CN112996103A - Indoor positioning method and device, positioning equipment, robot and storage medium - Google Patents
Indoor positioning method and device, positioning equipment, robot and storage medium Download PDFInfo
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Abstract
The invention is suitable for the technical field of positioning, and provides an indoor positioning method, an indoor positioning device, positioning equipment, a robot and a storage medium, wherein the method comprises the following steps: acquiring a reference altitude of a positioning target; acquiring a first moving direction, a moving speed and a moving angle of the positioning target, determining the moving direction and the moving state of the positioning target in a building, and determining the current altitude of the positioning target when the retention time of the positioning target reaches a preset time value; acquiring the floor where the positioning target is located currently according to the reference altitude, the current altitude and the moving direction; and acquiring the floor where the positioning equipment is located currently through the reference altitude, the current altitude and the floor direction. According to the invention, positioning in the height direction of the indoor space is realized by combining the altitude and the movement parameters, so that the positioning accuracy is improved.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to an indoor positioning method, an indoor positioning device, indoor positioning equipment, an indoor positioning robot and an indoor positioning storage medium.
Background
The positioning technology is deeply favored by a large number of users since birth, and the positioning technology can help the users to quickly position the target. In life, positioning needs to be performed in many scenes, for example, a search and rescue position of a search and rescue robot, a position where an automobile is parked in a parking lot, and the like.
In order to realize positioning, generally, a positioner is arranged on a target (such as a robot, an automobile and the like) to be positioned, such as a GPS, but a positioning area of the currently used positioner is limited to the outdoor and the plane, and the spatial height cannot be positioned, especially for indoor positioning, the indoor positioning is not accurate enough due to signal shielding by a building, and the positioning accuracy is poor if the robot or the automobile cannot be positioned on the fourth floor of the building or a parking lot.
Disclosure of Invention
The embodiment of the invention provides an indoor positioning method, and aims to solve the technical problem that the positioning accuracy is poor due to the fact that the spatial height cannot be positioned in the prior art.
The embodiment of the invention is realized in such a way that an indoor positioning method comprises the following steps:
acquiring a reference altitude of a positioning target;
acquiring a first moving direction, a moving speed and a moving angle of the positioning target, and determining the moving direction and the moving state of the positioning target in the building;
when the retention time of the positioning target reaches a preset time value, determining the current altitude of the positioning target;
and acquiring the floor of the positioning target at present according to the reference altitude, the current altitude and the moving direction.
The embodiment of the invention also provides an indoor positioning device, and the system comprises:
the position acquisition module is used for acquiring the reference altitude of the positioning target;
the information confirmation module is used for acquiring a first moving direction, a moving speed and a moving angle of the positioning target and determining the moving direction and the moving state of the positioning target in the detected building;
the position determining module is used for determining the current altitude of the positioning target when the staying time of the positioning target reaches a preset time value;
and the positioning module is used for acquiring the floor of the positioning target at present through the reference altitude, the current altitude and the moving direction.
The embodiment of the present invention further provides a positioning device, where the positioning device further includes:
a controller;
the detection device is electrically connected with the controller and is used for acquiring the movement direction, the movement angle and the movement speed of the positioning target;
and the air pressure sensor is electrically connected with the controller and is used for acquiring the current air pressure value.
The embodiment of the invention also provides a robot, which comprises the positioning equipment.
An embodiment of the present invention further provides a storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the indoor positioning method described above.
The invention achieves the following beneficial effects: the floor direction of the movement of the positioning target is determined by acquiring the reference altitude of the positioning target and the altitude of the final stop position and combining the movement parameters of the positioning target, so that the floor number of the final stop position of the positioning target is determined, the positioning in the indoor space altitude direction is realized, and the positioning accuracy is improved.
Drawings
Fig. 1 is a flowchart of an indoor positioning method according to a first embodiment of the present invention;
fig. 2 is a flowchart of an indoor positioning method according to a second embodiment of the present invention;
fig. 3 is a block diagram of an indoor positioning device according to a third embodiment of the present invention;
fig. 4 is a block diagram of a positioning apparatus according to a fourth embodiment of the present invention;
fig. 5 is a block diagram of a positioning apparatus in the fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention aims to provide an indoor positioning method, an indoor positioning system and a positioning target.
Example one
Referring to fig. 1, an indoor positioning method according to a first embodiment of the present invention is shown, which can be applied to a positioning device implemented by hardware and/or software, and includes steps S01 to S04.
In step S01, the reference altitude of the positioning target is acquired.
In the embodiment of the present invention, the positioning target may be a positioning device, or may be another apparatus equipped with a positioning device, such as a robot, or a vehicle.
In the embodiment of the present invention, the reference altitude may be manually entered by the user, for example, the user may input the current floor where the user is located, the system may obtain the reference altitude according to the floor, or the reference altitude may be automatically obtained by the positioning device.
In the embodiment of the present invention, the reference altitude is a position of the positioning target before entering the building or may also be a position of the positioning target when the positioning target is inside the building, when the positioning target enters the position before entering the building, the position may be set at a predetermined distance before entering the building, for example, 10m from the garage, when the positioning target reaches the position, the positioning target may be manually triggered or automatically triggered by a program to obtain the current position information, so as to obtain the reference altitude of the current position, and when the automatic obtaining manner by the program is adopted, in some optional embodiments, the distance between the positioning target and the building may be determined by a positioning and navigation map.
In an implementation, the Positioning target may use a GNSS (Global Navigation Satellite System) or a GPS (Global Positioning System) to obtain the position information of the location, such as the reference altitude. Besides the reference altitude, other position information such as geographical coordinates, directions and the like of the position can be acquired. Alternatively, in other embodiments, the localizer may also use the air pressure to calculate the reference altitude, which is calculated as:
altitude ≈ 8000(1+ t/273)/P, t is the temperature scale in Celsius, and P is the barometric pressure value in m/hPa at the current location. In addition, the altitude is corrected by the ambient temperature to determine a more accurate altitude.
Step S02, obtaining a first moving direction, a moving speed and a moving angle of the positioning target, and determining a moving direction and a moving state of the positioning target in the building.
It should be noted that the moving speed directly reflects the state of the positioning target, and a moving speed of 0 indicates that the positioning target is in the stop state, whereas the moving speed indicates that the positioning target is in the moving state. In addition, the direction of the floor of the positioning target moving in the building can be determined by judging whether the positioning target moves upwards or downwards according to the first moving direction of the positioning target and further judging whether the positioning target moves to the upper floor or the lower floor according to the moving angle of the positioning target. For example, when the first moving direction is upward movement and the moving angle is larger than the threshold value, it indicates that the position indicator is currently on a steep upward slope, and it is determined that the position indicator is on the upper floor, and the moving floor direction is the upper floor direction. In practical implementation, the direction of the upper floor can be defined as a positive direction, and the direction of the lower floor can be defined as a negative direction.
In some alternative embodiments of the present invention, the orientation indicator may utilize an acceleration sensor (e.g., a 3-axis acceleration sensor) and/or a gyroscope to obtain the first moving direction, moving speed and moving angle of the orientation indicator. This positioning target can be for the location carrier (like robot, car), and this acceleration sensor and gyroscope can be integrated on the positioning target, belong to the components and parts of positioning target, also can set up independently outside the positioning target, for example can set up on the positioning device, and this positioning device can place on this positioning target, perhaps links together with dismantling of this positioning target for detect positioning target's position, altitude etc..
And step S03, when the stay time of the positioning target reaches a preset time value, determining the current altitude of the positioning target.
When it is determined that the positioning target is not currently in the stay state or the stay time does not reach the preset time value, it represents that the positioning target still moves, and the method returns to step S02. To continue positioning the localizer.
The determining mode of the current altitude may refer to the determining mode of the reference altitude, which is not described herein again.
And step S04, acquiring the floor where the positioning target is located currently through the reference altitude, the current altitude and the moving direction.
In the embodiment of the invention, the floor where the current floor is located is obtained in the following mode:
specifically, the calculation formula of the actual altitude is as follows: the actual altitude is ± | the reference altitude-the current altitude |, the floor direction is used for determining ±, when the floor direction is the upstairs direction, the actual change altitude is | + | the reference altitude-the current altitude |, when the floor direction is the downstairs direction, the actual change altitude is | the reference altitude-the current altitude |. The current calculation formula is as follows: the actual change altitude is divided by the floor height of the building, for example, the actual change altitude of the floor where the location target is currently located is-6 m, the floor height of the building is 3m, and then the floor where the location target is currently located is the second floor.
In some optional embodiments of the invention, the floor height, the geographical position, the name and other information of each building can be collected in advance and stored in a one-to-one correspondence manner, for example, the information is recorded into a mapping table, so that the floor height of the building can be obtained by looking up the table according to the current position of the positioning target; or a general story height may be set, which may be an average or general story height of the building; or the bullet box can guide the user to input the floor height of the building when calculating the floor number.
In an embodiment of the present invention, the floor where the locator is currently located is not necessarily a determined floor, for example, a fault or a jam occurs between two floors, for example, when the robot travels between floors 2 and 3, and the locator can be considered to be currently located between floors 2 and 3.
In summary, in the indoor positioning method in this embodiment, the reference altitude of the positioning target and the altitude of the final stop position are obtained, and the moving direction of the positioning target is determined by combining the moving parameters of the positioning target, so as to determine the number of floors at the final stop position of the positioning target, thereby realizing positioning in the indoor space altitude direction and improving the positioning accuracy.
Example two
Referring to fig. 2, an indoor positioning method according to a second embodiment of the present invention is shown, which can be applied to a positioning device, where the positioning device can be implemented by hardware and/or software, and the method includes steps S11 to S16.
In step S11, the reference altitude of the positioning target is acquired.
In the embodiment of the present invention, the reference altitude is a position of the positioning target before entering the building or may also be a position of the positioning target when the positioning target is inside the building, when the positioning target enters the position before entering the building, the position may be set at a predetermined distance before entering the building, for example, 10m from the garage, when the positioning target reaches the position, the positioning target may be manually triggered or automatically triggered by a program to obtain the current position information, so as to obtain the reference altitude of the current position, and when the automatic obtaining manner by the program is adopted, in some optional embodiments, the distance between the positioning target and the building may be determined by a positioning and navigation map.
Step S12, a second moving direction of the positioning target and the position information of the building are acquired.
When the positioning target is implemented in detail, the positioning target can acquire the second moving direction of the positioning target by using an acceleration sensor (such as a 3-axis acceleration sensor) and/or a gyroscope, and in addition, the positioning target can acquire the position information of the building by using a navigation map and position location.
And step S13, when the position of the positioning target is judged to be close to the position of the detected building according to the second moving direction and the position information of the detected building, starting the positioning operation of the positioning target.
And if the second moving direction faces the position of the building, determining that the positioning target is close to the position of the building, and executing the step S14, otherwise, determining that the positioning target does not move close to the position of the building but moves away from or parallel to the position of the building, starting the positioning operation of the positioning target, and returning to execute the step S12 to continuously detect the moving direction of the positioning target.
And step S14, when the stay time of the positioning target reaches a preset time value, determining the current altitude of the positioning target.
When it is determined that the positioning target is not currently in the stay state or the stay time does not reach the preset time value, it represents that the positioning target still moves, and the method returns to step S12. To continue positioning the localizer.
The step of determining the current altitude of the localization object may be specifically implemented as the following refining steps, and the refining steps specifically include:
acquiring a current air pressure value;
and calculating the current altitude of the positioning target according to a preset algorithm according to the current air pressure value.
Wherein the preset algorithm is as follows:
the current altitude ≈ 8000(1+ t/273)/P, where t is the temperature scale in Celsius and P is the current barometric pressure value.
And step S15, acquiring the floor where the positioning target is located currently through the reference altitude, the current altitude and the direction.
Wherein, the step S15 can be implemented as the following refining steps, and the refining steps specifically include:
acquiring an actual altitude according to the floor direction and a difference value between the reference altitude and the current altitude;
and determining the floor according to the actual altitude.
In other embodiments, the floor may be reflected by combining the moving state, for example, the floor may be estimated by the moving and stopping times of the positioning targets, so as to assist in determining the accuracy of the finally calculated floor.
In step S16, the floor information of the location target is transmitted to the designated receiving end.
In the embodiment of the present invention, the designated receiving end may be a cloud platform, so that the cloud platform creates a three-dimensional map according to the floor information.
In specific implementation, the cloud platform can be in binding connection with the user terminal to transmit the created three-dimensional map to the user terminal for display, so that the positioning result is reflected to the user in a three-dimensional manner.
Further, the designated receiving end may also be a user terminal or other local control center, and the user terminal or other local control center may directly create a three-dimensional map according to the floor information, and may be combined with a third-party application, such as map software.
In some optional embodiments of the invention, after the entering of the positioning target into the building, the indoor positioning method may further comprise:
acquiring a WIFI signal in the building and acquiring a corresponding MAC address;
and determining floor positioning information of the positioning target according to the WIFI signal.
In specific implementation, after the positioning target enters a building, surrounding WIFI signals can be continuously searched to form a WIFI list. The floor information comprises the number of floors, and in specific implementation, the floor information can be extracted from the name (SSID) of the WIFI signal, for example, a corresponding MAC address is obtained from the WIFI signal, and the corresponding MAC address information is uploaded to a cloud to obtain corresponding longitude and latitude information; or network position data of surrounding users of the WIFI signal can be acquired, and floor information is determined according to the network positions of the surrounding users; or the floor information can be acquired from the registration information of the WIFI signal which can be directly connected. It should be noted that, when the positioning device is on a certain floor, the searched WIFI signal is not limited to the floor, for example, when the floor 2 is used, the WIFI signal of the floor 3 can also be acquired, so when searching for the surrounding WIFI signal, the searched WIFI signal can be screened according to the signal strength, the WIFI signal whose signal strength is greater than the threshold value can be selected, that is, the position is determined according to the strength of the WIFI signal.
It should be noted that the floor information determined by the WIFI signal is used to assist in determining the accuracy of the finally calculated floor number, and the reliability of the indoor positioning method is improved. In addition, the step of determining the floor information according to the WIFI signal is an unnecessary step, and in some alternative embodiments, the step may be selectively performed, or may be directly skipped when the WIFI signal is not searched.
EXAMPLE III
Referring to fig. 3, an indoor positioning apparatus according to a fourth embodiment of the present invention is applied to a positioning device, where the positioning device can be implemented by hardware and/or software, and the indoor positioning apparatus includes:
a position obtaining module 11, configured to obtain a reference altitude of the positioning target;
the information confirming module 12 is configured to obtain a first moving direction, a moving speed, and a moving angle of the positioning target, and determine a moving direction and a moving state of the positioning target in the detected building;
the state judgment module 13 is configured to determine a current altitude of the positioning target when it is judged that the retention time of the positioning target reaches a preset time value;
and the positioning module 14 is configured to obtain the floor where the positioning target is located currently according to the reference altitude, the current altitude and the moving direction.
In the embodiment of the present invention, the reference altitude is a position of the positioning target before entering the building or may also be a position of the positioning target when the positioning target is inside the building, when the positioning target enters the position before entering the building, the position may be set at a predetermined distance before entering the building, for example, 10m from the garage, when the positioning target reaches the position, the positioning target may be manually triggered or automatically triggered by a program to obtain the current position information, so as to obtain the reference altitude of the current position, and when the automatic obtaining manner by the program is adopted, in some optional embodiments, the distance between the positioning target and the building may be determined by a positioning and navigation map.
In an implementation, the Positioning target may use a GNSS (Global Navigation Satellite System) or a GPS (Global Positioning System) to obtain the position information of the location, such as the reference altitude. Besides the reference altitude, other position information such as geographical coordinates, directions and the like of the position can be acquired. Alternatively, in other embodiments, the localizer may use barometric pressure to calculate the reference altitude.
It should be noted that the moving speed directly reflects the state of the positioning target, and a moving speed of 0 indicates that the positioning target is in the stop state, whereas the moving speed indicates that the positioning target is in the moving state. In addition, the direction of the floor of the positioning target moving in the building can be determined by judging whether the positioning target moves upwards or downwards according to the first moving direction of the positioning target and further judging whether the positioning target moves to the upper floor or the lower floor according to the moving angle of the positioning target. For example, when the first moving direction is upward movement and the moving angle is larger than the threshold value, it indicates that the position indicator is currently on a steep upward slope, and it is determined that the position indicator is on the upper floor, and the moving floor direction is the upper floor direction. In practical implementation, the direction of the upper floor can be defined as a positive direction, and the direction of the lower floor can be defined as a negative direction.
In some alternative embodiments of the present invention, the orientation indicator may utilize an acceleration sensor (e.g., a 3-axis acceleration sensor) and/or a gyroscope to obtain the first moving direction, moving speed and moving angle of the orientation indicator. This positioning target can be for the location carrier (like robot, car), and this acceleration sensor and gyroscope can be integrated on the positioning target, belong to the components and parts of positioning target, also can set up independently outside the positioning target, for example can set up on the positioning device, and this positioning device can place on this positioning target, perhaps links together with dismantling of this positioning target for detect positioning target's position, altitude etc..
Specifically, the calculation formula of the actual altitude is as follows: the actual change altitude is ± | the reference altitude-the current altitude |, the floor direction is used for determining ±, when the floor direction is the upstairs direction, the actual change altitude is | + | the reference altitude-the current altitude |, when the floor direction is the downstairs direction, the actual change altitude is | the reference altitude-the current altitude |. The current calculation formula is as follows: the actual change altitude is divided by the floor height of the building, for example, the actual change altitude of the floor where the location target is currently located is-6 m, the floor height of the building is 3m, and then the floor where the location target is currently located is the second floor.
In some optional embodiments of the invention, the floor height, the geographical position, the name and other information of each building can be collected in advance and stored in a one-to-one correspondence manner, for example, the information is recorded into a mapping table, so that the floor height of the building can be obtained by looking up the table according to the current position of the positioning target; or a general story height may be set, which may be an average or general story height of the building; or the bullet box can guide the user to input the floor height of the building when calculating the floor number.
In an embodiment of the present invention, the floor where the locator is currently located is not necessarily a determined floor, for example, a fault or a jam occurs between two floors, for example, when the robot travels between floors 2 and 3, and the locator can be considered to be currently located between floors 2 and 3.
In conclusion, the indoor positioning device in the embodiment determines the actual altitude and the floor number of the final stop position of the positioning target by acquiring the altitude of the final stop position of the positioning target before and after entering the building and combining the moving parameters of the positioning target, so as to realize positioning in the direction of the spatial altitude and improve the positioning accuracy.
Further, in some alternative embodiments of the present invention, the system further comprises:
the WIFI acquisition module is used for acquiring WIFI signals in the building and acquiring corresponding MAC addresses;
and the information confirmation module is used for determining the floor positioning information of the positioning target according to the WIFI signal.
Further, in some alternative embodiments of the present invention, the positioning module 15 includes:
an altitude acquisition unit for acquiring an actual altitude according to the floor direction and a difference between the reference altitude and the current altitude;
and the floor determining unit is used for determining the floor according to the actual altitude.
Further, in some alternative embodiments of the present invention, the system further comprises:
the data acquisition module is used for acquiring a second moving direction of the positioning target and the position information of the building;
the movement judgment module is used for starting the positioning operation of the positioning target when judging that the positioning target approaches to the position of the detected building according to the second movement direction and the position information of the detected building;
when the position of the location target is determined to be close to the position of the building, the information confirmation module 12 obtains the first moving direction, the moving speed and the moving angle of the location target, and determines the moving direction and the moving state of the location target in the building.
Further, in some alternative embodiments of the present invention, the system further comprises:
and the data sending module is used for sending the floor information of the positioning target to the appointed receiving terminal.
In specific implementation, the cloud platform can be in binding connection with the user terminal to transmit the created three-dimensional map to the user terminal for display, so that the positioning result is reflected to the user in a three-dimensional manner.
Further, the designated receiving end may also be a user terminal or other local control center, and the user terminal or other local control center may directly create a three-dimensional map according to the floor information, and may be combined with a third-party application, such as map software.
Further, in some alternative embodiments of the present invention, the position determining module 14 includes:
the air pressure acquisition unit is used for acquiring a current air pressure value;
and the altitude calculation unit is used for calculating the current altitude of the positioning target according to the current air pressure value and a preset algorithm.
Wherein the preset algorithm is as follows:
the current altitude ≈ 8000(1+ t/273)/P, where t is the temperature scale in Celsius and P is the current barometric pressure value.
The functions or operation steps of the modules and units when executed are substantially the same as those of the method embodiments, and are not described herein again.
Example four
In another aspect, the present invention further provides a positioning apparatus, referring to fig. 4 and fig. 5, which shows a positioning apparatus according to a fourth embodiment of the present invention, the positioning apparatus includes: a controller 10 including the indoor positioning device according to the third embodiment; a detection device 20 electrically connected with the controller and used for acquiring the movement direction, the movement angle and the movement speed of the positioning target; and an air pressure sensor 30 electrically connected to the controller 10 for acquiring a current air pressure value.
The detecting device 20 may be an acceleration sensor and/or a gyroscope, or an inertial navigation system, etc.
In the embodiment of the invention, the controller can be a single chip microcomputer.
In an embodiment of the present invention, the positioning apparatus further includes:
and the WIFI signal detector 40 is electrically connected with the controller and used for acquiring WIFI signals. The WIFI signal detector 40 may detect surrounding WIFI signals, so that the positioning device further determines the floor where the positioning device is currently located according to the detected WIFI signals.
In an implementation scenario of the present invention, the positioning device may be applied to a robot, such as a fire-fighting robot, a search and rescue robot, and when the position of the robot cannot be confirmed due to environmental factors or other factors, the floor where the robot is located may be obtained by the indoor positioning method, or the positioning device may be applied to an automobile, so that when the automobile is forgotten to park on that floor, the specific parking floor of the automobile may be obtained by the indoor positioning method, or the positioning device may also be worn on a pet or a person, for example, the positioning device may be integrated on a wearing ornament to be worn on the pet or the person, so that when the pet or the person is lost, the position and the floor where the pet or the person is located may be obtained by the indoor positioning method. The above application scenario is an exemplary scenario and is not taken as a limitation on the application scenario of the positioning device, and the positioning device can be applied to any scenario in which a floor where a positioning target is located is required.
In an embodiment of the present invention, the positioning apparatus further comprises a processor 50, a memory 60, and a computer program 70 stored on the memory and executable on the processor, wherein when the processor 50 executes the computer program 70, the positioning apparatus performs the indoor positioning method described above.
The memory 60 includes at least one type of readable storage medium including flash memory, hard disk, multi-media card, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 60 may in some embodiments be an internal storage unit of the positioning device, for example a hard disk of the positioning device. The memory 60 may also be an external storage device of the positioning device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the positioning device. Further, the memory 60 may also include both internal and external storage units of the positioning device. The memory 60 can be used not only to store application software and various types of data installed in the positioning apparatus, but also to temporarily store data that has been output or will be output.
Optionally, the positioning device may further comprise a user interface, a network interface, a communication bus, etc., the user interface may comprise a Display (Display), an input unit such as a remote control, physical keys, etc., and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the positioning device and for displaying a visualized user interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), typically used to establish a communication link between the pointing device and other electronic devices. The communication bus is used to enable connection communication between these components.
It should be noted that the configuration shown in fig. 5 does not constitute a limitation of the positioning device, which in other embodiments may comprise fewer or more components than shown, or some components may be combined, or a different arrangement of components.
To sum up, the positioning device in the embodiment determines the actual altitude and the number of floors of the final stop position of the positioning target by acquiring the altitude of the final stop position of the positioning target before and after entering the building and by detecting the movement parameters of the positioning target, thereby realizing positioning in the direction of the altitude of the space and improving the positioning accuracy.
Example V,
The embodiment of the invention also provides a robot, which comprises the positioning equipment in the fourth embodiment.
The positioning apparatus includes: a controller 10 including the indoor positioning device according to the third embodiment; a detection device 20 electrically connected with the controller and used for acquiring the movement direction, the movement angle and the movement speed of the positioning target; and an air pressure sensor 30 electrically connected to the controller 10 for acquiring a current air pressure value.
The detecting device 20 may be an acceleration sensor and/or a gyroscope, or an inertial navigation system.
In the embodiment of the invention, the controller can be a single chip microcomputer.
In an embodiment of the present invention, the positioning apparatus further includes:
and the WIFI signal detector 40 is electrically connected with the controller and used for acquiring WIFI signals. The WIFI signal detector 40 may detect surrounding WIFI signals, so that the positioning device further determines the floor where the positioning device is currently located according to the detected WIFI signals.
In the embodiment of the invention, the positioning equipment can be applied to robots, such as fire-fighting robots, search and rescue robots and the like, and when the position of the robot cannot be confirmed due to environmental factors or other factors, the floor where the robot is located can be obtained through the indoor positioning method.
In the embodiment of the invention, the positioning equipment is arranged on the robot, and the robot determines the actual altitude and the floor number of the final stop position of the robot by acquiring the altitude of the final stop position before and after the robot enters the building and combining the movement parameters of the positioning equipment to determine the actual altitude and the floor number of the final stop position of the robot, thereby realizing the positioning in the direction of the spatial height and improving the positioning accuracy.
The present embodiment also provides a storage medium on which a computer program 70 used in the above-described positioning apparatus is stored, which program, when executed by a processor, implements the above-described indoor positioning method.
The storage medium may be, but is not limited to, ROM/RAM, magnetic disk, optical disk, etc.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (16)
1. An indoor positioning method, characterized in that the method comprises:
acquiring a reference altitude of a positioning target;
acquiring a first moving direction, a moving speed and a moving angle of the positioning target, and determining the moving direction and the moving state of the positioning target in the building;
when the retention time of the positioning target reaches a preset time value, determining the current altitude of the positioning target;
and acquiring the floor of the positioning target at present according to the reference altitude, the current altitude and the moving direction.
2. The indoor positioning method of claim 1, further comprising the steps of:
acquiring WIFI signals in a building and acquiring corresponding MAC addresses;
and determining floor positioning information of the positioning target according to the WIFI signal.
3. The indoor positioning method as claimed in claim 1, further comprising, after the step of acquiring the reference altitude of the positioning target:
acquiring a second moving direction of the positioning target and position information of the building;
and when the position of the positioning target is judged to be close to the position of the detected building according to the second moving direction and the position information of the detected building, starting the positioning operation of the positioning target.
4. The indoor positioning method as claimed in any one of claims 1 to 3, further comprising, after the step of obtaining an actual altitude and the number of floors of the floor where the vane is currently located through the reference altitude, the current altitude and the floor direction:
and sending the floor information of the positioning target to a designated receiving end.
5. The indoor positioning method of claim 1, wherein the step of determining the current altitude of the positioning target comprises:
acquiring a current air pressure value of the position of the positioning target;
and calculating the current altitude of the positioning target according to a preset algorithm according to the current air pressure value.
6. The indoor positioning method of claim 5, wherein the preset algorithm is:
the current altitude ≈ 8000(1+ t/273)/P, where t is the temperature scale in Celsius and P is the current barometric pressure value.
7. An indoor positioning device, the system comprising:
the position acquisition module is used for acquiring the reference altitude of the positioning target;
the information confirmation module is used for acquiring a first moving direction, a moving speed and a moving angle of the positioning target and determining the moving direction and the moving state of the positioning target in the detected building;
the position determining module is used for determining the current altitude of the positioning target when the staying time of the positioning target reaches a preset time value;
and the positioning module is used for acquiring the floor of the positioning target at present through the reference altitude, the current altitude and the moving direction.
8. The indoor positioning apparatus of claim 7, wherein the system further comprises:
the WIFI acquisition module is used for acquiring WIFI signals and acquiring corresponding MAC addresses;
and the information confirmation module is used for determining the floor positioning information of the positioning target according to the WIFI signal.
9. The indoor positioning apparatus of claim 7, wherein the system further comprises:
the data acquisition module is used for acquiring a second moving direction of the positioning target and the position information of the detected building;
and the movement judgment module is used for starting the positioning operation of the positioning target when judging that the positioning target approaches to the position of the detected building according to the second movement direction and the position information of the detected building.
10. The indoor positioning apparatus of claim 7, wherein the system further comprises:
and the data sending module is used for sending the floor information of the positioning target to the appointed receiving terminal.
11. The indoor positioning apparatus of claim 7, wherein the position determination module comprises:
the air pressure acquisition unit is used for acquiring the current air pressure value of the position of the positioning target;
and the altitude calculation unit is used for calculating the current altitude of the positioning target according to the current air pressure value and a preset algorithm.
12. The indoor positioning apparatus of claim 11, wherein the preset algorithm is:
the current altitude ≈ 8000(1+ t/273)/P, where t is the temperature scale in Celsius and P is the current barometric pressure value.
13. A positioning apparatus, characterized in that the positioning apparatus comprises:
a controller comprising an indoor positioning device as claimed in any one of claims 7 to 12;
the detection device is electrically connected with the controller and is used for acquiring the movement direction, the movement angle and the movement speed of the positioning target;
and the air pressure sensor is electrically connected with the controller and is used for acquiring the current air pressure value.
14. The positioning apparatus of claim 13, wherein the positioning apparatus further comprises:
and the WIFI signal detector is electrically connected with the controller and used for acquiring WIFI signals.
15. A robot, characterized in that the robot comprises a positioning apparatus according to claims 13-14.
16. A storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, realizes the indoor positioning method of any one of claims 1 to 6.
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