CN113055819A - Indoor positioning method, system and storage medium - Google Patents
Indoor positioning method, system and storage medium Download PDFInfo
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- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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Abstract
The invention discloses an indoor positioning method, a system and a storage medium, wherein the indoor positioning method comprises the following steps: determining an initial positioning position of a mobile terminal; determining a real-time positioning data point of the mobile terminal based on the WiFi signal strength and by combining an inertial navigation method; acquiring a current indoor scene map, and setting a geometric constraint condition according to the current indoor scene map; and deleting wrong real-time positioning data points according to the geometric constraint condition so as to determine the current positioning position. The indoor positioning method can solve the problem that the existing indoor positioning technology cannot meet the requirements of economy, high reliability and accurate precision.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method, an indoor positioning system and a storage medium.
Background
The existing indoor positioning technologies are various, and a WiFi indoor positioning technology, a Bluetooth indoor positioning technology, an infrared indoor positioning technology, a radio frequency identification indoor positioning technology (RFID), a ZigBee indoor positioning technology and an ultra wide band indoor positioning technology (uwb) are mainly used for indoor positioning at present. These positioning techniques vary in cost and accuracy and have advantages. WiFi positioning accuracy can reach the meter level, positioning cost is low, the receiving and transmitting range of positioning signals is large, and the positioning signals are easily interfered by other signals; the Bluetooth positioning precision is 2-3 m, the Bluetooth positioning technology has the advantages of high safety, low cost, low power consumption and small equipment volume, but the technology is easily interfered by external noise signals, the signal stability is poor, and the communication range is small; the positioning accuracy of uwb can reach centimeter level, the range is 50m-100m, but the system construction cost is too high and the coverage range is small; geomagnetic positioning does not need to depend on environment and hardware, no accumulated error exists, cost is low, but signals are easy to interfere and have poor stability; the inertial navigation positioning data is stable, but the data error is accumulated quickly.
However, because the indoor positioning difficulty is high and the accuracy requirement is high, it is difficult for a single indoor positioning technology to meet the practical requirements of economy, high reliability and accurate accuracy.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an indoor positioning method, and aims to solve the problem that the existing indoor positioning technology cannot meet the requirements of economy, high reliability and accurate precision.
In order to achieve the above object, the present invention provides an indoor positioning method, which includes the following steps:
determining an initial positioning position of a mobile terminal;
determining a real-time positioning data point of the mobile terminal based on the WiFi signal strength and by combining an inertial navigation method;
acquiring a current indoor scene map, and setting a geometric constraint condition according to the current indoor scene map;
and deleting wrong real-time positioning data points according to the geometric constraint condition so as to determine the current positioning position.
Further, before the step of determining the initial positioning position of the mobile terminal, the indoor positioning method further includes:
establishing a WiFi fingerprint database based on the existing WiFi base station;
and determining the initial positioning position of the mobile terminal through the WiFi fingerprint database.
Further, the step of determining the initial positioning position of the mobile terminal comprises:
acquiring current WiFi signal intensity information of the mobile terminal;
and comparing the current WiFi signal strength information with the WiFi fingerprint database to determine the initial positioning position of the mobile terminal.
Further, the step of determining the real-time location data point of the mobile terminal based on the WiFi signal strength and by combining an inertial navigation method includes:
calculating to obtain a WiFi signal reliable value based on the WiFi signal strength;
if the WiFi signal reliability value is larger than a first set value, comparing the current WiFi signal strength information with the WiFi fingerprint database by acquiring the current WiFi signal strength information of the mobile terminal to determine the real-time positioning data point of the mobile terminal, and assigning the real-time positioning data point as a starting point to a pedestrian dead reckoning algorithm;
if the WiFi signal reliable value is smaller than a first set value, calculating to obtain the real-time positioning data point by taking the initial positioning position as the starting point through a pedestrian dead reckoning algorithm;
and if the WiFi signal reliable value is within the range from the first set value to the second set value, weighting the real-time positioning data points obtained by calculation through the WiFi fingerprint database and the real-time positioning data points obtained by calculation through the pedestrian dead reckoning to determine the real-time positioning data points.
Further, the step of obtaining a current indoor scene map and setting a geometric constraint condition according to the current indoor scene map includes:
acquiring a current indoor scene map, extracting an unreachable area according to the current indoor scene map, and setting a geometric constraint condition according to the unreachable area;
wherein the unreachable region comprises: outdoor, wall, table, large-scale object placing table, and artificially regulated pedestrian exclusion zone.
Further, the geometric constraints include:
the real-time location data point cannot be within the unreachable region;
the real-time positioning data points cannot coincide with the geometric feature points of the inaccessible area;
a line between adjacent ones of the real-time location data points cannot pass through the unreachable region;
a line between adjacent ones of the real-time location data points cannot be within the unreachable region.
In addition, to achieve the above object, the present invention also provides an indoor positioning system, including: the indoor positioning system comprises a memory, a processor and an indoor positioning program which is stored on the memory and can run on the processor, wherein the indoor positioning program realizes the steps of the indoor positioning method when being executed by the processor.
In addition, to achieve the above object, the present invention also provides an indoor positioning system, comprising:
the basic data acquisition module is used for acquiring the current WiFi signal intensity information of the mobile terminal;
the data processing module is used for determining the real-time positioning data point of the mobile terminal based on the WiFi signal strength by combining an inertial navigation method;
the cloud database is used for storing the current indoor scene map and the WiFi fingerprint database;
and the application module is used for displaying the real-time positioning data points of the mobile terminal.
The data processing module further comprises:
further, a trajectory optimization submodule is used for optimizing the real-time positioning data points according to a trajectory optimization method and conjecturing the indoor real-time trajectory of the mobile terminal; the track optimization method comprises a Kalman filtering method, a mean filtering method and a median filtering method.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, wherein the computer readable storage medium stores an indoor positioning program, and the indoor positioning program, when executed by a processor, implements the steps of the indoor positioning method
According to the invention, through the fusion of the WiFi positioning method and the inertial navigation positioning method, the defect of a single positioning method can be made up, meanwhile, geometric constraint conditions are set through the current indoor scene map, the geometric constraint conditions are utilized, wrong real-time positioning data points are deleted, and the accuracy of the current positioning position is improved. In addition, WiFi transmitters are generally installed in indoor public places at present, additional arrangement is not needed, inertial navigation is also configured in a mobile terminal, additional configuration is also not needed, and the requirements of economy, high reliability and accurate precision can be met simultaneously.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a first embodiment of an indoor positioning method according to the present invention;
FIG. 3 is a schematic structural diagram of a first embodiment of an indoor positioning system according to the present invention;
fig. 4 is a schematic structural diagram of an indoor positioning system according to a second embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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 main solution of the embodiment of the invention is as follows:
reading identification information for marking the cooking object to determine the current object to be cooked;
determining an initial positioning position of a mobile terminal;
determining a real-time positioning data point of the mobile terminal based on the WiFi signal strength and by combining an inertial navigation method;
acquiring a current indoor scene map, and setting a geometric constraint condition according to the current indoor scene map;
and deleting wrong real-time positioning data points according to the geometric constraint condition so as to determine the current positioning position.
Because the indoor positioning difficulty is high and the accuracy requirement is high, the single indoor positioning technology is difficult to meet the actual requirements of economy, high reliability and accurate accuracy.
The invention provides a solution, which can make up the defects of a single positioning method through the fusion of a WiFi positioning method and an inertial navigation positioning method, and meanwhile, sets a geometric constraint condition through a current indoor scene map, deletes wrong real-time positioning data points by utilizing the geometric constraint condition, and improves the accuracy of the current positioning position. In addition, WiFi transmitters are generally installed in indoor public places at present, additional arrangement is not needed, inertial navigation is also configured in a mobile terminal, additional configuration is also not needed, and the requirements of economy, high reliability and accurate precision can be met simultaneously.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The device can be an intelligent cooking device, particularly an intelligent mobile phone, or the device can also be a server and is in data transmission with the intelligent cooking device through a communication module; or the apparatus may be a wearable device.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a communication module 1003, and a memory 1004. Wherein a communication bus 1002 is used to enable connective communication between these components. The network interface 1003 may optionally be a wireless interface (e.g., WI-FI interface), a bluetooth interface, a ZIGBEE wireless network interface, or the like. The memory 1004 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1004 may alternatively be a storage device separate from the processor 1001.
The communication module 1003 in the present invention includes a WIFI module or a bluetooth module that can communicate with a control terminal such as a wearable device or a smart phone.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1004, which is a type of computer storage medium, may include an operating system and an indoor positioning program therein.
In the terminal shown in fig. 1, the processor 1001 may be configured to call an indoor positioning program stored in the memory 1004 and perform operations in the following various embodiments of the indoor positioning method.
The invention also provides an indoor positioning method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the indoor positioning method of the invention.
In this embodiment, the indoor positioning method is applied to a cooking apparatus, and the indoor positioning method includes:
step S110, determining an initial positioning position of a mobile terminal;
step S120, determining a real-time positioning data point of the mobile terminal based on WiFi signal strength and by combining an inertial navigation method;
step S130, acquiring a current indoor scene map, and setting a geometric constraint condition according to the current indoor scene map.
Step S140, deleting the erroneous real-time positioning data points according to the geometric constraint condition to determine the current positioning position.
In the embodiment, the defects of a single positioning method can be overcome by the fusion of the WiFi positioning method and the inertial navigation positioning method, and meanwhile, the geometric constraint conditions are set through the current indoor scene map, the wrong real-time positioning data points are deleted by utilizing the geometric constraint conditions, and the accuracy of the current positioning position is improved. In addition, WiFi transmitters are generally installed in indoor public places at present, additional arrangement is not needed, inertial navigation is also configured in a mobile terminal, additional configuration is also not needed, and the requirements of economy, high reliability and accurate precision can be met simultaneously.
Further, in an embodiment, step S110: before the step of determining the initial positioning position of the mobile terminal, the indoor positioning method further includes:
and establishing a WiFi fingerprint database based on the existing WiFi base station.
Step S110 includes:
acquiring current WiFi signal intensity information of the mobile terminal;
and comparing the current WiFi signal strength information with the WiFi fingerprint database to determine the initial positioning position of the mobile terminal.
The data processing module compares the WiFi signal collected by the basic data acquisition module with the fingerprint data in the existing fingerprint database so as to determine the initial position (x) of the pedestrian0,y0)。
Further, in an embodiment, step S140 includes:
step A, calculating to obtain a WiFi signal reliable value based on the WiFi signal strength;
step B, if the WiFi signal reliability value is larger than a first set value, comparing the current WiFi signal strength information with the WiFi fingerprint database by acquiring the current WiFi signal strength information of the mobile terminal to determine the real-time positioning data point of the mobile terminal, and assigning the real-time positioning data point as a starting point to a pedestrian dead reckoning algorithm;
if the WiFi signal reliable value is smaller than a first set value, calculating to obtain the real-time positioning data point by taking the initial positioning position as the starting point through a pedestrian dead reckoning algorithm;
and if the WiFi signal reliable value is within the range from the first set value to the second set value, weighting the real-time positioning data points obtained by calculation through the WiFi fingerprint database and the real-time positioning data points obtained by calculation through the pedestrian dead reckoning to determine the real-time positioning data points.
It is understood that since inertial navigation can have an accumulation of errors, WiFi signal strength can be affected by ambient conditions, and a single positioning method can result in measurement errors. Therefore, a scheme for fusing measurement is designed, WiFi positioning information is used as an initial position, and a pedestrian real-time positioning data point is obtained by adopting a WiFi and inertial navigation fusion positioning method in the pedestrian moving process. In order to avoid inertial navigation error accumulation, a simple correction method is provided, high-precision WiFi positioning information is used for correcting inertial navigation positioning information, error accumulation in inertial navigation positioning is prevented, and two positioning modes can exert advantages of the two positioning modes to the greater extent. And moreover, by detecting the credibility between the information sources, the position information calculated by the WiFi positioning method is directly assigned to the inertial navigation algorithm, so that the calculated amount of the processor can be reduced.
In the technical solution disclosed in this embodiment, the inertial navigation positioning principle is to calculate the step length and direction of the pedestrian by using a Pedestrian Dead Reckoning (PDR) algorithm. And transmitting the pedestrian trajectory point data presumed by using the PDR into the real-time positioning processing submodule, and simultaneously transmitting the WiFi positioning data into the real-time positioning processing submodule. The three-dimensional information of the pedestrian trajectory point can be represented as a 6-dimensional vector as follows:
wherein, IiThree-dimensional position information x representing a pedestrian at time ii,yiRespectively representing the position coordinates, z, of the ith step plane of the pedestrian obtained by WiFi positioning or PDR algorithmiThe ground height of the pedestrian is measured by a pressure sensor; si,i-1Indicating the step size, ψ, of the pedestrian at time i and i-1iIndicating the heading angle, V, of the pedestrian at step iiIs a 6-dimensional system noise.
The pressure sensor principle is as follows: based on the air pressure measurement, the atmospheric pressure in the gravity field is reduced along with the increase of the height of the target, so the air pressure value measured by the barometer can be converted to obtain the height of the ground where the pedestrian is located, and further the floor information is obtained.
The height is calculated by the formula
Wherein p is the measured air pressure value, p0Is the standard atmospheric pressure value of 101.325 KPa.
Calculating next point position information (x) from initial position information obtained by WiFi positioning1,y1) The displacement can be estimated by a typical step frequency-step size model, the heading angle psiiThe map constraint information can be obtained by combining a magnetometer sensor and a gyroscope sensor and combining the map constraint information, which is common knowledge of the skilled person and is not repeated herein.
Further, step B comprises:
acquiring a current indoor scene map, extracting an unreachable area according to the current indoor scene map, and setting a geometric constraint condition according to the unreachable area;
wherein the unreachable region comprises: outdoor, wall, table, large-scale object placing table, and artificially regulated pedestrian exclusion zone.
Further, the geometric constraint condition includes:
the real-time location data point cannot be within the unreachable region;
the real-time positioning data points cannot coincide with the geometric feature points of the inaccessible area;
a line between adjacent ones of the real-time location data points cannot pass through the unreachable region;
a line between adjacent ones of the real-time location data points cannot be within the unreachable region.
It can be understood that, in this example, the error real-time positioning data point is deleted through the inaccessible area in the indoor map, so as to achieve the effect of improving the accuracy of the current positioning position.
In the positioning in the industrial field, people, property and vehicles need to be positioned with high precision in the currently promoted intelligent warehouse; on an industrial production line, a production machine can carry out automatic and beneficial production only by accurately positioning production materials; local dangerous areas need to be positioned and managed in patrolling and examining of a power plant, a transformer substation, a wind field and the like, and meanwhile, patrolling and examining tracks of personnel are positioned. Therefore, many industries nowadays need assistance of indoor positioning to enable services to be conducted safely and efficiently, but the existing various indoor positioning technologies and map matching algorithms are not enough, professionals in the field of indoor positioning need to screen and integrate from the various complex technologies and algorithms, and a set of complete indoor positioning system is formed under the support of a computer system, so that the cost is reduced as much as possible under the condition of meeting the precision requirement, the service performance is improved, and the use feeling of application personnel is improved. This technology to application transition is a necessary process to theorize it as a practical productivity.
In addition, the present invention also provides an indoor positioning system, including: a memory, a processor, and an indoor positioning program stored on the memory and executable on the processor, the indoor positioning program when executed by the processor implementing the steps of:
determining an initial positioning position of a mobile terminal;
determining a real-time positioning data point of the mobile terminal based on the WiFi signal strength and by combining an inertial navigation method;
acquiring a current indoor scene map, and setting a geometric constraint condition according to the current indoor scene map;
and deleting wrong real-time positioning data points according to the geometric constraint condition so as to determine the current positioning position.
It should be noted that the embodiments of the cooking apparatus are substantially the same as the embodiments of the indoor positioning method, and detailed description thereof is omitted.
In addition, the present invention also provides an indoor positioning system, which includes:
the basic data acquisition module is used for acquiring the current WiFi signal intensity information of the mobile terminal;
the data processing module is used for determining the real-time positioning data point of the mobile terminal based on the WiFi signal strength by combining an inertial navigation method;
the cloud database is used for storing the current indoor scene map and the WiFi fingerprint database;
and the application module is used for displaying the real-time positioning data points of the mobile terminal.
Further, a data processing module comprising:
the real-time positioning data processing sub-module is used for receiving and acquiring real-time positioning data points in the WiFi positioning data and inertial navigation positioning data sub-module; in order to improve the indoor positioning precision, the data processing module firstly acquires a current indoor scene map from the cloud database according to the preliminary positioning pedestrian track points, matches the preliminary positioning pedestrian track points with the existing indoor map vector data, and removes some obvious wrong pedestrian track points according to the existing geometric constraint conditions of the vector map.
Calling out an existing indoor map from a cloud database, wherein the geometric constraint conditions mainly comprise: the search neighborhood of the current real-time positioning data point is a circle with the maximum step limiting value as the radius; the line connecting the next point and the first point cannot pass through the inaccessible area; the unreachable area cannot contain a connecting line of the next point and the first point; the line connecting the next point to the first point may not coincide with the outer boundary of the room and the next point may not be within the inaccessible area. The next point cannot coincide with a geometric feature point of the corner. The inaccessible area comprises an outdoor area, a wall body, a table, a large object placing table, a manually specified pedestrian forbidden area and the like.
The track optimization submodule is used for optimizing the preliminarily processed indoor positioning data according to the existing track optimization method and presuming the real-time track of the trip person in the building; the trajectory optimization method may be any one or a combination of the existing optimization methods, such as kalman filtering, mean filtering, and median filtering, and the specific principle thereof is not described herein again.
Further, the basic data acquisition module comprises:
the WiFi signal base station is used for receiving a pedestrian real-time positioning information request sent by the basic data acquisition module and acquiring corresponding WiFi signal data;
and the mobile terminal is used for receiving the real-time positioning information of the pedestrian sent by the basic data acquisition module and acquiring corresponding inertial navigation data.
The mobile terminal can receive WiFi signals and equipment with built-in inertial navigation (an accelerometer, a gyroscope, a magnetometer and a pressure sensor). The mobile terminal is not limited to a smart phone, but also can be a portable label, a wearable bracelet and the like, can be well applied to the scenes of industrial production lines, judicial examinations, safety inspection, hospitals and the like, and is simple and rapid to operate.
Specifically, indoor pedestrian real-time position information is collected by utilizing an indoor WiFi signal base station and pedestrian-carried mobile equipment with inertial navigation, and is transmitted into a data processing module.
Further, the cloud database comprises:
the indoor electronic map database is used for storing an electronic map of an indoor scene;
and the track database is used for receiving the corrected pedestrian track points transmitted by the data processing module, line data composed of the track points and the like, and simultaneously sending the real-time positioning data to the application module.
The cloud database needs to respond to commands of the data processing module and the application module in time.
Further, the application module is configured to display the real-time positioning data point of the mobile terminal. The application module comprises: a pedestrian-oriented application module and a manager-oriented application module. The application module can be visual software facing pedestrians, voice broadcast software facing pedestrians, monitoring software facing managers and web pages facing managers.
Specifically, the optimized real-time trajectory is stored in a network database and uploaded to a monitoring terminal (application software) so as to position and monitor the position information of the pedestrian in real time.
It should be noted that the embodiments of the cooking apparatus are substantially the same as the embodiments of the indoor positioning method, and detailed description thereof is omitted.
Furthermore, the present invention also provides a computer readable storage medium, on which an indoor positioning program is stored, which when executed by a processor implements the steps of the indoor positioning method as described above.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the indoor positioning method, and will not be described in detail herein.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An indoor positioning method, characterized by comprising the steps of:
determining an initial positioning position of a mobile terminal;
determining a real-time positioning data point of the mobile terminal based on the WiFi signal strength and by combining an inertial navigation method;
acquiring a current indoor scene map, and setting a geometric constraint condition according to the current indoor scene map;
and deleting wrong real-time positioning data points according to the geometric constraint condition so as to determine the current positioning position.
2. The indoor positioning method as claimed in claim 1, wherein before the step of determining the initial positioning position of the mobile terminal, the indoor positioning method further comprises:
establishing a WiFi fingerprint database based on the existing WiFi base station;
and determining the initial positioning position of the mobile terminal through the WiFi fingerprint database.
3. The indoor positioning method of claim 2, wherein the step of determining the initial positioning position of the mobile terminal comprises:
acquiring current WiFi signal intensity information of the mobile terminal;
and comparing the current WiFi signal strength information with the WiFi fingerprint database to determine the initial positioning position of the mobile terminal.
4. The indoor positioning method as claimed in claim 3, wherein the step of determining the real-time positioning data point of the mobile terminal based on the WiFi signal strength in combination with the inertial navigation method comprises:
calculating to obtain a WiFi signal reliable value based on the WiFi signal strength;
if the WiFi signal reliability value is larger than a first set value, comparing the current WiFi signal strength information with the WiFi fingerprint database by acquiring the current WiFi signal strength information of the mobile terminal to determine the real-time positioning data point of the mobile terminal, and assigning the real-time positioning data point as a starting point to a pedestrian dead reckoning algorithm;
if the WiFi signal reliable value is smaller than a first set value, calculating to obtain the real-time positioning data point by taking the initial positioning position as the starting point through a pedestrian dead reckoning algorithm;
and if the WiFi signal reliable value is within the range from the first set value to the second set value, weighting the real-time positioning data points obtained by calculation through the WiFi fingerprint database and the real-time positioning data points obtained by calculation through the pedestrian dead reckoning to determine the real-time positioning data points.
5. The indoor positioning method as claimed in claim 4, wherein the step of obtaining a current indoor scene map and setting geometric constraints according to the current indoor scene map comprises:
acquiring a current indoor scene map, extracting an unreachable area according to the current indoor scene map, and setting a geometric constraint condition according to the unreachable area;
wherein the unreachable region comprises: outdoor, wall, table, large-scale object placing table, and artificially regulated pedestrian exclusion zone.
6. The indoor positioning method of claim 5, wherein the geometric constraints comprise:
the real-time location data point cannot be within the unreachable region;
the real-time positioning data points cannot coincide with the geometric feature points of the inaccessible area;
a line between adjacent ones of the real-time location data points cannot pass through the unreachable region;
a line between adjacent ones of the real-time location data points cannot be within the unreachable region.
7. An indoor positioning system, comprising: memory, a processor and an indoor positioning program stored on the memory and executable on the processor, the indoor positioning program when executed by the processor implementing the steps of the indoor positioning method of any one of claims 1 to 6.
8. An indoor positioning system, comprising:
the basic data acquisition module is used for acquiring the current WiFi signal intensity information of the mobile terminal;
the data processing module is used for determining the real-time positioning data point of the mobile terminal based on the WiFi signal strength by combining an inertial navigation method;
the cloud database is used for storing the current indoor scene map and the WiFi fingerprint database;
and the application module is used for displaying the real-time positioning data points of the mobile terminal.
9. The indoor positioning system of claim 8, wherein the data processing module further comprises:
the track optimization submodule is used for optimizing the real-time positioning data points according to a track optimization method and conjecturing the indoor real-time track of the mobile terminal; the track optimization method comprises a Kalman filtering method, a mean filtering method and a median filtering method.
10. A computer-readable storage medium, having stored thereon an indoor positioning program, which when executed by a processor, performs the steps of the indoor positioning method of any one of claims 1-6.
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