figure BDA0002183229190000111
In the above formula, C(i)Class, x, representing the position of the pending indoor entry in the cluster and the initial cluster center(i)Represents the position of the inlet in each room to be determined, mujRepresenting an initial cluster center in the cluster;
and after the electronic equipment converges the position of each undetermined indoor entrance, the electronic equipment can calculate the class after the position of each undetermined indoor entrance is converged, and then a new clustering center is obtained, wherein the formula of the calculation is as follows:
Figure BDA0002183229190000121
in the above formula, [ mu ]'jRepresenting a new cluster center, C(i)Class, x, representing the position of the pending indoor entry in the cluster and the initial cluster center(i)Representing the position of an inlet in each pending room, and j represents K initial clustering centers;
optionally, the electronic device may first randomly select K points from the positions of the to-be-determined indoor entrances as initial clustering centers, and then calculate the to-be-determined indoor entrance position for each to-be-determined indoor entrance position in the first stepThe distance of each of the K initial cluster centers, and then each pending indoor entry location can be assigned to the cluster C at which the initial cluster center closest thereto is located(i)In the first step, each to-be-determined indoor entrance position has a cluster to which the entrance position belongs; second step recalculates for each pending indoor entry location its new cluster center μ'j(average the position coordinates of all the pending indoor entrances therein). The electronic device may iterate the first and second steps repeatedly until a new cluster center μ'jUnchanged or changed little.
309. And the electronic equipment detects whether the difference value between the new clustering center and the initial clustering center is smaller than a third specified threshold value, if so, the step 310 to the step 317 are executed, and if not, the process is ended.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device detects that the difference value between the new clustering center and the initial clustering center is not less than the third specified threshold, the electronic device may replace the initial clustering center with the new clustering center and repeat the iteration from step 307 to step 309 until the difference value between the new clustering center and the initial clustering center is less than the third specified threshold.
310. And the electronic equipment determines the clustering center.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device detects that the difference value between the new clustering center and the initial clustering center is smaller than a third specified threshold, the electronic device may set the new clustering center as the final clustering center.
311. The electronics take each of the indoor entry locations included in the cluster as the accurate indoor entry location.
As an optional implementation manner, in the embodiment of the present invention, after the electronic device determines the cluster center, a cluster center of one or more cluster clusters may be obtained;
if the electronic equipment obtains the clustering center of one clustering cluster, the electronic equipment can take each indoor entrance position contained in the clustering center as an accurate indoor entrance position;
and if the electronic equipment obtains the clustering centers of the multiple clustering clusters, the electronic equipment can detect whether the clustering centers of the multiple clustering clusters are mostly located in the same building, and if so, the electronic equipment can determine that the building is an accurate indoor entrance position.
312. And the electronic equipment stores the mapping relation between the last positioning information and the accurate indoor entrance position into an indoor entrance fingerprint database.
313. The method comprises the steps that the electronic equipment obtains first identification information of peripheral WiFi hotspots of the electronic equipment; the first identification information at least comprises Mac address information of peripheral WiFi hotspots and received signal strength information of the peripheral WiFi hotspots.
314. And the electronic equipment calculates the current position information of the electronic equipment according to the Mac address information of the peripheral WiFi hotspots and the received signal intensity information of the peripheral WiFi.
315. The electronic equipment acquires second identification information of peripheral electronic equipment of the electronic equipment; the second identification information at least includes location information of the peripheral electronic device and bluetooth signal strength information of the peripheral electronic device received by the electronic device.
316. And the electronic equipment calculates the current position information of the electronic equipment according to the position information and the Bluetooth signal intensity information.
317. The electronic equipment outputs the current position information to a display screen of the electronic equipment.
Therefore, by implementing the indoor entrance positioning method described in fig. 3, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic device can be improved.
In addition, the indoor entrance positioning method described in fig. 3 can reduce the algorithm complexity and improve the positioning accuracy of the positioning system.
In addition, when the indoor entrance positioning method described in fig. 3 is implemented, the electronic device does not need to prepare a training set, the principle is simple, and the implementation is easy.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure. As shown in fig. 4, the electronic device may include:
a first obtaining unit 401, configured to obtain last positioning information of the electronic device before the GPS signal value is lower than a first specified threshold.
A second acquiring unit 402 for acquiring an indoor entrance position within a specified range.
A first calculating unit 403, configured to perform cluster calculation on indoor entry positions within the specified range to obtain a cluster center of each cluster.
And a determining unit 404, configured to determine an accurate indoor entry position according to the cluster center.
In the embodiment of the present invention, the electronic device may include an electronic device with a GPS positioning function, such as a mobile phone, a tablet computer, a bracelet, a watch, and smart glasses, which is not limited in the embodiment of the present invention.
In the embodiment of the invention, the electronic equipment can adopt the GPS module with low power consumption and can be in a always-on state outdoors.
As an alternative implementation, in the embodiment of the present invention, the GPS is a satellite system composed of 24 satellites covering the world, and is capable of providing real-time, all-weather, and global navigation services. The user receives the satellite signal through the GPS signal receiver, and obtains the information of the user such as the position, the speed and the like through signal processing, so as to realize the purposes of navigation and positioning by utilizing the GPS.
As an optional implementation manner, in the embodiment of the present invention, the current location information of the electronic device may be obtained by periodically obtaining current geographic location information of the user through a location module, where the location module may receive location information sent by a satellite positioning system, such as but not limited to a GPS positioning system, or may calculate and obtain real-time geographic location information of the user by connecting to a wireless network and using a location of a base station and a relative distance between the base station and the base station.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device detects that the GPS signal value is lower than the first specified threshold, the electronic device may determine whether the current weather condition is bad, and if so, the electronic device may determine that the main cause of the current GPS signal value lower than the first specified threshold is caused by bad weather;
and after the electronic device judges that the main cause of the current GPS signal value being lower than the first specified threshold value is caused by bad weather, the electronic device can prolong the search time of the GPS signal, and if the electronic device cannot acquire the GPS signal after prolonging the search time of the GPS signal, the electronic device can acquire the last positioning information of the electronic device before the GPS signal value is lower than the first specified threshold value.
As an optional implementation manner, in an embodiment of the present invention, the electronic device may obtain a circular area in which the last positioning information is set as a center of a circle and a preset distance is set as a radius;
and, the second acquiring unit 402 may acquire each indoor entrance position within the circular area;
and/or, the electronic device may obtain a rectangular area in which the last positioning information is set as a diagonal intersection and a preset distance is set as a diagonal length;
and, the second acquisition unit 402 may acquire each indoor entrance position within the rectangular area.
In the embodiment of the present invention, a process in which an electronic device groups a set of physical or abstract objects into a plurality of clusters including similar objects is called cluster calculation. The clusters generated by the clustering computation are a set of data objects that are similar to objects in the same cluster and different from objects in other clusters. In many applications, data objects in a cluster may be treated as a whole. The algorithm of the clustering calculation is many, such as hierarchical clustering algorithm, partition type clustering algorithm, K-means algorithm, etc.
For example, after the second obtaining unit 402 obtains the indoor entry positions within the specified range, the first calculating unit 403 may first identify and eliminate noise points (wrong indoor entry positions or indoor entry positions far from the last positioning information) by using a dbscan algorithm, and then further cluster the indoor entry position data denoised by the dbscan algorithm by using a k-means algorithm to obtain the cluster center of each cluster.
As an optional implementation manner, in the embodiment of the present invention, after performing cluster calculation on indoor entry positions within a specified range, the electronic device may obtain a cluster center of one or more cluster clusters;
and if the electronic device obtains a cluster center of a cluster, the determining unit 404 may take each indoor entry position included in the cluster center as an accurate indoor entry position;
and if the electronic device obtains the cluster centers of the plurality of clusters, the electronic device may detect whether most of the cluster centers of the plurality of clusters are located in the same building, and if so, the determining unit 404 may determine that the building is an accurate indoor entrance position.
As an optional implementation manner, in the embodiment of the present invention, after the determining unit 404 determines an accurate indoor entry position, the electronic device may further send first query information to query whether the user needs to obtain detailed information of the accurate indoor entry position, and if so, the electronic device may obtain landmark building information of an area where the accurate indoor entry position is located and information of a person in charge of the area where the accurate indoor entry position belongs, and push the landmark building information and the information of the person in charge;
and the electronic equipment can also detect whether the building where the accurate indoor entry position is located belongs to the scenic spot, if so, the electronic equipment can send second inquiry information to inquire whether the user needs to acquire the electronic guide of the scenic spot, and if the user needs to acquire the electronic guide of the scenic spot, the electronic equipment can push the electronic guide of the scenic spot.
Therefore, by implementing the electronic device described in fig. 4, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic device can be improved.
In addition, by implementing the electronic device described in fig. 4, a more accurate indoor entry location can be obtained by calculating the indoor entry location within the specified range by using a plurality of clustering algorithms, and the accuracy of the indoor location entry is effectively improved.
In addition, the electronic device described in fig. 4 can push an accurate electronic guide of the indoor entry position to the user, thereby improving the user experience.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another electronic device according to an embodiment of the disclosure. The electronic device shown in fig. 5 is optimized from the electronic device shown in fig. 4. Compared to the electronic device shown in fig. 4, the electronic device shown in fig. 5 may further include:
a storage unit 405, configured to store the mapping relationship between the last positioning information and the accurate indoor entry position in an indoor entry fingerprint database after the determining unit 405 determines the accurate indoor entry position according to the clustering center.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device is located at the last positioning location again, the electronic device may directly obtain the indoor entry location mapped with the last positioning information from the indoor entry fingerprint database as an accurate indoor entry location, and a clustering step is not required to be performed again, so that power consumption of the electronic device can be effectively reduced.
As an alternative implementation manner, in the embodiment of the present invention, after the storage unit 405 stores the mapping relationship between the last positioning information and the accurate indoor entry position in the indoor entry fingerprint library, the storage unit 405 may further store detailed information of the accurate indoor entry position in the indoor entry fingerprint library, where the detailed information of the accurate indoor entry position at least includes landmark building information of an area where the accurate indoor entry position is located and information of a person in charge of the area where the accurate indoor entry position belongs.
A detecting unit 406, configured to detect whether the last positioning information is included in the indoor entrance fingerprint database after the first obtaining unit 401 obtains the last positioning information of the electronic device before the GPS signal value is lower than the first specified threshold and before the second obtaining unit 402 obtains the indoor entrance position within the specified range.
As an alternative implementation manner, in an embodiment of the present invention, if the detecting unit 406 detects that the indoor entry fingerprint database includes the last positioning information, the electronic device may directly extract an indoor entry position mapped with the last positioning information from the indoor entry fingerprint database as an accurate indoor entry position.
A control unit 407, configured to control the second acquiring unit 402 to execute the step of acquiring the indoor entry position within the specified range when the detecting unit 406 detects that the indoor entry fingerprint database does not contain the last positioning information.
Accordingly, compared to the electronic device shown in fig. 4, the electronic device shown in fig. 5 further includes:
a third obtaining unit 408, configured to obtain first identification information of WiFi hotspots around the electronic device after the storage unit 405 stores the mapping relationship between the last positioning information and the accurate indoor entry location in an indoor entry fingerprint database; the first identification information at least comprises Mac address information of peripheral WiFi hotspots and received signal strength information of the peripheral WiFi hotspots.
As an optional implementation manner, in an embodiment of the present invention, the first Identification information of the WiFi hotspots around the smart device may further include an International Mobile identity (IMSI) of the first electronic device.
As an optional implementation manner, in the embodiment of the present invention, after obtaining the positioning request signal, the third obtaining unit 408 may obtain first identification information of peripheral WiFi hotspots of the electronic device; the positioning request of the electronic device may be sent manually by the user through the electronic device or automatically sent by the electronic device.
For example, when the user needs to perform indoor positioning on the electronic device, the user may send a positioning request signal to the electronic device in a voice manner, the electronic device may detect whether a preset keyword related to an intention of performing indoor positioning on the electronic device exists in the voice input by the user, for example, "search", "position", and the like, and when the preset keyword related to the intention of performing indoor positioning on the electronic device exists in the voice input by the user, the third obtaining unit 408 may obtain the first identification information of the WiFi hotspot around the electronic device.
For another example, when the user needs to perform indoor positioning on the electronic device, the user may manually send a positioning request signal to the electronic device through a touch screen, and when the electronic device receives the indoor positioning request signal sent by the user, the third obtaining unit 408 may obtain the first identification information of the WiFi hotspots around the electronic device.
For another example, when the user needs to perform indoor positioning on the electronic device, the user may send an indoor positioning request signal to the electronic device by manually turning on a physical key switch disposed on the electronic device, and when the electronic device receives the indoor positioning request signal sent by the user, the third obtaining unit 408 may obtain the first identification information of the WiFi hotspots around the electronic device.
For another example, after the electronic device stores the mapping relationship between the last positioning information and the accurate indoor entry position in the indoor entry fingerprint database, the user does not need to send any instruction to the electronic device, the system of the electronic device may default to start the indoor positioning function, and the third obtaining unit 408 may obtain the first identification information of the WiFi hotspots around the electronic device.
The second calculating unit 409 is configured to calculate current location information of the electronic device according to the Mac address information of the peripheral WiFi hotspot and the received signal strength information of the peripheral WiFi hotspot.
As an optional implementation manner, in the embodiment of the present invention, the second calculating unit 409 may calculate and obtain the location distance between the electronic device and the routing device by using a calculation formula of signal strength RSSI of WiFi, where d is 10^ ((abs (RSSI) -a)/(10 × n)), where d is the calculated location distance between the electronic device and the routing device, RSSI is signal strength information (negative value) of peripheral WiFi received by the electronic device, a is signal strength when the electronic device and the routing device are separated by 1 meter, and n is an environmental attenuation factor;
and after the second calculating unit 409 calculates the position distance between the electronic device and the routing device, the electronic device may obtain the position information of the routing device according to the Mac address information of the peripheral WiFi hotspot, and further may obtain the current position information of the electronic device according to the position distance between the electronic device and the routing device and the position information of the routing device.
Correspondingly, in the electronic device shown in fig. 5, the third obtaining unit 408 is further configured to obtain second identification information of a peripheral electronic device of the electronic device after the storage unit 405 stores the mapping relationship between the last positioning information and the accurate indoor entry position in the indoor entry fingerprint database; the second identification information at least includes location information of the peripheral electronic device and bluetooth signal strength information of the peripheral electronic device received by the electronic device.
As an optional implementation manner, in the embodiment of the present invention, if the second calculating unit 409 can calculate the current location information of the electronic device according to the Mac address information of the peripheral WiFi hotspot and the received signal strength information of the peripheral WiFi, the third obtaining unit 408 does not need to obtain the second identification information of the peripheral electronic device of the electronic device;
and if the second calculating unit 409 can calculate the current location information of the electronic device according to the Mac address information of the peripheral WiFi hotspot and the received signal strength information of the peripheral WiFi, the third acquiring unit 408 may also continue to acquire the second identification information of the peripheral electronic device of the electronic device to doubly confirm the current location information of the electronic device, and after the second calculating unit 409 calculates the current location information of the electronic device according to the location information and the bluetooth signal strength information, the electronic device may synthesize the result obtained by WiFi indoor positioning and the result obtained by bluetooth indoor positioning to obtain a final result;
and if the second calculating unit 409 cannot obtain the current location information of the electronic device according to the Mac address information of the peripheral WiFi hotspot and the received signal strength information of the peripheral WiFi, the electronic device may also continue to obtain the second identification information of the peripheral electronic device of the electronic device through the third obtaining unit 408, so as to obtain the current location information of the electronic device.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may perform scanning in a bluetooth manner to obtain location information of other electronic devices and bluetooth signal strength information of peripheral electronic devices received by the electronic device.
As an optional implementation manner, in the embodiment of the present invention, after the electronic device determines the current location information, the identification information of the electronic device may also be obtained by the peripheral electronic device, so that the peripheral electronic device may perform indoor positioning by using the identification information.
Accordingly, in the electronic device shown in fig. 5, the second calculating unit 409 is further configured to calculate the current location information of the electronic device according to the location information and the bluetooth signal strength information.
As an optional implementation manner, in the embodiment of the present invention, the second calculating unit 409 may calculate and obtain the location distance between the electronic device and the peripheral electronic device by using a calculation formula of bluetooth signal strength information RSSI, where d is 10^ ((abs (RSSI) -a)/(10 × n)), where d is the calculated location distance between the electronic device and the peripheral electronic device, RSSI is bluetooth signal strength information (negative value) of the peripheral electronic device received by the electronic device, a is signal strength when the electronic device is 1 meter away from the peripheral electronic device, and n is an environmental attenuation factor.
As an optional implementation manner, in the embodiment of the present invention, before the electronic device calculates the current location information of the electronic device according to the location information and the location distance of the peripheral electronic device, the electronic device may further obtain a relative angle between the electronic device and the peripheral electronic device;
and after the electronic device acquires the relative angle between the electronic device and the peripheral electronic device, the electronic device may set the position information of the peripheral electronic device as three-dimensional coordinates, and set the position distance between the electronic device and the peripheral electronic device as a spatial straight-line distance, and the relative angle between the electronic device and the peripheral electronic device may include the relative orientation between the electronic device and the peripheral electronic device, and the electronic device may obtain the position information of the electronic device by using a three-dimensional calculation method according to the three-dimensional coordinates, the spatial straight-line distance between the electronic device and the peripheral electronic device, and the relative orientation between the electronic device and the peripheral electronic device.
The output unit 410 is configured to output the current position information to a display screen of the electronic device.
As an optional implementation manner, in the embodiment of the present invention, before the output unit 410 outputs the current position information to the display screen of the electronic device, the electronic device may obtain an indoor electronic map of a building corresponding to the current position;
the electronic equipment can mark the current position information on the indoor electronic map and output the indoor electronic map to a display interface of the electronic equipment;
the electronic equipment can also detect whether the number of real-time personnel in the area of the building corresponding to the current position exceeds a specified threshold value, and if so, the electronic equipment can judge that the area is doing activities;
and the electronic equipment can acquire detailed information of the event, wherein the detailed information at least comprises the content of the event, the hosting property of the event and a navigation route for reaching the area;
and the output unit 410 may further output the content of the event, the hosting property of the event, and the navigation route to the area on a display interface of the electronic device.
As an optional implementation manner, in the embodiment of the present invention, the electronic device may pre-install a client, where the client is installed and operated in an APP (application program) form, the electronic device installed with the client may periodically perform data acquisition and report, where the acquired and reported data are identification information of a user, first identification information of a peripheral WiFi hotspot, and second identification information of a peripheral electronic device, and may update a current positioning result of the electronic device in real time.
Therefore, by implementing another electronic device described in fig. 5, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic device can be improved.
In addition, with another electronic device described in fig. 5, when the electronic device is located at the last positioning location again, the electronic device may directly obtain the indoor entry location mapped with the last positioning information from the indoor entry fingerprint database as an accurate indoor entry location, and a clustering calculation step is not required to be performed again, so that the power consumption of the electronic device can be effectively reduced.
In addition, the implementation of another electronic device described in fig. 5 can update the current positioning result of the intelligent device in time, which is beneficial to improving the accuracy of high indoor positioning of the intelligent device.
EXAMPLE six
Referring to fig. 6, fig. 6 is a schematic structural diagram of another electronic device according to an embodiment of the disclosure. The electronic device shown in fig. 6 is optimized from the electronic device shown in fig. 5. Compared with the electronic apparatus shown in fig. 5, the first calculation unit 403 shown in fig. 6 includes:
a sorting subunit 4031, configured to sort, from small to large, the distance value between each indoor entry location in the specified range and the last positioning information.
In the embodiment of the present invention, the electronic device may identify and eliminate noise (an incorrect indoor entry position or an indoor entry position farther from the last positioning information) by using a clustering operation (for example, a DBSCAN algorithm) to obtain the position of the indoor entry to be determined.
A first selecting subunit 4032, configured to select each indoor entry position within a specified range where the distance value is smaller than the second specified threshold as a pending indoor entry position.
As an optional implementation manner, in the embodiment of the present invention, the sorting subunit 4031 may integrate each indoor entry position within the specified range and the distance value of the last positioning information into one set by using a DBSCAN algorithm, and the first selecting subunit 4032 may classify, from the set, indoor entry positions whose distance values are smaller than a specified threshold into one class, and may set the classified indoor entry position as the pending indoor entry position.
A second selecting subunit 4033, configured to select K objects from the to-be-determined indoor entry positions as initial clustering centers; wherein K is a natural number greater than 1.
In the embodiment of the invention, the electronic equipment can further perform clustering calculation on the indoor entrance position data subjected to denoising by the dbscan algorithm by using the K-means algorithm to obtain a corresponding clustering calculation result, so as to obtain the clustering center of each clustering cluster.
As an optional implementation manner, in the embodiment of the present invention, the second selecting subunit 4033 may randomly select K objects from the positions of the indoor inlets to be determined as initial clustering centers; and/or the second selecting subunit 4033 may select K objects as far as possible from each other from the entry locations in the room to be clustered as initial clustering centers; and/or the second selecting subunit 4033 may cluster the indoor entry location to be determined by using a hierarchical clustering algorithm or a Canopy algorithm to obtain K clusters, and then select a point from each cluster, where the point may be a center point of the cluster or a point closest to the center point of the cluster;
the idea of selecting K objects as far as possible from each other as the initial clustering center is as follows: first, the second selecting subunit 4033 may randomly select a point from the entry location to be determined as the first initial cluster center point, then select the point farthest from the point as the second initial cluster center point, then select the point farthest from the first two points as the third initial cluster center point, and so on until K initial cluster center points are selected.
The allocation subunit 4034 is used for allocating the position of the indoor inlet to be determined to the cluster where the nearest initial cluster center is located according to the principle of minimum distance; and the minimum distance is the minimum distance between the position of the inlet in the chamber to be determined and the initial clustering center.
As an optional implementation manner, in the embodiment of the present invention, after the allocating subunit 4034 allocates the position of the inlet in the chamber to be determined to the cluster where the nearest initial cluster center is located according to the principle of the minimum distance, the electronic device may obtain K cluster clusters.
And the calculation subunit 4035 is configured to calculate an average distance between the position of each to-be-determined indoor entry in the cluster and the initial cluster center, so as to obtain a new cluster center.
As an optional implementation manner, in the embodiment of the present invention, the calculating subunit 4035 may converge the position of each entry to be determined in the room, so as to obtain a class to which the entry should belong, where a formula of convergence is shown in the specification
Figure BDA0002183229190000221
In the above formula, C(i)Class, x, representing the position of the pending indoor entry in the cluster and the initial cluster center(i)Representing the position of the inlet, μ, in each chamber to be definedjRepresenting an initial cluster center in the cluster;
and after the calculation subunit 4035 converges the position of each to-be-determined indoor entry, the calculation subunit 4035 may calculate the class after the position of each to-be-determined indoor entry converges, so as to obtain a new clustering center, where the calculation formula is:
Figure BDA0002183229190000231
in the above formula,. mu.'jRepresenting a new cluster center, C(i)Representing the position of the pending indoor entry in the cluster and the initial clusterClass of class center, x(i)Representing the position of an inlet in each pending room, and j represents K initial clustering centers;
optionally, the second selecting subunit 4033 may select K points from the pending indoor entry positions at random as initial cluster centers, then calculate the distance from each pending indoor entry position to each of the K initial cluster centers in the first step, and then the allocating subunit 4034 may allocate each pending indoor entry position to the cluster C where the initial cluster center closest to the location of the entry position is located(i)In the first step, each pending indoor entry position has a cluster to which the entry position belongs; second, for each pending indoor entry location, compute subunit 4035 recalculates its new cluster center μ'j(average the position coordinates of all the pending indoor entrances therein). The electronic device may iterate the first and second steps repeatedly until a new cluster center μ'jUnchanged or changed little.
A detecting subunit 4036, configured to detect whether a difference between the new clustering center and the initial clustering center is smaller than a third specified threshold.
As an optional implementation manner, in the embodiment of the present invention, when the electronic device detects that the difference between the new clustering center and the initial clustering center is not less than the third specified threshold, the electronic device may replace the initial clustering center with the new clustering center and repeat iteration to perform the steps of assigning the positions of the pending indoor inlets to the closest cluster where the initial clustering center is located according to the principle of minimum distance, calculating an average distance between each of the pending indoor inlets in the cluster and the initial clustering center, to obtain the new clustering center, and detecting whether the difference between the new clustering center and the initial clustering center is less than the third specified threshold, until the difference between the new clustering center and the initial clustering center is less than the third specified threshold.
A first determining subunit 4037, configured to determine the cluster center when the difference between the new cluster center and the initial cluster center detected by the detecting subunit 4036 is smaller than a third specified threshold.
As an optional implementation manner, in an embodiment of the present invention, when the detecting subunit 4036 detects that the difference value between the new cluster center and the initial cluster center is smaller than a third specified threshold, the first determining subunit 4037 may set the new cluster center as a final cluster center.
Accordingly, in comparison with the electronic apparatus shown in fig. 5, the determination unit 404 shown in fig. 6 includes:
a second determining sub-unit 4041 for regarding each indoor entrance position included in the above-described cluster as an accurate indoor entrance position.
As an optional implementation manner, in the embodiment of the present invention, after the second determining subunit 4041 determines the cluster center, a cluster center of one or more cluster clusters may be obtained;
and if the electronic device obtains a cluster center of a cluster, the second determining subunit 4041 may use each indoor entry position included in the cluster center as an accurate indoor entry position;
and if the electronic device obtains the cluster centers of the plurality of clusters, the electronic device may detect whether most of the cluster centers of the plurality of clusters are located in the same building, and if so, the second determining subunit 4041 may determine that the building is an accurate indoor entrance position.
Therefore, by implementing another electronic device described in fig. 6, the accurate position of the indoor entrance can be found, and the accuracy of indoor positioning of the electronic device can be improved.
In addition, the implementation of another electronic device described in fig. 6 can reduce the complexity of the algorithm and improve the positioning accuracy of the positioning system.
In addition, in implementing another electronic device described in fig. 6, the electronic device does not need to prepare a training set, and the principle is simple and easy to implement.
EXAMPLE seven
Referring to fig. 7, fig. 7 is a schematic structural diagram of another electronic device according to an embodiment of the disclosure. As shown in fig. 7, the electronic device may include:
a memory 701 in which executable program code is stored;
a processor 702 coupled with the memory 701;
the processor 702 calls the executable program code stored in the memory 701 to execute any one of the indoor portal positioning methods shown in fig. 1 to 3.
The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any one indoor entrance positioning method shown in figures 1-3.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The indoor entrance positioning method and the electronic device disclosed in the embodiments of the present invention are described in detail above, and the principle and the implementation of the present invention are explained in detail herein by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A method of locating an indoor portal, the method comprising:
acquiring last positioning information of the electronic equipment before the GPS signal value is lower than a first specified threshold;
acquiring an indoor entrance position within a specified range, wherein the specified range is a range in which the last positioning information is a geometric center;
performing clustering calculation on the indoor entrance positions in the designated range to obtain a clustering center of each clustering cluster;
and determining the accurate indoor entrance position according to the clustering center.
2. The indoor portal positioning method of claim 1, wherein after determining an accurate indoor portal position according to the cluster center, the method further comprises:
storing the mapping relation between the last positioning information and the accurate indoor entrance position into an indoor entrance fingerprint database;
and, after the obtaining of the last positioning information of the electronic device before the GPS signal value is lower than the first specified threshold and before the obtaining of the indoor entry location within the specified range, the method further comprises:
detecting whether the indoor entrance fingerprint library contains the last positioning information or not; if not, controlling the electronic equipment to execute the step of acquiring the indoor entrance position within the specified range.
3. The indoor portal positioning method according to claim 2, wherein after storing the mapping relationship between the last positioning information and the accurate indoor portal location in an indoor portal fingerprint database, the method further comprises:
acquiring first identification information of peripheral WiFi hotspots of the electronic equipment; the first identification information at least comprises Mac address information of peripheral WiFi hotspots and received signal strength information of the peripheral WiFi hotspots;
calculating current position information of the electronic equipment according to the Mac address information of the peripheral WiFi hotspots and the received signal intensity information of the peripheral WiFi;
outputting the current position information to a display screen of the electronic equipment;
and/or after storing the mapping relationship between the last positioning information and the accurate indoor entrance position into an indoor entrance fingerprint database, the method further comprises:
acquiring second identification information of peripheral electronic equipment of the electronic equipment; the second identification information at least comprises position information of the peripheral electronic equipment and Bluetooth signal intensity information of the peripheral electronic equipment received by the electronic equipment;
calculating the current position information of the electronic equipment according to the position information and the Bluetooth signal intensity information;
and outputting the current position information to a display screen of the electronic equipment.
4. The indoor entrance positioning method according to claim 1, 2 or 3, wherein the performing cluster calculation on the indoor entrance positions within the specified range to obtain the cluster center of each cluster includes:
sorting the distance values between each indoor entry position in the specified range and the last positioning information from small to large;
selecting each indoor entrance position in the specified range with the distance value smaller than a second specified threshold value as a pending indoor entrance position;
selecting K objects from the pending indoor entry positions as initial clustering centers; wherein K is a natural number greater than 1;
distributing the position of the inlet in the chamber to be determined to the cluster where the nearest initial cluster center is located according to the principle of minimum distance; wherein the minimum distance is the minimum distance between the indoor entrance position to be determined and the initial clustering center;
calculating the average distance between the position of each indoor entrance to be determined in the cluster and the initial clustering center to obtain a new clustering center;
detecting whether the difference value between the new clustering center and the initial clustering center is smaller than a third specified threshold value; and if so, determining the clustering center.
5. The indoor portal positioning method of claim 4, wherein determining an accurate indoor portal location based on the cluster center comprises:
taking each said indoor entry location included in said cluster center as said accurate indoor entry location.
6. An electronic device, characterized in that the electronic device comprises:
the first acquisition unit is used for acquiring the last positioning information of the electronic equipment before the GPS signal value is lower than a first specified threshold value;
a second obtaining unit, configured to obtain an indoor entry position within a specified range, where the specified range is a range in which the last positioning information is a geometric center;
the first calculating unit is used for carrying out clustering calculation on the indoor entrance positions in the specified range to obtain the clustering centers of all clustering clusters;
and the determining unit is used for determining the accurate indoor entrance position according to the clustering center.
7. The electronic device of claim 6, further comprising:
the storage unit is used for storing the mapping relation between the last positioning information and the accurate indoor entrance position into an indoor entrance fingerprint library after the determining unit determines the accurate indoor entrance position according to the clustering center;
the detection unit is used for detecting whether the indoor entrance fingerprint database contains the last positioning information or not after the first acquisition unit acquires the last positioning information of the electronic equipment before the GPS signal value is lower than a first specified threshold value and before the second acquisition unit acquires the indoor entrance position within a specified range;
and a control unit, configured to control the second obtaining unit to perform the step of obtaining the indoor entry position within a specified range when the detection unit detects that the indoor entry fingerprint library does not contain the last positioning information.
8. The electronic device of claim 7, further comprising:
a third obtaining unit, configured to obtain first identification information of WiFi hotspots around the electronic device after the storage unit stores the mapping relationship between the last positioning information and the accurate indoor entry location in an indoor entry fingerprint database; the first identification information at least comprises Mac address information of peripheral WiFi hotspots and received signal strength information of the peripheral WiFi hotspots;
the second calculation unit is used for calculating the current position information of the electronic equipment according to the Mac address information of the peripheral WiFi hotspots and the received signal intensity information of the peripheral WiFi;
the third obtaining unit is further configured to obtain second identification information of peripheral electronic devices of the electronic device after the storage unit stores the mapping relationship between the last positioning information and the accurate indoor entry position in an indoor entry fingerprint database; the second identification information at least comprises position information of the peripheral electronic equipment and Bluetooth signal intensity information of the peripheral electronic equipment received by the electronic equipment;
the second calculating unit is further configured to calculate current location information of the electronic device according to the location information and the bluetooth signal strength information;
and the output unit is used for outputting the current position information to a display screen of the electronic equipment.
9. The electronic device of claim 6, 7 or 8, wherein the first computing unit comprises:
the sequencing subunit is used for sequencing the distance value between each indoor entry position in the specified range and the last positioning information from small to large;
the first selection subunit is used for selecting each indoor entrance position within the specified range with the distance value smaller than a second specified threshold value as an indoor entrance position to be determined;
the second selection subunit is used for selecting K objects from the inlet positions in the chamber to be determined as initial clustering centers; wherein K is a natural number greater than 1;
the distribution subunit is used for distributing the position of the indoor inlet to be determined to the cluster where the nearest initial cluster center is located according to the principle of minimum distance; wherein the minimum distance is the minimum distance between the indoor entrance position to be determined and the initial clustering center;
the calculation subunit is configured to calculate an average distance between the position of each to-be-determined indoor entry in the cluster and the initial cluster center, so as to obtain a new cluster center;
the detection subunit is used for detecting whether the difference value between the new clustering center and the initial clustering center is smaller than a third specified threshold value;
and the first determining subunit is used for determining the clustering center when the detecting subunit detects that the difference value between the new clustering center and the initial clustering center is smaller than a third specified threshold value.
10. The electronic device according to claim 9, wherein the determination unit includes:
a second determining subunit for taking each said indoor entrance position included in said cluster as said accurate indoor entrance position.
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