CN114422958A - Positioning method and related device in indoor environment - Google Patents
Positioning method and related device in indoor environment Download PDFInfo
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- H—ELECTRICITY
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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Abstract
The application provides a positioning method and a related device in an indoor environment, which can be applied to the technical field of indoor positioning. According to the technical scheme, distance information between an object to be positioned and first signal acquisition equipment and a motion track of the object to be positioned in an indoor environment are obtained firstly, then the object to be positioned is determined in M positions in the indoor environment according to the distance information and the position of the first signal acquisition equipment in the indoor environment, and finally the position of the object to be positioned on the motion track is determined as the position of the object to be positioned in the indoor environment according to the motion track. According to the technical scheme, the target position of the object to be positioned is determined from M positions according to the motion track of the object to be positioned, and the accuracy and precision of indoor positioning can be improved.
Description
Technical Field
The present application relates to the field of indoor positioning technologies, and in particular, to a positioning method and a related apparatus in an indoor environment.
Background
With the rapid increase of data services and multimedia services, people's demands for positioning and navigation are increasing, and especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines and other environments, it is often necessary to determine the indoor position information of the mobile terminal or its holder, facilities and articles.
One commonly used indoor wireless positioning method at present is a Radio Frequency Identification (RFID) positioning method. According to the method, a plurality of wireless radio frequency signal acquisition points are deployed indoors, the wireless radio frequency signal acquisition points can acquire wireless radio frequency signals sent by terminal equipment entering an acquisition range of the wireless radio frequency signal acquisition points, and the position information of the wireless radio frequency signals in the room is determined according to the wireless radio frequency signals acquired by the wireless radio frequency signal acquisition points.
But the accuracy and precision of the position information obtained by positioning by the method are low. Therefore, how to improve the positioning accuracy and precision of the indoor positioning method becomes a technical problem to be solved urgently.
Disclosure of Invention
The application provides a positioning method and a related device in an indoor environment, which are used for solving the problems of low accuracy and precision of position information obtained by positioning by using the existing method.
In a first aspect, the present application provides a positioning method in an indoor environment, including: acquiring distance information, wherein the distance information is used for indicating the distance between an object to be positioned and first signal acquisition equipment, the first signal acquisition equipment is deployed in the indoor environment, and the object to be positioned is positioned in the indoor environment; acquiring a motion track of the object to be positioned in the indoor environment; and determining the position of the object to be positioned in the indoor environment according to the position of the first signal acquisition equipment in the indoor environment, the distance information and the motion trail.
According to the method, the approximate position of the object to be positioned in the indoor environment can be determined according to the distance between the object to be positioned and the first signal acquisition equipment and the position of the first signal acquisition equipment in the indoor environment, and then the position of the object to be positioned in the indoor environment is determined according to the motion track of the object to be positioned in the indoor environment. That is to say, the object to be positioned is roughly positioned, and then the motion trail of the object to be positioned is combined to obtain the more accurate position of the object to be positioned, so that the indoor positioning precision is improved.
With reference to the method of the first aspect, the obtaining distance information includes: receiving first signal strength information from a first signal acquisition device of the indoor environment, wherein the first signal strength information is used for indicating the signal strength of a first signal received by the first signal acquisition device and transmitted by a first signal transmitter on the object to be positioned; and determining the distance information according to the first signal strength information and the mapping relation between the signal strength of the first signal and the distance between the transmitting equipment and the collecting equipment of the first signal.
The mapping relation between the signal intensity of the first signal and the distance between the transmitting equipment and the collecting equipment of the first signal is collected in the background server in advance, so that the distance information between the transmitting equipment and the collecting equipment of the first signal can be obtained according to the received signal intensity of the first signal.
In the method, the signal strength of the first signal received by the first signal acquisition device is greater than the signal strength of the first signal received by any other signal acquisition device of the plurality of signal acquisition devices deployed in the indoor environment.
The signal intensity of the first signal received by the first signal acquisition equipment is maximum, which indicates that the distance between the first signal acquisition equipment and the object to be positioned is the closest. In addition, the distance between the first signal acquisition equipment and the object to be positioned is the shortest, so that the first signal acquisition equipment can be ensured to receive the first signal of the object to be positioned within a long period of time, and the situation that the first signal acquired by the first signal acquisition equipment is interrupted and needs to be acquired again by other signal acquisition equipment due to the fact that the object to be positioned is too far away from the first signal acquisition equipment in the moving process is prevented.
In the method, the first signal transmitter includes a wireless radio frequency signal transmitter, the first signal includes a wireless radio frequency signal, and the first signal acquisition device includes a wireless radio frequency signal receiving device.
The first signal comprises a radio frequency signal, namely the distance information is a distance obtained by a radio frequency positioning technology, and the distance information is used for indicating a three-dimensional distance between the object to be positioned and the signal acquisition equipment.
With reference to the method of the first aspect, acquiring a motion trajectory of the object to be located in the indoor environment includes: receiving second signal strength information from a second signal acquisition device in the indoor environment, wherein the second signal strength information is used for indicating signal strength information of a second signal received by the second signal acquisition device in the indoor environment and transmitted by a second signal transmitter on the object to be positioned; and determining the motion track of the object to be positioned in the indoor environment according to the second signal strength information.
The motion state of the object to be positioned can be obtained according to the second signal strength information, the motion track of the object to be positioned in the indoor environment can be obtained according to the motion state of the object to be positioned, and the position where the object to be positioned cannot appear in the first position of the object to be positioned can be eliminated according to the motion track of the object to be positioned in the indoor environment, so that the more accurate position of the object to be positioned can be obtained.
In the method, the second signal emitter comprises a bluetooth signal emitter, the second signal comprises a bluetooth signal, and the second signal acquisition device comprises a bluetooth signal receiving device.
The second signal comprises a Bluetooth signal, the motion state of the object to be positioned can be obtained according to the Bluetooth positioning technology, and the application state is used for indicating the advancing direction of the object to be positioned.
With reference to the method of the first aspect, the determining a position of the object to be located in the indoor environment according to the position of the first signal acquisition device in the indoor environment, the distance information, and the motion trajectory includes: determining M positions of the object to be positioned in the indoor environment according to the position of the first signal acquisition equipment in the indoor environment and the distance information, wherein M is a positive integer; and determining the position on the motion trail in the M positions as the position of the object to be positioned in the indoor environment according to the motion trail.
The M positions are M possible positions of the object to be positioned obtained through a radio frequency positioning technology, the motion trail is the motion direction of the object to be positioned obtained through a Bluetooth positioning technology, then the M positions are matched with the motion trail, and the position, located on the motion trail, of the M positions is determined as the position of the object to be positioned in the indoor environment, so that the position of the object to be positioned determined according to the motion trail of the object to be positioned is more accurate than the position obtained according to the distance between the object to be positioned and the first signal acquisition equipment.
In a second aspect, the present application provides a positioning device in an indoor environment, comprising: the device comprises an acquisition module and a determination module. The system comprises an acquisition module, a first signal acquisition device and a second signal acquisition device, wherein the acquisition module is used for acquiring distance information, the distance information is used for indicating the distance between an object to be positioned and the first signal acquisition device, the first signal acquisition device is deployed in the indoor environment, and the object to be positioned is located in the indoor environment; the acquisition module is further used for acquiring the motion track of the object to be positioned in the indoor environment. The determining module is used for determining the position of the object to be positioned in the indoor environment according to the position of the first signal acquisition equipment in the indoor environment, the distance information and the motion trail.
The apparatus as described in connection with the second aspect, the apparatus may further include a receiving module. The receiving module is used for receiving first signal strength information from first signal acquisition equipment in the indoor environment, wherein the first signal strength information is used for indicating the signal strength of a first signal received by the first signal acquisition equipment and transmitted by a first signal transmitter on the object to be positioned; the receiving module is further configured to receive second signal strength information from a second signal acquisition device in the indoor environment, where the second signal strength information is used to indicate signal strength information of a second signal received by the second signal acquisition device in the indoor environment and transmitted by a second signal transmitter on the object to be positioned.
In a third aspect, the present application provides a positioning apparatus in an indoor environment, which may include various functional modules for implementing the method in the first aspect. For example, the apparatus may include a memory, and a processor coupled with the memory.
The processor is configured to execute the program instructions to implement the instructions performed by the method of the first aspect; the memory is used for storing instructions executed by the processor or storing input data required by the processor to execute the instructions or storing data generated after the processor executes the instructions.
In a fourth aspect, the present application provides a computer readable storage medium storing program code for execution by a processor, the program code comprising instructions for implementing the method of the first aspect.
In a fifth aspect, the present application provides a computer program product for causing a positioning device in the indoor environment to carry out the method of the first aspect, when the computer program product is run on a processor.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of an indoor positioning system according to an embodiment of the present application;
fig. 2 is a schematic diagram of a positioning method in an indoor environment according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a background server determining a second position of the object to be located in the indoor environment according to the architectural diagram of the indoor environment and the second position coordinates according to an embodiment of the present application;
FIG. 4 is a schematic view of an indoor positioning apparatus according to an embodiment of the present application;
fig. 5 is a schematic view of an indoor positioning apparatus according to another embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The technical scheme of the embodiment of the application can be used for positioning the target object in the indoor environment. For example, the technical solution of the embodiment of the present application may be used to locate a mobile device in an airport hall, an exhibition hall, a warehouse, a supermarket, a library, an underground parking lot, a mine, and other environments.
Fig. 1 is a schematic structural diagram of an indoor positioning system according to an embodiment of the present application. As shown in fig. 1, the indoor positioning system structure may include a wireless radio frequency signal receiving device, a bluetooth signal receiving device, a wireless radio frequency signal transmitter, a bluetooth signal transmitter, a wireless local area network, and a positioning server.
Wherein, bluetooth signal transmitter and wireless radio frequency signal transmitter dispose on the object of awaiting the location. As an example, the object to be positioned is a mobile terminal device. As another example, the object to be located is a living being. E.g., human or animal, etc. An example of the wireless radio frequency signal transmitter is an RFID chip, and an example of the bluetooth signal transmitter is a bluetooth sensor, where the bluetooth sensor includes a sensor module and a bluetooth transmission module, and the sensor module of the bluetooth sensor may include various sensors such as a temperature sensor, an acceleration sensor, and a direction sensor.
The wireless radio frequency signal receiving device can acquire wireless radio frequency signals transmitted by a wireless radio frequency signal transmitter within a certain range. One example of a wireless radio frequency signal receiving device is an RFID transceiver.
The Bluetooth signal receiving device can collect Bluetooth signals transmitted by a Bluetooth signal transmitter within a certain range. An example of a bluetooth signal receiving device is a bluetooth gateway.
The wireless radio frequency signal receiving device and the Bluetooth signal receiving device can be communicated with the positioning server through a wireless local area network.
As a possible implementation manner, the wireless radio frequency signal receiving apparatus and the bluetooth signal receiving apparatus may be disposed on the same device, and the device may be referred to as a signal acquisition device.
It is understood that the signal acquisition device may also be referred to as a wireless Access Point (AP) or acquisition point. Optionally, the signal acquisition device may include a router or the like.
As a possible implementation, multiple signal acquisition devices may be deployed in an indoor environment, and the multiple signal acquisition devices may be deployed at different locations indoors.
When an object to be positioned, which carries the Bluetooth signal emitter and the wireless radio frequency signal emitter, enters the signal coverage range of the wireless radio frequency signal receiving device and the Bluetooth signal receiving device, the wireless radio frequency signal receiving device can collect the wireless radio frequency signals emitted by the wireless radio frequency signal emitter, and the Bluetooth signal receiving device can collect the Bluetooth signals emitted by the Bluetooth signal emitter.
It can be understood that, when the distances between different wireless radio frequency signal receiving devices and the same wireless radio frequency signal transmitter are different, the signal strengths of the same wireless radio frequency signal collected by different wireless radio frequency signal receiving devices may also be different. Generally, the longer the distance between the wireless rf signal receiving device and the wireless rf signal transmitter is, the weaker the signal strength of the wireless rf signal collected by the wireless rf signal receiving device is.
Similarly, when the distances between different bluetooth signal receiving devices and the same bluetooth signal transmitter are different, the signal intensity of the same bluetooth signal acquired by different bluetooth signal receiving devices is also different. Generally speaking, the longer the distance between the bluetooth signal receiving device and the bluetooth signal transmitter is, the weaker the signal strength of the bluetooth signal collected by the bluetooth signal receiving device is.
One or more wireless switches can be deployed in the wireless local area network, and the signals acquired by the acquisition equipment can be sent to the positioning server through the wireless switches. One example of a wireless switch is a base station.
The positioning server is a background server, and a building structure diagram of an indoor environment, a distribution network diagram of a wireless radio frequency signal receiving device and a bluetooth signal receiving device deployed in the indoor environment, a coordinate diagram of the wireless radio frequency signal receiving device and the bluetooth signal receiving device in the indoor environment, and a coordinate diagram of the building structure in the indoor environment can be stored in the background server in advance.
The architectural structure diagram may include an arrangement diagram of structural components such as walls, elevators, stairways, and rooms in an indoor environment such as an airport lobby, an exhibition hall, a warehouse, a supermarket, a library, an underground parking lot, and a mine, that is, a plurality of structural components in the indoor environment and specific positions of the structural components in the indoor environment may be obtained according to the architectural structure diagram.
The distribution network diagram of the wireless radio frequency signal receiving device and the bluetooth signal receiving device is used for indicating the arrangement positions of the wireless radio frequency signal receiving device and the bluetooth signal receiving device deployed in the indoor environment, that is, the specific positions of the signal acquisition equipment to which the wireless radio frequency signal receiving device and the bluetooth signal receiving device belong in the indoor environment can be known according to the distribution network diagram. The distribution network diagram of the wireless radio frequency signal receiving device and the Bluetooth signal receiving device can also be called a signal acquisition device distribution network diagram.
The coordinate graphs of the wireless radio frequency signal receiving device and the Bluetooth signal receiving device in the indoor environment are established based on the signal acquisition device distribution network graph, and the coordinate graphs are used for representing the coordinate values of the signal acquisition equipment to which the wireless radio frequency signal receiving device and the Bluetooth signal receiving device belong in the indoor environment. The coordinate system in the coordinate system may be established by taking any point in the indoor environment where the signal acquisition device is located as an origin center, and then taking the origin center as three mutually perpendicular axes, which generally have the same length unit, for example, the three axes are respectively called an x-axis (horizontal axis), a y-axis (vertical axis), and a z-axis (vertical axis). It is understood that the three-dimensional coordinate values of the radio frequency signal receiving device and the bluetooth signal receiving device in the indoor environment represent the three-dimensional distances of the radio frequency signal receiving device and the bluetooth signal receiving device from the coordinate origin of the coordinate system. The coordinate graph of the wireless radio frequency signal receiving device and the Bluetooth signal receiving device in the indoor environment can also be called as a signal acquisition device coordinate graph.
The building structure coordinate graph is a coordinate graph obtained by measuring original terrain in the indoor environment or a coordinate system established based on a building structure diagram of the indoor environment, and the coordinate system in the coordinate graph can be established by taking any one point in the indoor environment as an origin center and then taking the origin center as three mutually perpendicular axes which generally have the same length unit, for example, the three axes are respectively called an x axis (horizontal axis), a y axis (vertical axis) and a z axis (vertical axis). And obtaining three-dimensional coordinate values of all structural components in the indoor environment according to the coordinate system.
In addition, the background server can also pre-store the wireless radio frequency signal intensity of the wireless radio frequency signal receiving device and the wireless radio frequency signal transmitter at different distances and the Bluetooth signal intensity of the Bluetooth signal receiving device and the Bluetooth signal transmitter at different distances.
Optionally, the indoor positioning system structure may further include a display device, and the display device may communicate with the positioning server.
Fig. 2 is a schematic diagram of a positioning method in an indoor environment according to an embodiment of the present disclosure, and as shown in fig. 2, the indoor positioning method may include S201, S202, S203, S204, S205, and S206.
S201, a background server receives first information sent by a signal acquisition device, the first information is used for indicating the signal intensity of a first signal received by the signal acquisition device and transmitted by a first signal transmitter on an object to be positioned, the background server acquires second information according to the first information, the second information is used for indicating the three-dimensional distance between the object to be positioned and the signal acquisition device, and the signal acquisition device is deployed in an indoor environment.
In this embodiment, the background server may be a positioning server in the system architecture shown in fig. 1, where the positioning server includes a pre-stored building structure diagram of an indoor environment, a signal acquisition device distribution network diagram in the indoor environment, a signal acquisition device coordinate diagram of the indoor environment, and a coordinate diagram of a building structure in the indoor environment.
The signal acquisition device may be a signal acquisition device in which a wireless radio frequency signal receiving apparatus and a bluetooth signal receiving apparatus are deployed in the indoor environment.
The object to be positioned may be a terminal device or a living being in which the wireless radio frequency signal transmitter and the bluetooth signal transmitter shown in fig. 1 are disposed. For example, the terminal devices may include cell phones and other removable devices.
As an example, the first signal transmitter may comprise a wireless radio frequency signal transmitter and, accordingly, the first signal may comprise a wireless radio frequency signal.
In a possible implementation method, the receiving, by the background server, the first information sent by the signal acquisition device includes: the object to be positioned moves in an indoor environment, when the object to be positioned enters a signal coverage range of the signal acquisition equipment, the signal acquisition device identifies the object to be positioned based on the identification code of the object to be positioned, acquires a first signal sent by a first signal transmitter on the object to be positioned, and then sends the acquired indication information (namely first information) of the signal intensity of the first signal to a background server through a wireless local area network. Correspondingly, the background server receives the first information.
And after receiving the first information, the background server determines the distance between the object to be positioned and the signal acquisition equipment according to the signal strength indicated by the first information, namely the three-dimensional relative distance between the object to be positioned and the signal acquisition equipment.
In this embodiment, the identification code of the object to be positioned is the tag of the object to be positioned, and each object to be positioned has a unique corresponding tag, that is, the identity of the object to be positioned can be identified according to the tag. For example, for a mobile phone, each mobile phone has a unique corresponding device identifier, and the device identifier is a tag of the mobile phone. For another example, for other mobile devices, there may not be a unique corresponding device identifier for the devices, so a tag may be manually added to the devices, and the identity of the devices may be confirmed according to the tag.
In this embodiment, the object to be positioned may enter the signal coverage of the plurality of signal acquisition devices, that is, the plurality of signal acquisition devices may all receive the signal of the object to be positioned.
In one possible implementation, when the plurality of signal acquisition devices all receive the first signal transmitted by the first signal transmitter on the object to be positioned, the plurality of signal acquisition devices send the indication information of the signal strength of the first signal acquired by each signal acquisition device to the wireless switch, the wireless switch can judge which signal acquisition device of the plurality of signal acquisition devices the object to be positioned is closest to according to the plurality of indication information, or which signal acquisition device of the plurality of signal acquisition devices receives the strongest signal strength of the first signal, and then sending the indication information (namely the first information) of the signal strength of the first signal acquired by the signal acquisition equipment closest to the object to be positioned or the indication information (namely the first information) of the signal strength of the first signal with the strongest signal strength to the background server. Correspondingly, the background server receives the first information.
S202, the background server determines M first position coordinates of the object to be positioned in the indoor environment according to the second information and the coordinate graph of the signal acquisition equipment in the indoor environment, wherein M is a positive integer.
In this embodiment, the network diagram of the signal acquisition device may be a distribution network diagram of the wireless radio frequency signal receiving device and the bluetooth signal receiving device deployed in the indoor environment, which is pre-stored in the background server shown in fig. 1; the coordinate graph of the signal acquisition device may be a coordinate graph of the wireless radio frequency signal receiving device and the bluetooth signal receiving device in the indoor environment, which is pre-stored in the background server shown in fig. 1.
As an example, the background server determines M first position coordinates of the object to be positioned in the indoor environment according to the second information and the signal acquisition device coordinate graph in the indoor environment, including: and the background server determines M first position coordinates of the object to be positioned in the indoor environment according to the second information, the network diagram of the signal acquisition equipment in the indoor environment and the coordinate diagram of the signal acquisition equipment in the indoor environment.
As an example, the determining, by the background server, the first position coordinate of the object to be positioned in the indoor environment according to the three-dimensional distance between the object to be positioned and the signal acquisition device, the network diagram of the signal acquisition device, and the coordinate diagram of the signal acquisition device includes: the background server determines M distribution positions of the object to be positioned in the distribution network diagram of the signal acquisition equipment according to the three-dimensional distance between the object to be positioned and the signal acquisition equipment and the position of the signal acquisition equipment in the distribution network diagram of the information acquisition equipment, because the three-dimensional distance between the object to be positioned and the signal acquisition equipment is only known at present, and the direction in which the object to be positioned is located in the signal acquisition equipment cannot be determined, so that one or more distribution positions (namely M distribution positions) can be determined; and then determining M first position coordinates of the object to be positioned in the indoor environment according to the coordinate value of the signal acquisition equipment in the indoor environment and the M distribution positions of the object to be positioned.
As an example, the background server determines M first position coordinates of the object to be positioned in the indoor environment according to the second information and the signal acquisition device coordinate graph in the indoor environment, including: and the background server determines and obtains M first position coordinates of the object to be positioned in the indoor environment based on the three-dimensional distance between the object to be positioned and the signal acquisition equipment and the coordinate value of the signal acquisition equipment in the indoor environment. For example, the coordinate value of the signal acquisition device in the indoor environment is added with the three-dimensional distance in each of M directions to obtain a corresponding first position coordinate, and M directions are used to obtain M first position coordinates.
It is understood that the first position coordinate is derived from the distance between the located object and the signal acquisition device, and is a possible coordinate of the located object.
As an example, if the point P represents the signal acquisition device, and the backend server determines, according to the strength of the radio frequency signal of the object to be positioned, that the distance between the object to be positioned and the signal acquisition device is 5 meters, then the approximate position of the object to be positioned in the information acquisition device distribution network diagram includes the entire coverage range in the information acquisition device distribution network diagram, where the point P is used as the center of a circle and the radius is 5 meters, and then the first position coordinate of the object to be positioned in the indoor environment includes M three-dimensional coordinate values in the range in which the point P is used as the center of a circle and the radius is 5 meters in the signal acquisition device coordinate diagram.
S203, the background server determines M second positions of the object to be positioned in the building structure diagram according to the building structure coordinate diagram of the indoor environment and the M first position coordinates, and determines N second positions of the object to be positioned from the M second position coordinates according to the M second positions and the building structure diagram of the indoor environment, wherein N is a positive integer and is less than or equal to M.
In this embodiment, the architectural diagram may be an architectural diagram of an indoor environment pre-stored by the background server shown in fig. 1.
The method for determining the first position map of the object to be positioned in the indoor environment by the background server according to the building structure diagram of the indoor environment and the first position coordinates can comprise the following steps: and the background server matches the first position coordinate with the building structure diagram, and determines the position of the object to be positioned in the building structure diagram, so that a first position diagram of the terminal equipment in the building structure is obtained.
The background server determines N second positions of the object to be positioned in the building structure diagram according to the building structure coordinate diagram of the indoor environment and the M first position coordinates, and may include: acquiring a relative position relation between a building structure coordinate graph and a coordinate graph of signal acquisition equipment, and converting the M first position coordinates into M second position coordinates of the object to be positioned in the building structure coordinate graph based on the relative position relation, wherein the M second position coordinates correspond to the M first position coordinates one by one, and each second position coordinate in the M second position coordinates is obtained by converting the corresponding first position coordinate through the relative position relation; after obtaining the M second position coordinates, the background server may determine to obtain N second positions of the object to be located in the building structure diagram based on the M second position coordinates and the building structure diagram, where the N second positions are in one-to-one correspondence with the N second position coordinates in the M second position coordinates, and each of the N second positions is a position indicated by the corresponding second position coordinate in the building structure diagram. Wherein the N second position coordinates are positions where the object can exist, which are determined from the N second position coordinates based on the architectural view. For example, if a second location coordinate is located in a wall in a building structure view, the second location coordinate may be eliminated because the second location coordinate is an unreasonable location coordinate.
Fig. 3 is a schematic diagram illustrating that the background server determines a second position map of the object to be located in the indoor environment according to the architectural diagram of the indoor environment and the second position coordinates according to an embodiment of the present application. As shown in fig. 3, it is assumed that fig. 3(a) is a building structure diagram of the indoor environment, and P in fig. 3(b) is a second position coordinate of the object to be positioned in the indoor environment. Fig. 3(c) shows the result of matching the second position coordinates with the architectural diagram.
A part of the M three-dimensional coordinate values can be excluded according to the first position map. For example, if there are some three-dimensional coordinate values located outside the indoor environment or located in an obstacle of the indoor environment among the M three-dimensional coordinate values, the part of the three-dimensional coordinate values is excluded. For another example, some three-dimensional coordinate values with a higher distance from the ground exist in the M three-dimensional coordinate values, and the three-dimensional coordinate values are excluded if the object to be positioned cannot move in the method with the higher distance from the ground. And the positions indicated by the remaining N three-dimensional coordinate values are the first positions of the object to be positioned. The first location is a general location and may include N location points.
It should be understood that, in the present embodiment, the architectural structure diagram of the indoor environment, the first position coordinate and the coordinate system to which the first position coordinate belongs are only a simple example, and do not limit the scope of the present application.
And S204, the background server receives third information sent by the signal acquisition equipment, the third information is used for indicating the signal state of a second signal acquired by the signal acquisition equipment and transmitted by the second signal transmitter, and the motion state of the object to be positioned is determined according to the third information.
In the present embodiment, an example of the second signal transmitter is a bluetooth signal transmitter, and accordingly, the second signal includes a bluetooth signal. The third information, which may also be referred to as second signal information, may include three-dimensional acceleration vector information of the object to be located.
In a possible implementation method, the method for the background server to receive the second signal information of the object to be positioned, which is acquired by the signal acquisition device, includes: the object to be positioned moves in an indoor environment, when the object to be positioned enters a signal coverage range of the signal acquisition equipment, the signal acquisition device identifies the object to be positioned based on the identification code of the object to be positioned, acquires second signal information of the object to be positioned, and then sends the acquired second signal information of the object to be positioned to the background server through the wireless local area network. Correspondingly, the background server receives second signal information of the object to be positioned.
In this embodiment, the identification code of the object to be positioned is the tag of the object to be positioned, and each object to be positioned has a unique corresponding tag, that is, the identity of the object to be positioned can be identified according to the tag. For example, for a mobile phone, each mobile phone has a unique corresponding device identifier, and the device identifier is a tag of the mobile phone. For another example, for other mobile devices, there may not be a unique corresponding device identifier for the devices, so a tag may be manually added to the devices, and the identity of the devices may be confirmed according to the tag.
The second signal information and the first signal information in S201 may be signal information of the object to be positioned, which is acquired by the wireless radio frequency signal receiving device and the bluetooth signal receiving device in the signal acquisition device, at the same time.
The method for determining the motion state of the object to be positioned by the background server according to the third information of the object to be positioned may include: inputting the third information of the object to be positioned into the motion characteristic algorithm model to obtain the motion state of the object to be positioned at the current moment, wherein the motion state may include motion states such as a straight motion state, a left-right turn state, an upward-downward motion state and the like.
The method for establishing the motion characteristic algorithm model can comprise the following steps: acquiring three-dimensional acceleration vector information of the object to be positioned, acquired by a Bluetooth sensor, in various motion states, and then training the three-dimensional acceleration vector information of the object to be positioned in various motion states by using a probability statistics method to obtain a motion characteristic algorithm model.
S205, the background server determines the motion track of the object to be positioned according to the motion state of the object to be positioned and the building structure diagram.
The background server predicts the motion track of the object to be positioned according to the motion state of the object to be positioned and the building structure diagram, namely, the background server obtains the predicted motion track according to the motion state of the object to be positioned, then the predicted motion track is matched with the building structure diagram, if the building structure diagram corresponds to the predicted motion track, the actual motion track of the object to be positioned according to the predicted motion track is determined, and if not, the motion track of the object to be positioned is determined according to the subsequent motion state.
As an example, when the motion state of the object to be positioned at the current moment is a right turn, the background server predicts a motion trajectory of the object to be positioned for the right turn according to the motion state, and then performs matching according to the predicted motion trajectory and the building structure diagram, if a right-turn door or a right-turn channel exists at the position of the object to be positioned at the previous moment in the building structure diagram, it indicates that the object to be positioned enters the door or a right turn, and the predicted motion trajectory is the actual motion trajectory of the object to be positioned. If the position of the object to be positioned at the previous moment is a straight channel, the predicted motion track is not the actual motion track of the object to be positioned, and then the motion track of the object to be positioned is determined according to the subsequent motion state.
S206, the background server determines the target position of the object to be positioned according to the N second positions of the object to be positioned and the motion trail of the object to be positioned.
In a possible implementation method, the method for determining the target position of the object to be positioned by the background server according to the N second position of the object to be positioned and the motion trajectory of the object to be positioned includes: the background server compares the N second positions of the object to be positioned with the motion trail of the object to be positioned to determine whether a second position located on the motion trail exists in the N second positions; and when a second position exists in the N second positions and is positioned on the motion trail, taking the second position as the target position of the object to be positioned.
Optionally, after obtaining the target position of the object to be positioned, the background server may display the target position of the object to be positioned on a display device connected to the background server.
In the technical scheme of this application, treat the location object and roughly fix a position through RFID location technology, obtain the roughly position of the object of awaiting locating in this indoor environment to obtain the motion state of the object of awaiting locating through bluetooth location technology, then combine the building structure chart of this indoor environment to confirm the motion trail of this object of awaiting locating in this indoor environment, thereby obtain the concrete position of this object of awaiting locating in this indoor environment. The method solves the problem that only the area range of the object to be positioned can be positioned when the object to be positioned is positioned by using a single RFID positioning technology, and improves the indoor positioning precision.
In the technical scheme of the application, the signal acquisition equipment comprises a wireless radio frequency signal receiving device and a Bluetooth signal receiving device, since the bluetooth signal receiving device can only collect the bluetooth signal of one bluetooth device or one device with a bluetooth sensor at the same time, when the Bluetooth signal receiving device is matched with the first equipment, if a second equipment exists in the signal coverage range of the Bluetooth gateway, the wireless radio frequency signal receiving device in the acquisition equipment can receive the wireless radio frequency signal of the second equipment, and then is matched with the second equipment when the Bluetooth signal receiving device is disconnected with the first equipment, therefore, the information of the terminal equipment which is not collected by the Bluetooth signal receiving device at present can be confirmed, and the problem that the Bluetooth signal collection of part of equipment is lost when a plurality of equipment moves simultaneously is prevented.
Fig. 4 is a schematic view of an indoor positioning apparatus according to an embodiment of the present application, and as shown in fig. 4, the indoor positioning apparatus 400 includes: a receiving module 401, an obtaining module 402 and a determining module 403.
The indoor positioning apparatus 400 can be used to implement the flow chart of the positioning method in the indoor environment according to the embodiment shown in fig. 2. The receiving module 401 may be configured to execute the step of receiving the first information in S201 and the step of receiving the third information in S204, the obtaining module 402 may be configured to execute the step of obtaining the three-dimensional distance between the object to be positioned and the signal acquisition device in S201, and the determining module 403 may be configured to execute the steps of S202, S203, S205, and S206.
Fig. 5 is a schematic view of an indoor positioning apparatus according to another embodiment of the present application, and as shown in fig. 5, the indoor positioning apparatus 500 includes: a processor 501 and interface circuitry 502. The processor 501 and the interface circuit 502 are coupled to each other. It is understood that the interface circuit 502 may be a transceiver or an input-output interface. Optionally, the indoor positioning apparatus 500 may further include a memory 503 for storing instructions executed by the processor 501 or storing input data required by the processor 501 to execute the instructions or storing data generated after the processor 501 executes the instructions.
As an example, the processor 501 may be configured to implement the functions of the above-mentioned obtaining module 402 and determining module 403, and the interface circuit 502 may be configured to implement the functions of the above-mentioned receiving module 401.
It will be appreciated that the processor in the embodiments of the present application may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, field programmable gate arrays or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general purpose processor may be a microprocessor, but may be any conventional processor.
The method steps in the embodiments of the present application may be implemented by hardware, or may be implemented by software instructions executed by a processor. The software instructions may be comprised of corresponding software modules that may be stored in random access memory, flash memory, read only memory, programmable read only memory, erasable programmable read only memory, electrically erasable programmable read only memory, registers, a hard disk, a removable hard disk, a compact disc read only memory (CD-ROM), or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). In addition, the application specific integrated circuit may be located in a network device or a terminal device. Of course, the processor and the storage medium may reside as discrete components in a network device or a terminal device.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network appliance, a user device, or other programmable apparatus. The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The usable medium may be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; optical media such as digital video disks; but also semiconductor media such as solid state disks.
In the embodiments of the present application, unless otherwise specified or conflicting with respect to logic, the terms and/or descriptions in different embodiments have consistency and may be mutually cited, and technical features in different embodiments may be combined to form a new embodiment according to their inherent logic relationship. The term "plurality" herein means two or more. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship; in the formula, the character "/" indicates that the preceding and following related objects are in a relationship of "division".
It is to be understood that the various numerical references referred to in the embodiments of the present application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of the present application.
It should be understood that, in the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present application. Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (11)
1. A method of positioning in an indoor environment, comprising:
acquiring distance information, wherein the distance information is used for indicating the distance between an object to be positioned and first signal acquisition equipment, the first signal acquisition equipment is deployed in the indoor environment, and the object to be positioned is positioned in the indoor environment;
acquiring a motion track of the object to be positioned in the indoor environment;
and determining the position of the object to be positioned in the indoor environment according to the position of the first signal acquisition equipment in the indoor environment, the distance information and the motion trail.
2. The method of claim 1, wherein the obtaining distance information comprises:
receiving first signal strength information from a first signal acquisition device of the indoor environment, wherein the first signal strength information is used for indicating the signal strength of a first signal received by the first signal acquisition device and transmitted by a first signal transmitter on the object to be positioned;
and determining the distance information according to the first signal strength information and the mapping relation between the signal strength of the first signal and the distance between the transmitting equipment and the collecting equipment of the first signal.
3. The method of claim 2, wherein the first signal strength of the first signal received by the first signal acquisition device is greater than the signal strength of the first signal received for any other of the plurality of signal acquisition devices deployed in the indoor environment.
4. The method of claim 2 or 3, wherein the first signal transmitter comprises a wireless radio frequency signal transmitter, the first signal comprises a wireless radio frequency signal, and the first signal acquisition device comprises a wireless radio frequency signal receiving apparatus.
5. The method of claim 1, wherein the obtaining a motion trajectory of the object to be located in the indoor environment comprises:
receiving second signal strength information from a second signal acquisition device in the indoor environment, wherein the second signal strength information is used for indicating signal strength information of a second signal received by the second signal acquisition device in the indoor environment and transmitted by a second signal transmitter on the object to be positioned;
and determining the motion track of the object to be positioned in the indoor environment according to the second signal strength information.
6. The method of claim 5, wherein the second signal transmitter comprises a Bluetooth signal transmitter, wherein the second signal comprises a Bluetooth signal, and wherein the second signal acquisition device comprises a Bluetooth signal receiving device.
7. The method of claim 1, wherein said determining the position of the object to be positioned in the indoor environment from the position of the first signal acquisition device in the indoor environment, the distance information, and the motion trajectory comprises:
determining M positions of the object to be positioned in the indoor environment according to the position of the first signal acquisition equipment in the indoor environment and the distance information, wherein M is a positive integer;
and determining the position on the motion trail in the M positions as the position of the object to be positioned in the indoor environment according to the motion trail.
8. A positioning device in an indoor environment, comprising:
the system comprises an acquisition module, a positioning module and a positioning module, wherein the acquisition module is used for acquiring distance information, the distance information is used for indicating the distance between an object to be positioned and first signal acquisition equipment, the first signal acquisition equipment is deployed in the indoor environment, and the object to be positioned is positioned in the indoor environment;
the acquisition module is further used for acquiring the motion track of the object to be positioned in the indoor environment;
the determining module is used for determining the position of the object to be positioned in the indoor environment according to the position of the first signal acquisition equipment in the indoor environment, the distance information and the motion trail.
9. A positioning device in an indoor environment, comprising a memory, and a processor coupled to the memory;
the memory is to store program instructions;
the processor is configured to execute the program instructions to implement the method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores program code for computer execution, the program code comprising instructions for implementing the method of any one of claims 1 to 7.
11. A computer program product, characterized in that it comprises a computer program for implementing the method of any one of claims 1 to 7 when executed by a processor.
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