CN113573241A - Wall penetration preventing method and system for indoor positioning area movement - Google Patents
Wall penetration preventing method and system for indoor positioning area movement Download PDFInfo
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Abstract
The invention discloses a wall penetration preventing method for indoor positioning area movement, which comprises the following steps: receiving the position information sent by the positioning label according to a preset time interval, and respectively obtaining the current state position information and the past state position information of the positioning label; judging whether the positioning label passes through a preset room area or not according to the coordinate points of the positioning terminal contained in the current state position information and the past state position information; if the signal passes through the preset room area, defining that the positioning tag normally moves in and out of the preset room area, and preferably trusting the positioning coordinate with the strongest signal outside the preset room area as a trusting coordinate; if the signal passes through the preset room area, the positioning tag is defined as an abnormal moving in and out room area, and the positioning coordinate with the strongest signal outside the preset room area is not trusted as a trusted coordinate. The invention also discloses a wall penetration preventing system for indoor positioning area movement. The invention adopts multiple means to prevent the wall from being placed through, thereby improving the final effect and performance of the wall penetration prevention.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a wall penetration preventing method and system for indoor positioning area movement.
Background
The calculation of the positioning position coordinate is influenced by the strength of the signal of the positioning engine, the system can preferably trust the geographical position coordinate calculated by the positioning engine with strong signal, but the signal sent by the positioning base station can penetrate through the wall body, so that the signal strength in the wall can be judged only by the strength of the signal between different base stations.
In an indoor complex environment, the indoor arrangement, the material structure and the building scale are different, so that the path loss of signals is large, meanwhile, the internal structure of the building can cause the reflection and refraction of the signals to form a multipath phenomenon, so that the amplitude, the phase and the arrival time of the received signals are changed to cause the signal loss, and the moving position route of a positioning target is deviated from the actual moving route to form so-called through-wall deviation. Therefore, whether the position of the positioning target is in the wall or out of the wall cannot be judged only by the strength of the signal.
Influence that the location area removed through-wall:
(1) the target position is inaccurate;
in an actual physical space, due to factors such as building materials and layout environment, the bluetooth signals can be reflected and refracted, and the error between the estimated position finally returned by the positioning engine and the actual physical position is large;
(2) the display effect of the positioning image is poor;
the deviation between the calculated position returned by the positioning engine and the real position is large, and the position change amplitude is large in continuous time, so that the display effect of the point position on the two-dimensional plane graph is in a wave-shaped wandering shape. Resulting in a large deviation of the label moving course from the actual moving course. In a specific area, the dot position on the two-dimensional plane may be stuck or return to the original point after being moved a short distance, and the display effect is poor.
Through retrieval, chinese patent application No. CN201510381979.6, published as 2015, 10, 21, discloses a wall penetration preventing system and method for indoor positioning area movement, and the main technical scheme in the application includes: firstly, dividing a plurality of areas according to different designs of rooms and corridors in a building; then adding entry and exit point information for each area, establishing an associated line in a connection mode with entry and exit points of adjacent areas, and forming a key path through the associated line so as to establish an area relation tree with the area entry and exit points as nodes; and secondly, determining the current position and the area where the target position is located, and searching an entrance point and an exit point of the target area where the target position is located in the area relation tree according to the entrance point and exit point information of the initial area where the current position is located, so as to obtain the optimal path. According to the technical scheme, the logic area is drawn on the indoor positioning bitmap, the entrance and exit path points of the area are set on the area in combination with the geographic position, the entrance and exit points of the adjacent area are connected and serve as the key path of position movement, and the purpose of preventing the wall from being penetrated through by the position movement can be achieved. However, the following disadvantages still exist in this application: when the final position of the label is displayed, the phenomenon that the error between the estimated position finally returned by the positioning engine and the actual physical position is larger due to the reflection, refraction and the like of the Bluetooth signal caused by factors such as building materials, layout environment and the like still cannot be avoided; meanwhile, the display effect is poor because the point on the two-dimensional plane is stuck or returns to the original point after being moved for a short time and a large distance.
Therefore, the indoor positioning target position moving route is more attached to the actual moving route, the positioning position coordinate is more accurate, and the technical problem of indoor positioning wall-through deviation needs to be solved.
Disclosure of Invention
1. Problems to be solved
Aiming at the problem that a positioning target moving position route and an actual moving route are easy to generate wall-through deviation in indoor positioning in the prior art, the invention provides a wall-through preventing method and a wall-through preventing system for indoor positioning area movement, wherein a small area is planned at a place which is easy to drift, such as an entrance and exit position of a room, by dividing the room area; only the positioning tag entering and exiting through the small area is defined as a room area which is normally moved in and out, and the calculated positioning target position coordinates are allowed to be retrieved, namely trusted by a positioning engine with strong signal outside the room; the positioning tags entering and exiting from other areas of the room are defined as the position coordinates obtained by the positioning engine with strong signal will not be trusted preferentially when the positioning tags are abnormally moved into and out of the room area, namely wall-through and offset behaviors occur.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
A wall penetration preventing method for indoor positioning area movement comprises the following steps:
receiving the position information sent by the positioning label according to a preset time interval, and respectively obtaining the current state position information and the past state position information of the positioning label;
judging whether the positioning label passes through a preset room area or not according to the coordinate points of the positioning terminal contained in the current state position information and the past state position information;
if the signal passes through the preset room area, defining that the positioning tag normally moves in and out of the preset room area, and preferably trusting the positioning coordinate with the strongest signal outside the preset room area as a trusting coordinate; if the signal passes through the preset room area, the positioning tag is defined as an abnormal moving in and out room area, and the positioning coordinate with the strongest signal outside the preset room area is not trusted as a trusted coordinate.
The preferable technical scheme is as follows:
the method for preventing the wall penetration of the indoor positioning area movement comprises the following specific steps:
step S1, defining a polygonal area as a preset room area;
step S2, initializing the state information of the positioning label, wherein the state information of the positioning label at least comprises the current state, the temporary state and the past state of the positioning label;
step S5, displaying the trust coordinate of the positioning label;
step S6, judging whether the linear distance between the coordinate point of the positioning tag in the temporary positioning tag state and the central point of the preset room area in the past state is larger than a threshold value, if not, executing step S7, otherwise, executing step S8;
and S8, correcting the trust coordinate of the positioning label to the intersection point position of the preset room area and the straight line formed by the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state, modifying the past state of the label to the current state of the label, and then executing the step S5.
The method for preventing wall penetration when the indoor positioning area moves as described above, in step S2, the method further includes: .
After the step S2, the method for preventing wall penetration when moving an indoor positioning area further includes step S3, and step S3 includes: checking whether the current state of the positioning tag is empty, if so, executing step S1, otherwise, executing step S4.
In the above-mentioned wall penetration preventing method for moving the indoor positioning area, if no in step S3, step S4 is executed, and step S4 includes: and judging whether the area information in the current state of the positioning tag exists in the permission list of the past state, if so, executing the step S5, otherwise, executing the step S6.
In the above-mentioned wall penetration preventing method for moving the indoor positioning area, if no in step S6, step S7 is executed, and step S7 includes: and judging whether the time for which the coordinate point of the positioning tag exists in the temporary positioning tag state is greater than a threshold value, if so, executing step S9, and if not, executing step S8.
In the above-mentioned wall penetration preventing method for moving the indoor positioning area, if no in step S7, step S9 is executed, and step S9 includes: the current state and the past state in the positioning tag are reset to null, and step S5 is executed.
As another aspect of the present application, there is provided a wearing-prevention system for movement of an indoor location area, including:
the area selection module is used for selecting a polygonal area as a preset room area;
the initialization module is used for initializing the state information of the positioning tag, wherein the state information of the positioning tag at least comprises the current state, the temporary state and the past state of the positioning tag;
the first judgment module is used for judging whether the area information in the current state of the positioning label exists in an allowed list of a past state;
the second judgment module is used for judging whether the linear distance between the coordinate point of the positioning label in the temporary positioning label state and the central point of the preset room area in the past state is greater than a threshold value or not according to the first judgment result;
the third judging module is used for judging whether the time of the coordinate point of the positioning label in the temporary state of the positioning label is greater than the threshold value or not according to the result of the second judging module;
the position correction module is used for correcting the trust coordinate of the positioning label into the intersection point position of a straight line formed by the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state and the preset room area according to the results of the second judgment module and the third judgment module, and correcting the past state of the label into the current state of the label;
and the display module is used for displaying the trust coordinate of the positioning label according to the results of the first judgment module and the position correction module.
The preferable technical scheme is as follows:
the system for preventing the indoor positioning area from being worn comprises a fourth judging module and a fourth judging module, wherein the fourth judging module is used for checking whether the current state of the positioning label is empty.
The system for preventing indoor positioning zone from being moved through comprises a receiving module and a fifth judging module, wherein the receiving module is used for receiving the position information sent by the positioning tag according to the preset time interval, and the fifth judging module is used for judging whether the positioning tag passes through the preset room zone or not according to the coordinate points of the positioning terminal contained in the current state position information and the past state position information.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, by dividing the room area, a preset room area is planned at a place which is easy to drift, such as an entrance and exit position of a room, only the positioning tag which enters and exits through the preset room area is defined as a normally moving entrance and exit room area, and a positioning engine with strong signal outside the room is allowed to search, namely trust the calculated positioning target position coordinate; the positioning labels entering and exiting from other areas of the room are defined as the positioning labels which are abnormally moved to enter and exit the room area, namely wall penetrating and deviation behaviors occur, and the position coordinates obtained by the positioning engine with strong trust signals cannot be preferentially trusted;
(2) according to the invention, after the distance between the real position of the label and the corrected position exceeds n meters and stays for n seconds, the real position of the label is directly displayed, so that the problem that the label is accidentally stuck or cannot penetrate through the wall in interface display is solved, and the display effect is improved;
(3) according to the method, the real-time position of the positioning label is continuously corrected, after the position of the positioning label is illegally penetrated through the wall, the trust coordinate of the positioning label is corrected into the intersection point position of the straight line formed by the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state and the preset room area through calculation, and therefore the wall penetration prevention display effect is optimized.
Drawings
Fig. 1 is a flowchart of a wall penetration preventing method for indoor positioning area movement according to embodiment 1;
fig. 2 is a schematic diagram of a positioning tag position coordinate correction process in embodiment 1.
Detailed Description
The mobile through-wall in the positioning area mainly has two influences, one of which is the phenomenon that the error between the estimated position finally returned by the positioning engine and the actual physical position is larger due to the phenomena of reflection, refraction and the like of the Bluetooth signal; secondly, the deviation between the calculated position returned by the positioning engine and the real position is large, and the position change amplitude is large in continuous time, so that the display effect of the point position on the two-dimensional plane graph is in a wave-shaped migration, and the display effect is poor. Aiming at the two problems, the invention provides a wall penetration preventing method for indoor positioning area movement, which comprises the following steps:
receiving the position information sent by the positioning label according to a preset time interval, and respectively obtaining the current state position information and the past state position information of the positioning label;
judging whether the positioning label passes through a preset room area or not according to the coordinate points of the positioning terminal contained in the current state position information and the past state position information;
if the signal passes through the preset room area, defining that the positioning tag normally moves in and out of the preset room area, and preferably trusting the positioning coordinate with the strongest signal outside the preset room area as a trusting coordinate; if the signal passes through the preset room area, the positioning tag is defined as an abnormal moving in and out room area, and the positioning coordinate with the strongest signal outside the preset room area is not trusted as a trusted coordinate.
In the present invention, the preset room area is defined as an indoor area in which drift easily occurs, such as an entrance/exit position of a room. Each preset room area should have a well-defined boundary contour. For the positioning label, although the calculated position returned by the positioning engine is real-time, in a real physical space, an object carrying the positioning label cannot pass through an entrance and an exit, and directly passes through a wall, so that when a system finds a cross-region condition, whether cross-region is allowed is judged according to whether the label history track passes through the entrance and the exit and corresponds to a special small region. According to the invention, by dividing the room area, a preset room area is planned at a place which is easy to drift, such as an entrance and exit position of a room, only the positioning tag which enters and exits through the preset room area is defined as a normally moving entrance and exit room area, and a positioning engine with strong signal outside the room is allowed to search, namely trust the calculated positioning target position coordinate; the positioning labels entering and exiting from other areas of the room are defined as the wall-penetrating and offset behaviors which occur when the positioning labels are abnormally moved into and out of the room area, the position coordinates obtained by the positioning engine with strong signal can not be preferentially trusted, the wall-penetrating is prevented from being placed through multiple means, and the final effect and performance of wall-penetrating prevention are improved.
The invention is further described with reference to specific embodiments and the accompanying drawings.
Example 1
As shown in fig. 1, the present embodiment provides a wall penetration preventing method for indoor positioning area movement, which includes the following specific steps:
step S1, defining a polygon area as preset room areas, wherein each preset room area should have a definite boundary contour line;
step S2, initializing the state information of the positioning label, wherein the state information of the positioning label at least comprises the current state, the temporary state and the past state of the positioning label, the temporary state records the position information of the label, the area information and the area name to which the area of the label is allowed to access, checking the area information of the current positioning label after initialization, receiving the position information sent by the positioning label according to a preset time interval, the position information sent by each time of receiving the positioning label is stored in the temporary state and the current state of the positioning label, and the past state stores the position information of the past state;
step S3, checking whether the current state of the positioning label is empty, if yes, executing step S1, otherwise executing step S4;
step S4, judging whether the area information in the current state of the positioning label exists in an allowed list of a past state, if so, executing step S5, otherwise, executing step S6; in this embodiment, the permission list of the past state is defined as follows: if the area information in the current state of the positioning label is a door area, the permission list is an area where the current door area is located, all door areas of the current door area and door areas adjacent to the current door area; if the area information in the current state of the positioning label is a not gate area, the permission list is the area where the current gate area is located and all the gate areas. It should be noted that, in this embodiment, the step mainly specifies that the tag can only enter another gate area through the gate area to realize the crossing of the area, otherwise, the tag passes through the other gate area illegally;
step S5, displaying the trust coordinate of the positioning label; if the positioning tag normally moves in and out of the preset room area, preferentially trusting the positioning coordinate with the strongest signal outside the preset room area as a trusting coordinate; if the positioning tag is abnormally moved in and out of the room area, the trust coordinate is corrected according to the subsequent steps;
step S6, judging whether the linear distance between the coordinate point of the positioning label in the temporary positioning label state and the central point of the preset room area in the past state is larger than a threshold value, if not, executing step S8; here, the predetermined room areaThe center point of the domain may further be described as the center point of a preset room region in a past state; however, since it has been checked in step S4 whether the area information in the current state of the locator tag exists in the permission list in the past state, it can be known that the area in the past state is the same as the preset room area in the current state, and the position of the center point of the preset room area does not change. The linear distance between the coordinate point of the positioning label in the temporary state and the central point of the preset room area in the past state can be obtained through an Euler formula
Calculating to obtain; in this embodiment, whether the linear distance between the coordinate point of the positioning tag in the temporary positioning tag state and the central point of the preset room area in the past state is greater than the threshold value is checked to determine whether the positioning tag passes through the preset room area, and further determine whether the positioning tag normally moves into or out of the preset room area or abnormally moves into or out of the room area;
step S8, correcting the trust coordinate of the positioning label to the intersection point position of the preset room area and the straight line between the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state, modifying the past state of the label to the current state of the label, and then executing step S5;
taking fig. 2 as an example, specifically, the coordinate point of the location tag in the temporary state corresponds to the real position of the location tag, which corresponds to point 1 in fig. 2; the preset room area in the past state corresponds to the area a in fig. 2; the preset room area center point in the past state is also equivalent to point 3; the intersection point position of the straight line between the coordinate point of the positioning tag in the temporary state and the center point of the preset room area in the past state and the preset room area is point 2. For the preset room area central point, the preset room area is a plane polygon. For a planar polygon X, X may be divided into n finite simple graphs X1,x2,x3,...xnThe center point of these simple figures is C1Area is A1Then the center coordinate point of this planar polygon is (C)x,Cy) Therefore, the center point of the whole preset room area can be calculated by the following formula:
the intersection position can respectively calculate the vectors of two line segments (the straight line and the edge contour line of the preset room area), judge whether the vector point multiplication result in the two line segments is greater than 0 or not and calculate the cross multiplication result of the point multiplication to obtain the intersection position, and the coordinate corresponding to the intersection position is used as the correction coordinate.
In the embodiment, the real-time position of the positioning tag is continuously corrected, and after the position of the positioning tag is illegally penetrated through the wall, the trust coordinate of the positioning tag is corrected into the intersection point position of the straight line formed by the coordinate point of the positioning tag in the temporary state of the positioning tag and the central point of the preset room area in the past state and the preset room area through calculation, so that the wall penetration prevention display effect is optimized.
Example 2
Substantially the same as in example 1. The through-wall offset is considered to be the problem of path loss of signals caused by different indoor arrangements, material structures and building dimensions, and the internal structure of the building is the main cause of the multipath phenomenon caused by reflection and refraction of the signals. Therefore, at a certain moment, even if the linear distance between the coordinate point of the positioning tag in the temporary positioning tag state and the central point of the preset room area in the past state is greater than the threshold value, whether the through-wall deviation occurs at the positioning target position at the moment cannot be completely judged. Based on this, the present embodiment further includes, after step 6, step S7: judging whether the time of the coordinate point of the positioning label in the temporary positioning label state is greater than a threshold value, if so, executing step S9, otherwise, executing step S8; wherein the step S9 includes resetting the current status and the past status in the location tag to null, and then executing the step S5.
In step 7, the time t for the coordinate point of the positioning tag to exist in the temporary state of the positioning tag meets the following formula:
t＝n*count；
in the formula, n is a time interval for acquiring coordinate point information of the positioning tag each time, and count is the number of execution times.
The threshold G of the linear distance between the coordinate point of the positioning tag in the temporary positioning tag state and the central point of the preset room area in the past state can be calculated by the following formula:
G＝((X1-X2,Y1-Y2)+((X3-X4,Y3-Y4)+..+(Xn-Xn+1,Yn-Yn+1))/n
wherein X1...XnX-axis coordinate values, Y, of n successive points of a label over a period of time1....YnThe Y-axis coordinate values for n consecutive points in a time period for a label.
According to the embodiment, after the distance between the real position of the label and the corrected position exceeds n meters and stays for n seconds, the real position of the label is directly displayed, the problem that the label is accidentally stuck or cannot penetrate through the wall in interface display is solved, and the display effect is improved.
Example 3
As another aspect of the present application, there is provided a wearing-prevention system for movement of an indoor location area, including:
the area selection module is used for selecting a polygonal area as a preset room area;
the initialization module is used for initializing the state information of the positioning tag, wherein the state information of the positioning tag at least comprises the current state, the temporary state and the past state of the positioning tag;
the first judgment module is used for judging whether the area information in the current state of the positioning label exists in an allowed list of a past state;
the second judgment module is used for judging whether the linear distance between the coordinate point of the positioning label in the temporary positioning label state and the central point of the preset room area in the past state is greater than a threshold value or not according to the first judgment result;
the third judging module is used for judging whether the time of the coordinate point of the positioning label in the temporary state of the positioning label is greater than the threshold value or not according to the result of the second judging module;
the position correction module is used for correcting the trust coordinate of the positioning label into the intersection point position of a straight line formed by the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state and the preset room area according to the results of the second judgment module and the third judgment module, and correcting the past state of the label into the current state of the label;
and the display module is used for displaying the trust coordinate of the positioning label according to the results of the first judgment module and the position correction module.
Preferably, the system further comprises a fourth judging module, configured to check whether the current status of the location tag is empty.
Preferably, the system further comprises a receiving module and a fifth judging module, the receiving module is configured to receive the location information sent by the location tag according to a preset time interval, and the fifth judging module is configured to judge whether the location tag passes through a preset room area according to the coordinate points of the location terminal included in the current state location information and the past state location information.
In the wall penetration preventing system provided in this embodiment, only the division of the functional modules is exemplified, and in practical applications, the functional modules may be allocated to different processes as needed to complete, so as to complete all or part of the functions described above. In addition, the wall penetration preventing system of the present embodiment and the wall penetration preventing method embodiment in the above embodiments belong to the same concept, and specific implementation processes and beneficial effects thereof are detailed in the wall penetration preventing method embodiment and are not described herein again.
The examples described herein are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A wall penetration preventing method for indoor positioning area movement is characterized in that: the method comprises the following steps:
receiving the position information sent by the positioning label according to a preset time interval, and respectively obtaining the current state position information and the past state position information of the positioning label;
judging whether the positioning label passes through a preset room area or not according to the coordinate points of the positioning terminal contained in the current state position information and the past state position information;
if the signal passes through the preset room area, defining that the positioning tag normally moves in and out of the preset room area, and preferably trusting the positioning coordinate with the strongest signal outside the preset room area as a trusting coordinate; if the signal passes through the preset room area, the positioning tag is defined as an abnormal moving in and out room area, and the positioning coordinate with the strongest signal outside the preset room area is not trusted as a trusted coordinate.
2. The indoor positioning area moving wall penetration preventing method according to claim 1, wherein the method comprises the following steps: the method comprises the following specific steps:
step S1, defining a polygonal area as a preset room area;
step S2, initializing the state information of the positioning label, wherein the state information of the positioning label at least comprises the current state, the temporary state and the past state of the positioning label;
step S5, displaying the trust coordinate of the positioning label;
step S6, judging whether the linear distance between the coordinate point of the positioning tag in the temporary positioning tag state and the central point of the preset room area in the past state is larger than a threshold value, if not, executing step S7, otherwise, executing step S8;
and S8, correcting the trust coordinate of the positioning label to the intersection point position of the preset room area and the straight line formed by the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state, modifying the past state of the label to the current state of the label, and then executing the step S5.
3. The indoor positioning area moving wall penetration preventing method according to claim 1, wherein the method comprises the following steps: in step S2, the method further includes: and checking the area information to which the current positioning label belongs.
4. The indoor positioning area moving wall penetration preventing method according to claim 1, wherein the method comprises the following steps: after step S2, step S3 is further included, and step S3 includes: checking whether the current state of the positioning tag is empty, if so, executing step S1, otherwise, executing step S4.
5. The indoor positioning area moving wall penetration preventing method according to claim 4, wherein the method comprises the following steps: in step S3, if no, step S4 is executed, and step S4 includes: and judging whether the area information in the current state of the positioning tag exists in the permission list of the past state, if so, executing the step S5, otherwise, executing the step S6.
6. The indoor positioning area moving wall penetration preventing method according to claim 5, wherein the method comprises the following steps: in step S6, if no, step S7 is executed, and step S7 includes: and judging whether the time for which the coordinate point of the positioning tag exists in the temporary positioning tag state is greater than a threshold value, if so, executing step S9, and if not, executing step S8.
7. The indoor positioning area moving wall penetration preventing method according to claim 6, wherein the method comprises the following steps: in step S7, if no, step S9 is executed, and step S9 includes: the current state and the past state in the positioning tag are reset to null, and step S5 is executed.
8. The utility model provides a system of wearing that prevents that indoor positioning area removed which characterized in that: the method comprises the following steps:
the area selection module is used for selecting a polygonal area as a preset room area;
the initialization module is used for initializing the state information of the positioning tag, wherein the state information of the positioning tag at least comprises the current state, the temporary state and the past state of the positioning tag;
the first judgment module is used for judging whether the area information in the current state of the positioning label exists in an allowed list of a past state;
the second judgment module is used for judging whether the linear distance between the coordinate point of the positioning label in the temporary positioning label state and the central point of the preset room area in the past state is greater than a threshold value or not according to the first judgment result;
the third judging module is used for judging whether the time of the coordinate point of the positioning label in the temporary state of the positioning label is greater than the threshold value or not according to the result of the second judging module;
the position correction module is used for correcting the trust coordinate of the positioning label into the intersection point position of a straight line formed by the coordinate point of the positioning label in the temporary state of the positioning label and the central point of the preset room area in the past state and the preset room area according to the results of the second judgment module and the third judgment module, and correcting the past state of the label into the current state of the label;
and the display module is used for displaying the trust coordinate of the positioning label according to the results of the first judgment module and the position correction module.
9. The system of claim 8, wherein the indoor positioning area is moved by a user: the positioning system also comprises a fourth judging module used for checking whether the current state of the positioning label is empty.
10. The system of claim 8, wherein the indoor positioning area is moved by a user: the positioning terminal comprises a receiving module and a fifth judging module, wherein the receiving module is used for receiving the position information sent by the positioning tag according to a preset time interval, and the fifth judging module is used for judging whether the positioning tag passes through a preset room area or not according to the coordinate points of the positioning terminal contained in the current state position information and the past state position information.
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