CN113624204A - Air pressure height measurement auxiliary floor positioning method and device and storage medium - Google Patents
Air pressure height measurement auxiliary floor positioning method and device and storage medium Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Abstract
An air pressure height measurement auxiliary floor positioning method, an air pressure height measurement auxiliary floor positioning device and a computer readable storage medium. Acquiring a current air pressure value P and a current positioning signal of an indoor environment under current reference information in real time, wherein the current reference information comprises a reference floor L0 and a reference air pressure value P1; judging whether the current positioning signal meets a preset reference updating condition or not; if the current positioning signal meets the preset reference updating condition, updating the current reference information: updating the reference floor L0 as the floor where the current positioning signal is located, and updating the reference air pressure value P1 as the current air pressure value P; an altitude change value is calculated using the reference air pressure value P1 and the current air pressure value P, the altitude change value is compared with pre-configured floor altitude information, and the floor at which the current location is identified in conjunction with the reference floor L0. The method provided by the invention can improve the accuracy of floor positioning.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a method and a device for assisting floor positioning by barometric height measurement and a computer readable storage medium.
Background
In the key supervision fields of electric power, medical treatment, chemical industry and the like, the indoor positioning technology is widely applied. Meanwhile, with popularization and application of industrial 4.0, the requirement on accuracy of indoor positioning is more and more strict, the traditional indoor floor positioning method judges the floor only through the signal intensity of the scanned positioning beacon, and due to the fact that wireless signals penetrate through the wall, are shielded, and are enhanced or attenuated by certain severe environments, the traditional method has serious probability of floor mis-switching.
In recent years, many methods for locating floors by using air pressure have appeared. It is common to calculate a corresponding altitude based on the collected barometric pressure values and to perform floor identification based on the altitude. However, the accuracy of the collected barometric pressure value is reduced due to drift of the collected barometric pressure value caused by time change, weather conditions and the like, and the accuracy of the barometric pressure value is further reduced due to errors caused when different terminals collect barometric pressure values, so that the corresponding altitude is calculated based on the barometric pressure value with lower accuracy, and when floor identification is performed based on the calculated altitude, the floor identification accuracy is lower.
The differential air pressure height measurement method is characterized in that an air pressure observation base station in an area is used for acquiring an air pressure observation value of the current area in real time, and the air pressure base station is used for updating the reference. However, because the difference of the air pressure in different environmental locations is also very large, and the error caused by collecting the air pressure value by different terminals is added, the reference determined by the air pressure reference station is not reliable, and the height measurement is not accurate.
Disclosure of Invention
The invention aims to provide a method and a device for positioning an air pressure auxiliary floor with higher accuracy.
A barometric height measurement auxiliary floor positioning method, the method comprising:
s10, acquiring a current air pressure value P and a current positioning signal of an indoor environment under current reference information in real time, wherein the current reference information comprises a reference floor L0 and a reference air pressure value P1;
s20, judging whether the current positioning signal meets the updating condition of the preset standard;
s30, if the current positioning signal meets the preset reference updating condition, updating the current reference information: updating the reference floor L0 to be the floor where the current positioning signal is located, and updating the reference air pressure value P1 to be the current air pressure value P;
and S40, calculating an altitude change value by using the reference air pressure value P1 and the current air pressure value P, comparing the altitude change value with pre-configured floor height information, and identifying the current floor in combination with the reference floor L0.
In one embodiment, in step S20, the determining whether the current positioning signal satisfies the predetermined reference updating condition includes:
and acquiring the signal intensity of the current positioning signal of the current indoor environment, and if the signal intensity is greater than a preset threshold value, judging that the current positioning signal meets the preset reference updating condition.
In one embodiment, the step S20 of determining whether the current positioning signal satisfies the predetermined reference updating condition includes:
and acquiring the signal intensity of the current positioning signal of the current indoor environment, and if the signal intensity is kept to be greater than a preset threshold value in a preset time period, judging that the current positioning signal meets the preset reference updating condition.
In one embodiment, step S10 further includes:
and filtering the acquired current air pressure value P to reduce the interference of air pressure data jitter on floor positioning.
In one embodiment, the filtering process is kalman filtering.
In one embodiment, the current positioning signal is sent out by a plurality of positioning beacons which are arranged on floors in advance.
In one embodiment, the method further comprises: and identifying the upstairs and downstairs movement according to the height change value, and outputting a judgment result.
An air pressure altimetry auxiliary floor positioning device, comprising:
the acquisition module is used for acquiring a current air pressure value P and a current positioning signal of the current indoor environment;
the judging module is used for judging whether the acquired current positioning signal meets a preset reference updating condition or not;
a reference information storage unit for storing current reference information including a reference floor L0 and a reference air pressure value P1;
a reference updating module that updates the current reference information stored in the reference information storage unit when it is determined that the current positioning signal satisfies the reference updating condition: updating the reference floor L0 to be the floor where the current positioning signal is located, and updating the reference air pressure value P1 to be the current air pressure value P;
and the identification module is used for determining an altitude change value according to the reference air pressure value P1 and the current air pressure value P, and further identifying the floor where the reference floor L0 is located.
In one embodiment, the identification module is further configured to identify an upstairs or downstairs activity according to the reference barometric pressure value P1 and the current barometric pressure value P.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of any of the embodiments described above.
The purpose of the invention is realized by the following technical scheme:
compared with the prior art, the invention has the following beneficial effects: the invention provides a method, a device and a storage medium for positioning an auxiliary floor by measuring the height of a floor, wherein the method comprises the steps of judging whether a current positioning signal meets a preset reference updating condition or not, if so, updating current reference information, updating a reference floor L0 to be the floor where the current positioning signal is located, updating a reference air pressure value P1 to be a current air pressure value P, realizing real-time accurate updating of the reference information, calculating a height change value by using the latest reference air pressure value P1 and the current air pressure value P, comparing the height change value with pre-configured floor height information, identifying the floor where the current is located by combining the reference floor L0, preventing the reference air pressure value from being larger in drift and losing efficacy due to no updating for too long time, and ensuring the accuracy of floor positioning by using errors caused by collecting the air pressure values by using different terminals. The method provided by the invention can ignore the influence of the environment such as temperature, climate and the like, has strong environmental adaptability and high floor positioning accuracy, effectively reduces the occurrence of the floor positioning table tennis effect and has high engineering application value.
Drawings
Fig. 1 is a schematic flow chart of a method for assisting floor positioning by using barometric height measurement according to an embodiment of the present invention.
FIG. 2 is a graphical representation of a pressure value curve obtained based on filtering in one embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating the comparison of the floor recognition effects of the barometric height measurement auxiliary floor positioning method and the transmission beacon positioning method provided by the present invention.
Fig. 4 is a block diagram of an auxiliary floor positioning device for air height measurement according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "comprising" and "having," as well as any variations thereof, in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The air pressure auxiliary floor positioning method provided by the invention can be applied to a floor positioning system, and the target to be positioned is a mobile device or a pedestrian wearing a terminal. The terminal hardware includes a barometric pressure sensor and a positioning signal receiver.
In an implementation scenario, the floor positioning system includes a floor positioning server, configured to process and analyze the air pressure data and the positioning signal acquired by the terminal. The terminal communicates bi-directionally with the floor location server via the communications network. The floor positioning system also comprises a plurality of positioning beacons which are arranged on each floor in advance, the positioning beacons radiate positioning signals outwards, the positioning beacons are arranged in each floor according to a preset rule, and each positioning beacon is provided with a unique floor identification code and is used for representing the floor where the positioning beacon is located. It will be appreciated that the floor identification codes of the positioning beacons for the same floor are identical. Furthermore, each positioning beacon also has a position coordinate identification code which is uniquely corresponding to the floor plan map and can be used for identifying the plane position information of the floor where the terminal is located. The terminal is in wireless communication with the positioning beacons, the terminal can acquire positioning signals of the positioning beacons at the current positions and transmit the acquired positioning signals to the floor positioning server, the floor positioning server receives the positioning signals in real time and calculates the floors where the terminal is located and/or position coordinates on a floor plan map according to the positioning signals, and therefore position information of corresponding people or mobile equipment wearing the terminal is obtained.
Referring to fig. 1, the terminal is configured to obtain a current air pressure value P and a current positioning signal of an indoor environment under current reference information, where the current reference information includes a reference floor L0 and a reference air pressure value P1. Further, whether the current positioning signal meets a preset reference updating condition or not is judged, and if the current positioning signal meets the preset reference updating condition, the current reference information is updated: the updated reference floor L0 is the floor where the current positioning signal is located, and the updated reference air pressure value P1 is the current air pressure value P. An altitude change value is calculated using the reference air pressure value P1 and the current air pressure value P, the altitude change value is compared with pre-configured floor altitude information, and the floor at which the current location is identified in conjunction with the reference floor L0. The terminal can be but not limited to various personal computers, smart phones, portable wearable devices and notebook computers, and the floor positioning server can be implemented by an independent server or a server group consisting of a plurality of servers.
In one embodiment, the terminal may also perform the collection of floor information by means of a floor location server. When the terminal collects the positioning floor information through the positioning signal, the terminal may also need to collect the positioning floor information by means of a server, which may be specifically determined according to a positioning technology, and is not specifically limited herein.
In one embodiment, the floor location server may also be integrated on the terminal. The terminal is not only used for collecting the floor information, but also used for calculating and processing the collected information.
In one embodiment, as shown in fig. 1, a floor positioning method is provided, which is described by taking the example that the method is applied to the terminal described in the above embodiment as an example, and includes the following steps:
and step S10, acquiring the current air pressure value P and the current positioning signal of the indoor environment under the current reference information in real time, wherein the current reference information comprises a reference floor L0 and a reference air pressure value P1.
The real-time acquisition is to be understood as sampling the current air pressure value P and the current positioning signal of the indoor environment according to a certain period, and the acquired data is updated along with time. The reference information refers to information used as a positioning reference, including a reference floor L0 and a reference air pressure value P1. The current reference information refers to a positioning reference currently in use. In general, in order to ensure the accuracy and reliability of the positioning reference, the current reference information refers to reference information that is newly acquired in the current indoor environment.
In an initial step, the current reference information may be pre-stored, and the stored carrier may be a terminal or a floor location server. The current reference information may also be reference information that was recently acquired and used by the terminal.
When the terminal moves to a new indoor environment to work, the terminal can automatically start an acquisition program of the reference information to acquire the reference information of the current environment, and the reference information is used as the reference information to carry out floor positioning on the current indoor environment. Of course, in the initial step, the updating procedure of the reference information may also be manually started, the operator may manually select the reference information acquisition of the new environment, and when the reference information acquisition is completed, the terminal sends the reference information updated to the current environment. The reference information updating method is as described in the following steps S20 and S30, and the terminal performs the subsequent steps on the basis of acquiring the current reference information.
Specifically, in an indoor environment, the terminal periodically acquires the air pressure value in the corresponding acquisition period according to the acquisition period of the air pressure value, and periodically acquires the positioning signal in the corresponding acquisition period according to the acquisition period of the positioning signal. The terminal takes the air pressure value collected in the current collection period as a current air pressure value P, takes the positioning signal collected in the current collection period as a current positioning signal, and obtains the current air pressure value P and the current positioning signal.
In one embodiment, the terminal acquires the air pressure value P in the indoor environment according to the corresponding acquisition period through the air pressure sensor, and acquires the current air pressure value P acquired by the air pressure sensor in the current acquisition period. The air pressure sensor can be used as a component of the terminal to be arranged in the terminal, and can also be used as an independent device to be externally connected with the terminal.
And step S20, judging whether the current positioning signal meets the updating condition of the preset reference.
Wherein the preset reference updating condition is preset according to the positioning signal. The preset reference updating condition is distinguished by different positioning technologies. The setting of the reference updating condition is usually preset to be stricter, so that the floor determined under the condition is ensured to be accurate and can be used as the reference floor.
In an embodiment, the predetermined reference updating condition is determined by determining whether the signal strength of the positioning signal is greater than a predetermined threshold, and if the signal strength is greater than the predetermined threshold, the predetermined reference updating condition is considered to be satisfied, and if the signal strength is not greater than the predetermined threshold, the predetermined reference updating condition is considered not to be satisfied. The preset threshold value can therefore be understood as a reliable threshold value for identifying the current floor according to the positioning technique employed.
S30, if the current positioning signal meets the preset reference updating condition, updating the current reference information: the updated reference floor L0 is the floor where the current positioning signal is located, and the updated reference air pressure value P1 is the current air pressure value P.
When the current positioning signal meets the preset reference updating condition, the floor information corresponding to the current positioning signal is considered to be accurate, the floor where the current positioning signal is located is taken as a reference floor L0, and the current air pressure value is taken as a reference air pressure value P1, so that the accurate real-time updating of the reference information is realized, and the accuracy of the currently used reference information is guaranteed. That is, the current reference information is updated only if the current positioning signal satisfies the preset reference update condition, and if the current positioning signal does not satisfy the preset reference update condition, the last reference information, that is, the current reference information described in step S10, is retained.
And step S40, calculating an altitude change value by using the reference air pressure value P1 and the current air pressure value P, comparing the altitude change value with the pre-configured floor altitude information, and identifying the current floor in combination with the reference floor L0.
The altitude change value is an altitude change corresponding to the current air pressure value P and the reference air pressure value P1. Specifically, if the current reference information is updated, the terminal determines a new reference air pressure value P1, and then calculates a corresponding altitude change value according to the altitude formula based on the current air pressure value P and the reference air pressure value P1. And if the current reference information is not updated, calculating the corresponding height change value of the current reference information which is not updated according to the pressure height formula according to the current air pressure value P and the reference air pressure value P1. Wherein, the high pressure formula is:
wherein: h is altitude, P0 is standard atmospheric pressure (0 ℃, 101.325kPa), and P is the actual measured atmospheric pressure.
In one embodiment, the terminal calculates an altitude change value corresponding to the current air pressure value P and the reference air pressure value P1 according to the above-mentioned pressure height formula, compares the altitude change value with pre-configured floor altitude information, and calculates the floor where the current floor is located by combining with the reference floor L0. Of course, the above-mentioned high voltage calculation may also be performed by the floor location server.
The floor height information is a set formed by floor height information of each floor in the same building, and specifically may include a floor height value of each floor, and a floor identifier or a floor name corresponding to each floor. The floor height value may also specifically refer to the relative height of the floor with respect to the ground. The floor height information is stored in advance in the terminal or the floor positioning server.
In one embodiment, after acquiring the altitude change value, the terminal determines whether the altitude is increased or decreased according to the positive or negative altitude change value, so as to know whether the terminal goes upstairs or downstairs. Further, the altitude change value is compared with the floor altitude adjacent to the reference floor, and the floor altitude is rounded to obtain the rising or falling floor number, and the terminal adds the rising or falling floor number to the reference floor L0 to obtain the floor where the terminal is currently located.
Taking an implementation scenario as an example, the heights of each floor of the building in which the terminal works are consistent. And after the terminal determines the height change value, dividing the height change value by the floor height, and rounding to obtain the ascending or descending floor number. Further, the number of floors that have risen or fallen is added to the reference floor L0 to obtain the floor where the floor is currently located.
In another embodiment, after acquiring the height variation value, the terminal queries a floor height value corresponding to the reference floor L0 in the pre-configured floor height information as a reference height value. And the terminal calculates according to the reference height value and the height change value to obtain a current height value, inquires the floor height information according to the current height value to obtain a corresponding target floor, and takes the target floor as the current floor.
For example, assuming that the altitude change value determined based on the current air pressure value P and the reference air pressure value P1 is 15 and the reference floor is L1, that is, the first floor, the floor height value corresponding to the target reference floor L1 can be determined to be 10, that is, the reference height value can be determined to be 10 based on the floor height information, the current height value 25 can be determined based on the reference height value 10 and the target altitude change value 15, and the current height value 25 can be known to match the floor height value 25 corresponding to the floor L3(3 floors) based on the floor height information, so that the floor at which the current location is located is L3. It is to be understood that if there is no floor whose floor height value matches the target floor height determined in the above manner in the floor information set, the floor whose floor height value is closest to the current floor height is taken as the current floor, for example, if the target height value is 24, the floor L3 is still determined as the current floor.
Compared with some traditional indoor floor positioning methods, the floor positioning method provided by the invention has great advantages. The method not only can accurately and effectively update the reference air pressure, but also can ignore the influences of the environment such as temperature, climate and the like. The benchmark can be updated ceaselessly according to the data collected in real time, the situation that the benchmark air pressure value fails due to the fact that the benchmark air pressure value is not updated due to overlong time is prevented, the method has extremely strong environmental adaptability, the floor positioning accuracy is high, the floor positioning table tennis effect is effectively reduced, and the method has extremely high engineering application value.
In one embodiment, in step S20, the determining whether the current positioning signal satisfies the preset reference updating condition includes: the method comprises the steps of obtaining the signal intensity of a current positioning signal of the current indoor environment, and judging that the current positioning signal meets a preset reference updating condition if the signal intensity is larger than a preset threshold value.
Due to different environments, the deployment modes of the positioning beacons are different, and the surrounding environments are also different, so that the signal strengths of the positioning signals of the positioning beacons are different under different environments. In one embodiment, the signal strength data of some positioning beacons is collected in advance, and the signal strength data is analyzed to set a reference update threshold, that is, a signal strength preset threshold, so as to obtain a preset reference update condition. And when the intensity of the current positioning signal acquired by the terminal is greater than a preset threshold, the preset reference updating condition is considered to be met, and if the intensity of the current positioning signal is not greater than the preset threshold, the preset reference updating condition is considered not to be met.
In another embodiment, in step S20, the determining whether the current positioning signal satisfies the preset reference updating condition includes: the method comprises the steps of obtaining the signal intensity of a current positioning signal of the current indoor environment, and judging that the current positioning signal meets a preset reference updating condition if the signal intensity is kept to be larger than a preset threshold value in a preset time period. The preset reference updating condition provided by the embodiment is stricter, and the preset reference updating condition is judged to be met only when the signal intensity lasting for the preset time is kept larger than the preset threshold value, so that the reliability and the accuracy of the reference floor and the reference air pressure value determined by the method are higher.
The air pressure data sometimes shake greatly when the floor goes up and down, so that the floor positioning table tennis effect is caused. To reduce floor positioning errors caused by jitter in the air pressure data, in one embodiment. Step S10, further comprising: and carrying out filtering processing on the obtained current air pressure value P. Specifically, Kalman filtering is adopted as a filtering processing means, and data acquired on site are updated and processed in real time so as to reduce interference of air pressure data jitter on floor positioning.
Further, the method further comprises: and identifying the movement of going upstairs and downstairs according to the height change value, and outputting a judgment result. Specifically, if the altitude change value is negative, the process of going downstairs is considered, and if the altitude change value is positive, the process of going upstairs is identified, and the activities of going upstairs or downstairs are output and displayed, so that the activity condition of the terminal can be conveniently mastered.
Fig. 2 shows the air pressure data acquired during the observation period, which is subjected to the filtering process. Fig. 3 is a diagram showing a comparison between the floor recognition result by the conventional beacon positioning method and the positioning effect by the barometer height auxiliary floor positioning method provided by the present invention. The figure shows that the floor soldier's table tennis effect of shaking up and down exists in the floor obtained by the traditional beacon positioning method, the floor positioning precision of the air pressure height measurement auxiliary floor positioning method is higher and more accurate, shaking up and down does not exist, and remarkable progress is achieved.
The invention also provides an air pressure height measurement auxiliary floor positioning device. As shown in fig. 4, a floor identification device 200, which may be a part of a computer device using a software module or a hardware module, or a combination of the two modules, specifically includes: the device comprises an acquisition module 210, a judgment module 230, a reference updating module 250, a reference information storage unit 270 and an identification module 290, wherein:
the acquisition module 210 is configured to acquire a current air pressure value P and a current positioning signal of a current indoor environment;
the determining module 230 is configured to determine whether the acquired current positioning signal meets a preset reference updating condition;
a reference information storage unit 270 for storing current reference information including a reference floor L0 and a reference air pressure value P1;
a reference updating module 250, which updates the current reference information stored in the reference information storage unit when the current positioning signal is judged to satisfy the reference updating condition: updating the reference floor L0 as the floor where the current positioning signal is located, and updating the reference air pressure value P1 as the current air pressure value P;
and the identification module 290 is used for identifying the floor where the mobile terminal is located according to the reference floor L0, the reference air pressure value P1 and the current air pressure value P.
The data acquisition of the acquisition module 210 is performed in real time according to a certain sampling period, so as to use the acquired real-time air pressure value as the current air pressure value P, and use the real-time positioning signal as the current positioning signal.
In one embodiment, the identification module 290 is further configured to identify the upstairs and downstairs activities based on the reference barometric pressure value P1 and the current barometric pressure value P. Specifically, the height of a reference floor is calculated according to a reference air pressure value P1, the real-time height is calculated according to a current air pressure value P, a height change value is further obtained, and the movement trend of going upstairs or going downstairs is judged according to the positive and negative of the height change value.
For the specific definition of the floor recognition means, reference may be made to the above definition of the floor recognition method, which is not described in detail here. The respective modules in the floor recognition apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
The above description is only for the purpose of illustrating embodiments of the present invention and is not intended to limit the scope of the present invention, and all modifications, equivalents, and equivalent structures or equivalent processes that can be used directly or indirectly in other related fields of technology shall be encompassed by the present invention.
Claims (10)
1. An air pressure height measurement auxiliary floor positioning method is characterized by comprising the following steps:
s10, acquiring a current air pressure value P and a current positioning signal of an indoor environment under current reference information in real time, wherein the current reference information comprises a reference floor L0 and a reference air pressure value P1;
s20, judging whether the current positioning signal meets the updating condition of the preset standard;
s30, if the current positioning signal meets the preset reference updating condition, updating the current reference information: updating the reference floor L0 to be the floor where the current positioning signal is located, and updating the reference air pressure value P1 to be the current air pressure value P;
and S40, calculating an altitude change value by using the reference air pressure value P1 and the current air pressure value P, comparing the altitude change value with pre-configured floor height information, and identifying the current floor in combination with the reference floor L0.
2. The method as claimed in claim 1, wherein the step S20 of determining whether the current positioning signal satisfies the predetermined reference updating condition comprises:
and acquiring the signal intensity of the current positioning signal of the current indoor environment, and if the signal intensity is greater than a preset threshold value, judging that the current positioning signal meets the preset reference updating condition.
3. The method as claimed in claim 1, wherein the step S20 of determining whether the current positioning signal satisfies the predetermined reference updating condition comprises:
and acquiring the signal intensity of the current positioning signal of the current indoor environment, and if the signal intensity is kept to be greater than a preset threshold value in a preset time period, judging that the current positioning signal meets the preset reference updating condition.
4. The method of claim 1, wherein step S10 further comprises:
and filtering the acquired current air pressure value P to reduce the interference of air pressure data jitter on floor positioning.
5. The method according to claim 4, wherein the filtering process is Kalman filtering.
6. The method as claimed in claim 1, wherein the current positioning signal is emitted from a plurality of positioning beacons disposed on respective floors.
7. The method of claim 1, further comprising: and identifying the upstairs and downstairs movement according to the height change value, and outputting a judgment result.
8. An air pressure altimetry auxiliary floor positioning device, characterized in that said floor positioning device comprises:
the acquisition module is used for acquiring a current air pressure value P and a current positioning signal of the current indoor environment;
the judging module is used for judging whether the acquired current positioning signal meets a preset reference updating condition or not;
a reference information storage unit for storing current reference information including a reference floor L0 and a reference air pressure value P1;
a reference updating module that updates the current reference information stored in the reference information storage unit when it is determined that the current positioning signal satisfies the reference updating condition: updating the reference floor L0 to be the floor where the current positioning signal is located, and updating the reference air pressure value P1 to be the current air pressure value P;
and the identification module is used for determining an altitude change value according to the reference air pressure value P1 and the current air pressure value P, and further identifying the floor where the reference floor L0 is located.
9. The barometric height measurement auxiliary floor positioning device of claim 8, wherein the identification module is further configured to identify an upstairs and downstairs activity based on the baseline barometric pressure value P1 and the current barometric pressure value P.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN202110862184.2A CN113624204A (en) | 2021-07-29 | 2021-07-29 | Air pressure height measurement auxiliary floor positioning method and device and storage medium |
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