CN116593961A - Positioning method and device of mobile terminal - Google Patents

Positioning method and device of mobile terminal Download PDF

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Publication number
CN116593961A
CN116593961A CN202310565209.1A CN202310565209A CN116593961A CN 116593961 A CN116593961 A CN 116593961A CN 202310565209 A CN202310565209 A CN 202310565209A CN 116593961 A CN116593961 A CN 116593961A
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CN
China
Prior art keywords
positioning
determining
range
signal
mobile terminal
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Granted
Application number
CN202310565209.1A
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Chinese (zh)
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CN116593961B (en
Inventor
邓勇志
李海方
范善翔
杨子炫
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Guangzhou Shiju Network Technology Co Ltd
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Guangzhou Shiju Network Technology Co Ltd
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Publication of CN116593961A publication Critical patent/CN116593961A/en
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Classifications

    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • 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
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • H04W4/029—Location-based management or tracking 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
    • G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
    • G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
    • G01S2201/02—Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The embodiment of the application discloses a positioning method and a positioning device of a mobile terminal, wherein the method comprises the following steps: under the condition of establishing communication connection with a mobile beacon, respectively sending a first positioning signal and a second positioning signal to the mobile beacon at different time nodes, wherein the positions of the mobile beacon at the different time nodes are different; receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal; and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range. According to the scheme, the mobile beacon equipment is combined with the scene map in a positioning mode, so that the cost of the whole positioning function is reduced, and the positioning accuracy is improved.

Description

Positioning method and device of mobile terminal
Technical Field
The embodiment of the application relates to the technical field of positioning, in particular to a positioning method and device of a mobile terminal.
Background
With the development of scientific technology, the application of positioning technology is also becoming more and more widespread. In the prior art, there are many positioning methods, the most well known of which are based on GPS (global positioning system). But the GPS positioning system cannot be used in a building-intensive environment with an ultra-high-rise building indoors. In the indoor positioning mode, a plurality of fixed beacons are generally set, and the position of the terminal is determined according to a positioning algorithm. But this approach requires a lot of hardware equipment investment. Therefore, how to provide an indoor positioning method with low cost and high positioning accuracy is a problem to be solved in the technical field.
Disclosure of Invention
The embodiment of the application provides a positioning method and a positioning device for a mobile terminal.
In a first aspect, an embodiment of the present application provides a positioning method for a mobile terminal, where the method includes:
under the condition of establishing communication connection with a mobile beacon, respectively sending a first positioning signal and a second positioning signal to the mobile beacon at different time nodes, wherein the positions of the mobile beacon at the different time nodes are different;
receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal;
and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range.
Further, the time interval of the different time nodes is greater than a first preset time and less than a second preset time, and the determining the first positioning range according to the first positioning signal and the first feedback signal includes:
determining a first positioning distance according to the sending time of the first positioning signal, the time of the received first feedback signal and the set signal transmission speed, and determining a first positioning range according to the first positioning distance;
the determining a second positioning range according to the second positioning signal and the second feedback signal includes:
and determining a second positioning distance according to the sending time of the second positioning signal, the time of the received second feedback signal and the set signal transmission speed, and determining a second positioning range according to the second positioning distance.
Further, the loading the position scene simulation diagram of the current scene includes:
determining a scene area where the current position is according to the acquired GPS positioning information;
and acquiring a position scene simulation diagram corresponding to the scene area which is locally stored or downloaded from a server in real time for loading.
Further, the determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range includes:
determining a positioning area to be identified according to the first positioning range and the second positioning range;
and determining the positioning position according to the feasible range recorded in the position scene simulation diagram and the positioning area to be identified.
Further, the determining the location area to be identified according to the first location range and the second location range includes:
and determining the same coverage area of the first positioning range and the second positioning range as a positioning area to be identified.
Further, the determining the positioning position according to the feasible range recorded in the position scene simulation diagram and the positioning area to be identified includes:
and determining the same coverage area of the feasible range recorded in the position scene simulation diagram and the to-be-identified positioning area as a positioning position, wherein the feasible range is calibrated in advance based on the position scene simulation diagram.
Further, the location distance of the mobile beacon at different time nodes is greater than a preset distance.
In a second aspect, an embodiment of the present application further provides a positioning device of a mobile terminal, including:
the positioning signal transmitting module is used for respectively transmitting a first positioning signal and a second positioning signal to the mobile beacon at different time nodes under the condition of establishing communication connection with the mobile beacon, wherein the positions of the mobile beacon at different time nodes are different;
the positioning range determining module is used for receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal;
and the positioning position determining module is used for loading a position scene simulation diagram of the current scene and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range.
In a third aspect, an embodiment of the present application further provides a positioning device of a mobile terminal, where the device includes:
one or more processors;
positioning means of the mobile terminal for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method of the mobile terminal according to the embodiment of the present application.
In a fourth aspect, embodiments of the present application further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the positioning method of a mobile terminal according to the embodiments of the present application.
In the embodiment of the application, under the condition of establishing communication connection with a mobile beacon, a first positioning signal and a second positioning signal are respectively sent to the mobile beacon at different time nodes, and the positions of the mobile beacon at different time nodes are different; receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal; and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range. According to the scheme, the mobile beacon equipment is combined with the scene map in a positioning mode, so that the cost of the whole positioning function is reduced, and the positioning accuracy is improved.
Drawings
Fig. 1 is a flowchart of a positioning method of a mobile terminal according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a first positioning range provided by an embodiment of the present application;
fig. 3 is a flowchart of another positioning method of a mobile terminal according to an embodiment of the present application;
FIG. 4 is a schematic diagram of determining a positioning position according to an embodiment of the present application;
fig. 5 is a block diagram of a positioning device of a mobile terminal according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a positioning device of a mobile terminal according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in further detail below with reference to the drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not limiting of embodiments of the application. It should be further noted that, for convenience of description, only some, but not all of the structures related to the embodiments of the present application are shown in the drawings.
Fig. 1 is a flowchart of a positioning method of a mobile terminal according to an embodiment of the present application, where an embodiment of the present application specifically includes the following steps:
s101, under the condition that communication connection is established with a mobile beacon, a first positioning signal and a second positioning signal are respectively sent to the mobile beacon at different time nodes, and the positions of the mobile beacon at different time nodes are different.
The application scenario of the embodiment of the application is indoor positioning based on a mobile beacon. The execution body of the embodiment of the present application may be an intelligent terminal device, such as a mobile phone, a tablet computer, or a notebook computer, which is not limited herein.
In one embodiment, the mobile beacon is a mobility device with communication functions to enable positioning of the terminal device by signal interaction with the terminal device. The first positioning signal and the second positioning signal may be signals sent by the mobile terminal to the mobile beacon for realizing self positioning, and the possible position ranges of the terminal device given by the two positioning signals are different because the position of the mobile beacon is not fixed. The time node may be a time when the mobile terminal transmits the positioning signals to the mobile beacon, where the two positioning signals respectively correspond to different time nodes, for example, the first positioning signal may be transmitted by a first time node, and the second positioning signal may be transmitted by a second time node.
In one embodiment, when the mobile terminal establishes a communication connection with the mobile beacon, a connection request can be sent to the mobile beacon through a wireless communication technology, the mobile beacon responds to the request after receiving the request, a response signal is sent to the mobile terminal through the wireless communication technology, and the mobile terminal receives the response signal and then considers that the communication connection is successfully established with the mobile beacon.
In one embodiment, after the mobile terminal establishes a communication connection with the mobile beacon, the first positioning signal and the second positioning signal are sent to the mobile beacon at two time nodes respectively through a wireless communication technology. Wherein the second positioning signal is transmitted later than the first positioning signal. The mobile beacon is always in a continuous moving state, so that the positions of the mobile beacon at different time nodes are different.
S102, receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal.
In one embodiment, the first feedback signal may be a response signal sent to the mobile terminal after the mobile beacon receives the first positioning signal and responds to the first positioning signal. Similarly, the second feedback signal may be a response signal sent to the mobile terminal after the mobile beacon responds to the second positioning signal.
Optionally, the first positioning range may be a range of a circular area generated by using a distance between the mobile terminal and the mobile beacon calculated by the first positioning signal and the first feedback signal as a radius, that is, a circular area where the distance between the mobile terminal and the mobile beacon is a radius is located by using the mobile beacon as a center of a circle, where the distance may be obtained by dividing a time of double transmission of the calculated signal by the mobile terminal based on a sending time of the first positioning signal and a receiving time of the first feedback signal by 2 and multiplying the time by a signal transmission speed. As shown in fig. 2, fig. 2 is a schematic diagram of a first positioning range according to an embodiment of the present application. Similarly, the second positioning range may be a range of a circular area generated by using a radius as a distance between the mobile terminal and the mobile beacon, which is calculated by the second positioning signal and the second feedback signal. Optionally, since the first positioning range is a circular area with the mobile beacon as a center and the distance between the mobile terminal and the mobile beacon as a radius, the first positioning range may be represented as a circular area with the mobile beacon as a center and d1 as a radius; the second positioning range may be represented as a circular area centered on the mobile beacon, d2 being the radius.
In the positioning process, the time interval of the different time nodes is greater than a first preset time and less than a second preset time, and the first preset time may be 1 second and the second preset time may be 5 seconds, so as to ensure that the mobile beacon has moved a certain distance.
Wherein the position distance of the mobile beacon at different time nodes is greater than a preset distance. The preset distance may be 3 meters or 5 meters, for example. If the moving distance of the moving beacon is too small, the distinguishing degree of the first positioning range and the second positioning range is insufficient, and accurate positioning cannot be realized later.
S103, loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range.
In one embodiment, the location scene simulation map may be a simulation map of a current scene, such as a simulation map of a mall, and may include information about facilities, deployment locations of facilities, and the like, included in the current scene. For example, if the current scene is a mall, the current scene may be represented as a three-dimensional model of the mall, including information such as a deployment location of the mall, a road location, and a facility placement location in the mall. Wherein a feasible region is marked in the position scene simulation map, wherein the feasible region refers to a region which can be reached by a person, such as a region of a corridor in the floor layer is a feasible region.
In one embodiment, the manner in which the simulated scene graph is loaded may be: determining a scene area where the current position is according to the acquired GPS positioning information; and acquiring a position scene simulation diagram corresponding to the scene area which is locally stored or downloaded from a server in real time for loading.
Alternatively, the specific process of obtaining the positioning position may be: determining a positioning area to be identified according to the first positioning range and the second positioning range; and determining the positioning position according to the feasible range recorded in the position scene simulation diagram and the positioning area to be identified. The to-be-identified positioning area is an area range where the mobile terminal is likely to be located, and a range covered by an intersection of the to-be-identified positioning area and the feasible range recorded in the position scene simulation diagram is taken as a final positioning position.
As can be seen from the above, in the case of establishing a communication connection with a mobile beacon, a first positioning signal and a second positioning signal are respectively transmitted to the mobile beacon at different time nodes, where the mobile beacon is different in location at the different time nodes; receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal; and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range. According to the scheme, the mobile beacon equipment is combined with the scene map in a positioning mode, so that the cost of the whole positioning function is reduced, and the positioning accuracy is improved.
Fig. 3 is a flowchart of another positioning method of a mobile terminal according to an embodiment of the present application, as shown in fig. 3, where the steps of the method specifically include:
s201, under the condition that communication connection is established with a mobile beacon, a first positioning signal and a second positioning signal are respectively sent to the mobile beacon at different time nodes, and the positions of the mobile beacon at different time nodes are different.
S202, a first feedback signal and a second feedback signal fed back by the mobile beacon are received, a first positioning range is determined according to the first positioning signal and the first feedback signal, and a second positioning range is determined according to the second positioning signal and the second feedback signal.
S203, determining the same coverage area of the first positioning range and the second positioning range as a positioning area to be identified.
In one embodiment, the location area to be identified is used for identification in combination with a scene map, so as to further accurately obtain the location position. Specifically, the determining process may be: and determining an overlapping area of the first positioning range and the second positioning range, and determining the overlapping area as a positioning area to be identified. As shown in fig. 4, fig. 4 is a schematic diagram of determining a positioning position according to an embodiment of the present application, where an overlapping area, that is, a positioning area to be identified is assumed to be an area 2031.
S204, loading a position scene simulation diagram of the current scene, determining the same coverage area of the feasible range recorded in the position scene simulation diagram and the to-be-identified positioning area as a positioning position, and calibrating the feasible range in advance based on the position scene simulation diagram.
In one embodiment, for a loaded location scene simulation map, the location area 2031 to be identified is mapped into the location scene simulation map, and the feasible range of the record in the location scene simulation map and the same coverage area of the location area to be identified are determined as the location. Taking fig. 4 as an example, if the bar area 2041 in the to-be-identified positioning area 2031 is a feasible area, the location where the final bar area 2041 is located is determined as the positioning location accordingly. The position scene simulation map may be a plan sketch or plan design map pre-calibrated with a feasible range.
As can be seen from the above, in the case of establishing a communication connection with a mobile beacon, a first positioning signal and a second positioning signal are respectively transmitted to the mobile beacon at different time nodes, where the mobile beacon is different in location at the different time nodes; receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal; and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range. According to the scheme, the mobile terminal is positioned by combining the single mobile beacon device with the positioning mode of the scene map, the layout of a plurality of mobile beacons is not needed, the hardware cost is saved, and meanwhile, the positioning range is limited by skillfully combining the feasible region of the scene map, so that the positioning precision is improved.
Fig. 5 is a block diagram of a mobile terminal positioning device according to an embodiment of the present application, where the mobile terminal positioning device is configured to execute the mobile terminal positioning method according to the foregoing data receiving end embodiment, and the mobile terminal positioning device has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 5, the positioning device of the mobile terminal specifically includes:
a positioning signal sending module 301, configured to send a first positioning signal and a second positioning signal to a mobile beacon respectively at different time nodes when a communication connection is established with the mobile beacon, where the mobile beacon is different in location at the different time nodes;
a positioning range determining module 302, configured to receive a first feedback signal and a second feedback signal fed back by the mobile beacon, determine a first positioning range according to the first positioning signal and the first feedback signal, and determine a second positioning range according to the second positioning signal and the second feedback signal;
the positioning position determining module 303 is configured to load a position scene simulation diagram of the current scene, and determine a positioning position according to the position scene simulation diagram, the first positioning range, and the second positioning range.
According to the scheme, under the condition that communication connection is established with the mobile beacon, a first positioning signal and a second positioning signal are respectively sent to the mobile beacon at different time nodes, and the positions of the mobile beacon at the different time nodes are different; receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal; and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range. According to the scheme, the mobile beacon equipment is combined with the scene map in a positioning mode, so that the cost of the whole positioning function is reduced, and the positioning accuracy is improved.
Fig. 6 is a schematic structural diagram of a positioning device of a mobile terminal according to an embodiment of the present application, where, as shown in fig. 6, the device includes a processor 401, a memory 402, an input device 403 and an output device 404; the number of processors 401 in the device may be one or more, one processor 201 being taken as an example in fig. 6; the processor 401, memory 402, input means 403 and output means 404 in the device may be connected by a bus or other means, in fig. 6 by way of example. The memory 402 is used as a computer readable storage medium for storing a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the positioning method of the mobile terminal in the embodiment of the present application. The processor 401 executes various functional applications of the device and data processing, i.e. implements the above-described positioning method of the mobile terminal, by running software programs, instructions and modules stored in the memory 402. The input means 403 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output 404 may include a display device such as a display screen.
Embodiments of the present application also provide a storage medium containing computer executable instructions, which when executed by a computer processor, are for performing a method of positioning a mobile terminal, the method comprising: under the condition of establishing communication connection with a mobile beacon, respectively sending a first positioning signal and a second positioning signal to the mobile beacon at different time nodes, wherein the positions of the mobile beacon at the different time nodes are different; receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal; and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments of the present application may be implemented by software and necessary general purpose hardware, and of course may be implemented by hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the embodiments of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, where the instructions include a number of instructions for causing a computer device (which may be a personal computer, a service, or a network device, etc.) to perform the method according to the embodiments of the present application.
It should be noted that, in the embodiment of the positioning device of the mobile terminal, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present application.
In some possible embodiments, aspects of the method provided by the present application may also be implemented in the form of a program product, which includes a program code for causing a computer device to perform the steps of the method according to the various exemplary embodiments of the present application described in the present specification, when the program product is run on the computer device, for example, the computer device may perform the positioning method of the mobile terminal described in the embodiment of the present application. The program product may be implemented using any combination of one or more readable media.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the embodiments of the present application are not limited to the particular embodiments described herein, but are capable of numerous obvious changes, rearrangements and substitutions without departing from the scope of the embodiments of the present application. Therefore, while the embodiments of the present application have been described in connection with the above embodiments, the embodiments of the present application are not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the embodiments of the present application, and the scope of the embodiments of the present application is determined by the scope of the appended claims.

Claims (10)

1. The positioning method of the mobile terminal is applied to the mobile terminal and is characterized by comprising the following steps:
under the condition of establishing communication connection with a mobile beacon, respectively sending a first positioning signal and a second positioning signal to the mobile beacon at different time nodes, wherein the positions of the mobile beacon at the different time nodes are different;
receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal;
and loading a position scene simulation diagram of the current scene, and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range.
2. The positioning method of a mobile terminal according to claim 1, wherein the time interval of the different time nodes is greater than a first preset time and less than a second preset time, and the determining a first positioning range according to the first positioning signal and the first feedback signal includes:
determining a first positioning distance according to the sending time of the first positioning signal, the time of the received first feedback signal and the set signal transmission speed, and determining a first positioning range according to the first positioning distance;
the determining a second positioning range according to the second positioning signal and the second feedback signal includes:
and determining a second positioning distance according to the sending time of the second positioning signal, the time of the received second feedback signal and the set signal transmission speed, and determining a second positioning range according to the second positioning distance.
3. The positioning method of a mobile terminal according to claim 1, wherein loading a position scene simulation map of a current scene comprises:
determining a scene area where the current position is according to the acquired GPS positioning information;
and acquiring a position scene simulation diagram corresponding to the scene area which is locally stored or downloaded from a server in real time for loading.
4. A positioning method of a mobile terminal according to any of claims 1-3, wherein said determining a positioning position from said position scene simulation map, said first positioning range and said second positioning range comprises:
determining a positioning area to be identified according to the first positioning range and the second positioning range;
and determining the positioning position according to the feasible range recorded in the position scene simulation diagram and the positioning area to be identified.
5. The positioning method of a mobile terminal according to claim 4, wherein the determining a positioning area to be identified according to the first positioning range and the second positioning range includes:
and determining the same coverage area of the first positioning range and the second positioning range as a positioning area to be identified.
6. The positioning method of a mobile terminal according to claim 4, wherein the determining a positioning position according to the feasible region recorded in the position scene simulation map and the positioning area to be identified includes:
and determining the same coverage area of the feasible range recorded in the position scene simulation diagram and the to-be-identified positioning area as a positioning position, wherein the feasible range is calibrated in advance based on the position scene simulation diagram.
7. A positioning method of a mobile terminal according to any of claims 1-3, characterized in that the position distance of the mobile beacon at different time nodes is larger than a preset distance.
8. Positioning device of mobile terminal, characterized by comprising:
the positioning signal transmitting module is used for respectively transmitting a first positioning signal and a second positioning signal to the mobile beacon at different time nodes under the condition of establishing communication connection with the mobile beacon, wherein the positions of the mobile beacon at different time nodes are different;
the positioning range determining module is used for receiving a first feedback signal and a second feedback signal fed back by the mobile beacon, determining a first positioning range according to the first positioning signal and the first feedback signal, and determining a second positioning range according to the second positioning signal and the second feedback signal;
and the positioning position determining module is used for loading a position scene simulation diagram of the current scene and determining a positioning position according to the position scene simulation diagram, the first positioning range and the second positioning range.
9. A positioning device of a mobile terminal, the device comprising: one or more processors; positioning means storing a mobile terminal for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the method of positioning a mobile terminal as claimed in any one of claims 1 to 7.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the positioning method of a mobile terminal according to any of claims 1-7.
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CN112098933A (en) * 2020-09-30 2020-12-18 张来奇 Positioning method, device and system
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CN106332280A (en) * 2016-10-26 2017-01-11 河海大学常州校区 Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs
CN109839613A (en) * 2017-11-30 2019-06-04 中国科学院计算技术研究所 A kind of radio frequency positioning method and device calibrated using routing information
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