CN114501326A - Indoor positioning method and device, mobile terminal and storage medium - Google Patents

Indoor positioning method and device, mobile terminal and storage medium Download PDF

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Publication number
CN114501326A
CN114501326A CN202210157794.7A CN202210157794A CN114501326A CN 114501326 A CN114501326 A CN 114501326A CN 202210157794 A CN202210157794 A CN 202210157794A CN 114501326 A CN114501326 A CN 114501326A
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China
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signal
uwb
location information
mobile terminal
uwb beacon
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CN202210157794.7A
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Chinese (zh)
Inventor
陈恩丽
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Priority to CN202210157794.7A priority Critical patent/CN114501326A/en
Publication of CN114501326A publication Critical patent/CN114501326A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • H—ELECTRICITY
    • 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
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application discloses an indoor positioning method, an indoor positioning device, a mobile terminal and a storage medium. The method is applied to a mobile terminal, a UWB module and a GPS module are configured on the mobile terminal, and the method comprises the following steps: when receiving a first signal, acquiring first position information; said first signal is representative of a signal emitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon; determining second location information according to the first location information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.

Description

Indoor positioning method and device, mobile terminal and storage medium
Technical Field
The present application relates to the field of positioning technologies, and in particular, to an indoor positioning control method and apparatus, a mobile terminal, and a storage medium.
Background
In the related art, in an indoor area where there is no WiFi signal coverage and a GPS signal is poor, Positioning is performed using indoor WiFi and a Global Positioning System (GPS), which results in a reduction in indoor Positioning accuracy.
Disclosure of Invention
In view of this, embodiments of the present application provide an indoor positioning control method, an apparatus, a mobile terminal, and a storage medium, so as to at least solve the problem of reduced indoor positioning accuracy caused by weak signal strength of a positioning signal in the related art.
The technical scheme of the embodiment of the application is realized as follows:
the embodiment of the application provides an indoor Positioning method, which is applied to a mobile terminal, wherein the mobile terminal is provided with a Ultra Wide Band (UWB) module and a Global Positioning System (GPS) module, and the method comprises the following steps:
acquiring first position information when receiving a first signal; the first signal is representative of a signal transmitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon;
determining second location information according to the first location information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.
In the foregoing solution, the acquiring the first position information when receiving the first signal includes:
determining the first location information in a location mapping table according to the first signal; the position mapping table is provided by a server where the UWB beacon is located; the position mapping table is used for recording position information corresponding to different UWB beacons.
In the above scheme, the position mapping table is obtained from a second signal sent to a server where the UWB beacon is located.
In the foregoing solution, the acquiring the first position information when receiving the first signal includes:
determining identification information of the UWB beacon according to the first signal;
sending a third signal carrying identification information of the UWB beacon to a server where the UWB beacon is located; the third signal is used for requesting to acquire the first position information;
and receiving first position information returned by the server based on the third signal.
In the foregoing solution, when the first location information is obtained when the first signal is received, the method includes:
detecting an enable state of a first function; the first function represents the function of assisting the GPS module in positioning by the UWB module;
and under the condition that the enabling state of the first function represents that the first function is in an opening state, acquiring the first position information when receiving a first signal.
In the above scheme, the method further comprises:
determining the second location information based on the GPS module if the enabled state of the first function indicates that the first function is in the off state.
In the foregoing solution, when the first location information is obtained when the first signal is received, the method includes:
and under the condition that the GPS signal intensity is smaller than a first set threshold value, acquiring the first position information when receiving a first signal.
An embodiment of the present application further provides an indoor positioning device, the device includes:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring first position information when receiving a first signal; the first signal is representative of a signal transmitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon;
the determining unit is used for determining second position information according to the first position information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.
An embodiment of the present application further provides a mobile terminal, including: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is configured to perform the steps of any of the above methods when running the computer program.
Embodiments of the present application also provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of any one of the above methods.
In the embodiment of the application, the mobile terminal is provided with the UWB module and the GPS module, and when receiving a first signal transmitted by the UWB beacon, the mobile terminal acquires first location information of the UWB beacon, where the first location information is provided by a server where the UWB beacon is located, and the GPS module determines second location information according to the first location information, so that a geographic location of the mobile terminal can be obtained.
Drawings
FIG. 1 is a schematic diagram of a related art indoor positioning method;
fig. 2 is a schematic technical architecture diagram of an indoor positioning method according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an implementation of an indoor positioning method according to an embodiment of the present application;
fig. 4 is a schematic flow chart illustrating an implementation of an indoor positioning method according to another embodiment of the present application;
fig. 5 is a schematic flow chart illustrating an implementation of an indoor positioning method according to another embodiment of the present application;
fig. 6 is a schematic flowchart illustrating an indoor positioning process of a UWB module and a GPS module of a mobile terminal according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an indoor positioning apparatus according to an embodiment of the present application;
fig. 8 is a schematic diagram of a hardware composition structure of the mobile terminal according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The technical means described in the embodiments of the present invention may be arbitrarily combined without conflict.
In addition, in the present examples, "first", "second", and the like are used for distinguishing similar objects, and are not necessarily used for describing a particular order or sequence.
Before describing the technical solution of the embodiment of the present application in detail, first, a brief description is given to an indoor positioning method in the related art.
The current GPS positioning is mainly based on operator base station and satellite positioning, and in indoor or building dense areas, GPS signals are easily blocked or multipath effect occurs to the signals, thereby affecting the accuracy of GPS positioning, in the related art, the method of using Wi-Fi positioning technology to assist GPS positioning is mainly used to improve the accuracy of indoor positioning, as shown in fig. 1, Wi-Fi storage service, basic map service and calculation service are provided in the method of assisting GPS positioning by Wi-Fi positioning technology, the Wi-Fi storage Service is used for storing longitude and latitude information corresponding to different Media Access Control (MAC) addresses/Service Set Identifiers (SSIDs), the basic map Service is used for searching geographic positions with different longitudes and latitudes, and the calculation Service is used for calculating accurate longitude and latitude information according to multi-point reference and relative distance. Under the indoor positioning scheme, when the mobile terminal is in an environment without Wi-Fi signal coverage and with poor GPS signals, the improvement of indoor positioning accuracy cannot be realized.
For this reason, the present application provides a solution for assisting GPS positioning by using a UWB function, as shown in fig. 2, fig. 2 shows a technical architecture diagram of an indoor positioning method of the present application, and in the present application, a UWB storage service, a basic map service, and a calculation service are provided, where the UWB storage service is used to store longitude and latitude information corresponding to different UWB beacons, the basic map service is used to provide geographic location information corresponding to different longitude and latitude information, and the calculation service is used to calculate accurate location information according to the longitude and latitude information.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
An embodiment of the present application provides an indoor positioning method, and fig. 3 is a schematic flow chart of the indoor positioning method according to the embodiment of the present application. As shown in fig. 3, the method includes:
s301: acquiring first position information when receiving a first signal; the first signal is representative of a signal transmitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon.
In the embodiment of the application, the mobile terminal is provided with the UWB module and the GPS module, the mobile terminal can realize the positioning of the mobile terminal through the GPS module, and in addition, the UWB module can assist the GPS module to perform accurate positioning. In an indoor scene, for example, an underground garage, a cell doorway or a subway station is often configured with an entrance guard or a gate, which can be regarded as a UWB beacon, and when a mobile terminal receives a first signal transmitted by the UWB beacon, it can be understood that the mobile terminal enters an indoor environment. In one possible approach, the first location information is latitude and longitude information.
In practical application, a service provider where the UWB beacon is located actively collects or updates the corresponding relationship between the position information of the UWB beacon and the position information of the UWB beacon, and uploads the corresponding relationship between the position information of the UWB beacon and the position information of the UWB beacon to a server where the UWB beacon is located, so that the mobile terminal can obtain the first position information from the server.
In one embodiment, after receiving the first signal, the first location information may be determined from a location mapping table, where the location mapping table is used to record the correspondence between the different UWB beacons and the location information of the UWB beacon, in practical applications, the service provider of the UWB beacon may upload the correspondence between the location information of the UWB beacon and the UWB beacon to a server, and the server may store the correspondence between the received location information of the UWB beacon and the UWB beacon through the location mapping table, and then provide the location mapping table to the mobile terminal through the server.
In practical applications, the UWB beacon transmitting the first signal may be determined by the received first signal, for example, the identification information of the UWB beacon may be determined from the first signal, in practical applications, in order to distinguish between different UWB beacons, corresponding identification information may be set for each UWB beacon, for example, the identification information of the first UWB beacon may be determined as 1, the identification information of the second UWB beacon may be determined as 2, so that different UWB beacons may be distinguished, and the corresponding UWB beacon may be able to be based on the identification information of the UWB beacon, for example, in the case where the identification information is 1, the UWB beacon transmitting the first signal may be determined as the first UWB beacon. After determining the UWB beacon transmitting the first signal, the first location information is determined from the location mapping table through the identification information of the UWB beacon, for example, if the identification information of the UWB beacon transmitting the first signal is 1, the first location information corresponding to the identification information 1 may be searched from the location mapping table.
In one embodiment, the mobile terminal requests the return of the location mapping table to the server where the UWB beacon is located by transmitting a second signal.
In the first case, the second signal may be sent after the mobile terminal receives the first signal, that is, after the mobile terminal receives the first signal, the UWB module of the mobile terminal applies for the location mapping table to the system where the UWB beacon is located, and the system where the UWB beacon is located sends the second signal to the server where the UWB beacon is located.
In the second case, the second signal may be transmitted last time the first signal is received, that is, after the mobile terminal obtains the location mapping table based on the second signal, the location mapping table is stored in the mobile terminal, and in the subsequent positioning process, if the first signal is received again, the stored location mapping table is called to determine the first location information without requesting the first location information or the location mapping table from the server where the UWB beacon is located.
In the second situation, the mobile terminal may periodically request the UWB beacon server to obtain the location mapping table, so as to achieve the effect of updating the location mapping table stored in the mobile terminal in time, thereby avoiding the occurrence of a positioning failure or a positioning error.
In an embodiment, as shown in fig. 4, the acquiring the first position information when the first signal is received includes:
s401: and determining the identification information of the UWB beacon according to the first signal.
The identification information of the UWB beacons is determined from the received first signal, wherein the identification information of each UWB beacon is unique, so that the UWB beacon transmitting the first signal can be determined by the identification information, and in a possible manner, the name of the UWB beacon transmitting the first signal can be determined by the first signal, and the identification information of the UWB beacon can be determined from the name of the UWB beacon.
S402: sending a third signal carrying identification information of the UWB beacon to a server where the UWB beacon is located; the third signal is used for requesting to acquire the first position information.
After the identification information of the UWB beacon is determined, the mobile terminal sends a third signal to a server where the UWB beacon is located, where the third signal can be regarded as a positioning request for requesting to acquire the first location information, where the third signal carries the identification information of the UWB beacon, and the server can determine the UWB beacon to be positioned through the identification information of the UWB beacon. In practical application, the UWB module of the mobile terminal transmits a third signal carrying the identification information of the UWB beacon to the system where the UWB beacon is located, and the system where the UWB beacon is located transmits the third signal carrying the identification information of the UWB beacon to the server where the UWB beacon is located.
S403: and receiving first position information returned by the server based on the third signal.
After receiving a third signal carrying identification information of the UWB beacon, the server can determine first position information corresponding to the identification information of the UWB beacon from the position mapping table and return the first position information to the mobile terminal, and the mobile terminal completes positioning of the UWB beacon by receiving the first position information returned by the server about the third signal.
In one embodiment, as shown in fig. 5, when the first position information is acquired while receiving the first signal, the method includes:
s501: detecting an enable state of a first function; the first function represents a function of the UWB module to assist the GPS module in positioning.
It can be understood that, the UWB module is enabled to assist the GPS module for positioning, which may cause more power consumption of the mobile terminal and further require to obtain the privacy information of the mobile terminal, compared to the situation where the GPS module is simply utilized for positioning, so that the UWB module and the GPS module need to be utilized to cooperatively complete positioning under the condition that the user authorizes the use of the first function. In the embodiment, the enabling state of the first function is detected first, and the enabling state of the first function determines whether the mobile terminal can complete positioning through cooperation of the UWB module and the GPS module. In practical application, the mobile terminal is configured with an option of whether to start the first function, and a user can configure the first function as required.
S502: and under the condition that the enabling state of the first function represents that the first function is in an opening state, acquiring the first position information when receiving a first signal.
Under the condition that the first function is in the starting state, the situation shows that the user authorizes the mobile terminal to complete positioning by utilizing the cooperation of the UWB module and the GPS module, and when the mobile terminal is in an area with weaker GPS signals, the positioning can be carried out by the function of assisting the GPS module to position through the UWB module.
In an embodiment, when the first function is in the off state, it indicates that the user does not authorize the mobile terminal to perform positioning by using the UWB module in cooperation with the GPS module, that is, the mobile terminal needs to perform positioning by using the GPS module, and then the mobile terminal determines the second location information through the GPS module in a process that the mobile terminal needs to perform positioning. When the first function is in a closed state, when the mobile terminal is in an area with weak GPS signals, the phenomenon that positioning cannot be performed by using the GPS module may occur.
In one embodiment, whether positioning by the UWB module is assisted by the GPS module may also be determined according to GPS signal strength. In general, a GPS signal in an indoor environment is weak, and when the GPS signal is detected to be smaller than a first set threshold, the UWB module may assist the GPS module in positioning, specifically, when the mobile terminal receives the first signal, the mobile terminal acquires the first location information, and the GPS module can determine the second location information according to the first location information. When the GPS signal is greater than or equal to the first set threshold, it indicates that the GPS signal of the current environment is strong, that is, accurate positioning can be performed according to the GPS module. In practical applications, the first set threshold may be set according to the influence of the GPS signal strength on the positioning accuracy.
S302: determining second location information according to the first location information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.
It will be appreciated that when the mobile terminal receives the first signal, indicating that the location of the mobile terminal is close to the location of the UWB beacon emitting the first signal, in this case, the location of the mobile terminal may be considered to be the location of the UWB beacon emitting the first signal, and thus the second location information may be determined from the first location information. Specifically, after the first position information is obtained, a GPS module on the mobile terminal initiates a positioning request to a GPS server, where the positioning request carries the first position information, so that the GPS server can return second position information to the mobile terminal according to the first position information, where the second position information can indicate detailed geographical positions such as a street area where the mobile terminal is located. In the embodiment of the application, because the GPS server performs positioning according to the first position information uploaded by the mobile terminal, and positioning is not performed through a GPS signal, accurate positioning can be completed even if the mobile terminal is in an environment with weak GPS signals.
In the embodiment of the application, the mobile terminal is provided with the UWB module and the GPS module, when a first signal transmitted by the UWB beacon is received, the position information of the UWB beacon is acquired, wherein the position information of the UWB beacon is provided by a server where the UWB beacon is located, and the geographic position where the mobile terminal is located is determined through the GPS module according to the position information of the UWB beacon, so that the mobile terminal can be accurately positioned in an area with poor GPS signals through the cooperative work of the UWB module and the GPS module.
An application embodiment is further provided, as shown in fig. 6, fig. 6 is a schematic flow chart illustrating indoor positioning performed by a UWB module and a GPS module of a mobile terminal.
The UWB module receives the first signal, requests first position information from a server where the UWB beacon is located, and the server calls a position mapping table and returns the position mapping table to the UWB module.
The UWB module uploads the position mapping table to the GPS module, the GPS module uploads first position information to the GPS server and sends a positioning request, the GPS server returns corresponding second position information to the GPS module according to the first position information, and after the GPS module receives the second position information, the mobile terminal displays the second position information to complete precision positioning.
The application further provides another application embodiment, and in the application embodiment, the specific application of the indoor positioning method is described by taking a subway environment as an example.
The mobile terminal is at a gate of a subway station, the GPS signal is weak under the environment, even no GPS signal exists, the GPS accurate positioning can not be realized at the moment, the mobile terminal sends a prompt whether to start the positioning function of the UWB module assisted GPS module, when a user agrees to use the positioning function of the UWB module assisted GPS module, when the UWB module receives a first signal, for example, the user uses the UWB module of the mobile terminal to pass through the gate, the mobile terminal applies for first position information to a server where the UWB beacon is located, the server where the UWB beacon is located calls a newly collected position mapping table, the position mapping table is transmitted back to the UWB module of the mobile terminal, the UWB module determines the first position information according to the position mapping table and transmits the first position information to the GPS module, the GPS module sends the first position information to the GPS server and sends a positioning request, and the GPS sends the first position information according to the first position information, and returning the second position information to the GPS module, and displaying the received second position information by the mobile terminal.
In order to implement the indoor positioning method according to the embodiment of the present application, an embodiment of the present application further provides an indoor positioning device, as shown in fig. 7, where the indoor positioning device is applied to a mobile terminal, and the mobile terminal is configured with a UWB module and a GPS module, and the device includes:
an obtaining unit 701, configured to obtain first position information when receiving a first signal; the first signal is representative of a signal transmitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon;
a determining unit 702, configured to determine second location information according to the first location information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.
In an embodiment, the obtaining unit 701 obtains the first position information when receiving the first signal, and is further configured to:
determining the first location information in a location mapping table according to the first signal; the position mapping table is provided by a server where the UWB beacon is located; the position mapping table is used for recording position information corresponding to different UWB beacons.
In one embodiment, the location mapping table is obtained from a second signal transmitted to a server where the UWB beacon is located.
In an embodiment, the obtaining unit 701 obtains the first position information when receiving the first signal, and is further configured to:
determining identification information of the UWB beacon according to the first signal;
sending a third signal carrying identification information of the UWB beacon to a server where the UWB beacon is located; the third signal is used for requesting to acquire the first position information;
and receiving first position information returned by the server based on the third signal.
In an embodiment, when the obtaining unit 701 obtains the first position information when receiving the first signal, the obtaining unit is further configured to:
detecting an enable state of a first function; the first function represents the function of assisting the GPS module in positioning by the UWB module;
and under the condition that the enabling state of the first function represents that the first function is in an opening state, acquiring the first position information when receiving a first signal.
In an embodiment, the apparatus is further configured to:
determining the second location information based on the GPS module if the enabled state of the first function indicates that the first function is in the off state.
In an embodiment, when the obtaining unit 701 obtains the first position information when receiving the first signal, the obtaining unit is further configured to:
and under the condition that the GPS signal intensity is smaller than a first set threshold value, acquiring the first position information when receiving a first signal.
In practical applications, the obtaining unit 701 and the determining unit 702 may be implemented by a processor in an indoor positioning device. Of course, the processor needs to run the program stored in the memory to realize the functions of the above-described program modules.
It should be noted that, when the indoor positioning device provided in the embodiment of fig. 7 performs indoor positioning, the division of the program modules is merely exemplified, and in practical applications, the processing may be distributed to different program modules according to needs, that is, the internal structure of the device may be divided into different program modules to complete all or part of the processing described above. In addition, the indoor positioning device and the indoor positioning method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments and are not described herein again.
Based on the hardware implementation of the program module, and in order to implement the method according to the embodiment of the present application, an embodiment of the present application further provides a mobile terminal, and fig. 8 is a schematic diagram of a hardware composition structure of the mobile terminal according to the embodiment of the present application, and as shown in fig. 8, the mobile terminal includes:
a communication interface 1 capable of information interaction with other devices such as network devices and the like;
and the processor 2 is connected with the communication interface 1 to realize information interaction with other equipment, and is used for executing the indoor positioning method provided by one or more technical schemes when running a computer program. And the computer program is stored on the memory 3.
Of course, in practice, the various components in the mobile terminal are coupled together by a bus system 4. It will be appreciated that the bus system 4 is used to enable connection communication between these components. The bus system 4 comprises, in addition to a data bus, a power bus, a control bus and a status signal bus. For the sake of clarity, however, the various buses are labeled as bus system 4 in fig. 8.
The memory 3 in the embodiment of the present application is used to store various types of data to support the operation of the mobile terminal. Examples of such data include: any computer program for operating on a mobile terminal.
It will be appreciated that the memory 3 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 3 described in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
The method disclosed in the above embodiment of the present application may be applied to the processor 2, or implemented by the processor 2. The processor 2 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 2. The processor 2 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 2 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 3, and the processor 2 reads the program in the memory 3 and in combination with its hardware performs the steps of the aforementioned method.
When the processor 2 executes the program, the corresponding processes in the methods according to the embodiments of the present application are realized, and for brevity, are not described herein again.
In an exemplary embodiment, the present application further provides a storage medium, i.e. a computer storage medium, specifically a computer readable storage medium, for example, including a memory 3 storing a computer program, which can be executed by a processor 2 to implement the steps of the foregoing method. The computer readable storage medium may be Memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, terminal and method may be implemented in other manners. The above-described device embodiments are only illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media capable of storing program code.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof that contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a mobile terminal (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. An indoor positioning method is applied to a mobile terminal, wherein a UWB module and a GPS module are configured on the mobile terminal, and the method comprises the following steps:
acquiring first position information when receiving a first signal; the first signal is representative of a signal transmitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon;
determining second location information according to the first location information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.
2. The method of claim 1, wherein obtaining the first location information while receiving the first signal comprises:
determining the first location information in a location mapping table according to the first signal; the position mapping table is provided by a server where the UWB beacon is located; the position mapping table is used for recording position information corresponding to different UWB beacons.
3. The method of claim 2, wherein the location mapping table is obtained from a second signal sent to a server where the UWB beacon is located.
4. The method of claim 1, wherein obtaining the first location information upon receiving the first signal comprises:
determining identification information of the UWB beacon according to the first signal;
sending a third signal carrying identification information of the UWB beacon to a server where the UWB beacon is located; the third signal is used for requesting to acquire the first position information;
and receiving first position information returned by the server based on the third signal.
5. The method of claim 1, wherein when obtaining the first location information while receiving the first signal, the method comprises:
detecting an enable state of a first function; the first function represents the function of assisting the GPS module in positioning by the UWB module;
and under the condition that the enabling state of the first function represents that the first function is in an opening state, acquiring the first position information when receiving a first signal.
6. The method of claim 5, further comprising:
determining the second location information based on the GPS module if the enabled state of the first function indicates that the first function is in the off state.
7. The method of claim 1, wherein when the first location information is obtained upon receiving the first signal, the method comprises:
and under the condition that the GPS signal intensity is smaller than a first set threshold value, acquiring the first position information when receiving a first signal.
8. The utility model provides an indoor positioner, its characterized in that is applied to mobile terminal, last UWB module and the GPS module of configuring of mobile terminal, the device includes:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring first position information when receiving a first signal; the first signal is representative of a signal transmitted by a UWB beacon; the first location information is provided by a server where the UWB beacon is located; the first location information characterizes location information of the UWB beacon;
the determining unit is used for determining second position information according to the first position information based on the GPS module; the second location information characterizes a geographical location of the mobile terminal.
9. A mobile terminal, comprising: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is adapted to perform the steps of the method of any one of claims 1 to 7 when running the computer program.
10. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, performing the steps of the method of any one of claims 1 to 7.
CN202210157794.7A 2022-02-21 2022-02-21 Indoor positioning method and device, mobile terminal and storage medium Pending CN114501326A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110456305A (en) * 2019-08-27 2019-11-15 全图通位置网络有限公司 A kind of ultra wide band location method
CN113259833A (en) * 2020-02-10 2021-08-13 南京理工大学 Subway station auxiliary traveling system and method based on visually impaired passengers
CN113568021A (en) * 2021-08-10 2021-10-29 广东师大维智信息科技有限公司 Indoor and outdoor integrated accurate positioning method and system
WO2021235621A1 (en) * 2020-05-20 2021-11-25 주식회사 지오플랜 Indoor positioning system and method using gps location information mapping

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110456305A (en) * 2019-08-27 2019-11-15 全图通位置网络有限公司 A kind of ultra wide band location method
CN113259833A (en) * 2020-02-10 2021-08-13 南京理工大学 Subway station auxiliary traveling system and method based on visually impaired passengers
WO2021235621A1 (en) * 2020-05-20 2021-11-25 주식회사 지오플랜 Indoor positioning system and method using gps location information mapping
CN113568021A (en) * 2021-08-10 2021-10-29 广东师大维智信息科技有限公司 Indoor and outdoor integrated accurate positioning method and system

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