CN116609817B - Indoor and outdoor seamless high-precision positioning method - Google Patents

Indoor and outdoor seamless high-precision positioning method Download PDF

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Publication number
CN116609817B
CN116609817B CN202310889242.XA CN202310889242A CN116609817B CN 116609817 B CN116609817 B CN 116609817B CN 202310889242 A CN202310889242 A CN 202310889242A CN 116609817 B CN116609817 B CN 116609817B
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mobile terminal
area
positioning
indoor
outdoor
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CN116609817A (en
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王庆海
闫增东
鞠萍
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Shandong Beidouyuan Iot Technology Co ltd
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Shandong Beidouyuan Iot Technology Co ltd
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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
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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
    • 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 application relates to the field of indoor and outdoor seamless positioning processing, in particular to an indoor and outdoor seamless high-precision positioning method, which comprises the following steps: firstly, acquiring a GPS positioning signal sequence and/or a base station positioning signal sequence received by a mobile terminal, confirming first signal intensity corresponding to the GPS positioning signal sequence and/or second signal intensity corresponding to the base station positioning signal sequence, confirming a position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, and finally, calculating positioning information of the mobile terminal based on a position calculation algorithm corresponding to an indoor area, an outdoor area and an indoor and outdoor junction area. And confirming a position area through a GPS positioning signal sequence and/or a base station positioning signal sequence received by the mobile terminal, and calculating positioning information of the mobile terminal according to a position calculation algorithm corresponding to the position area.

Description

Indoor and outdoor seamless high-precision positioning method
Technical Field
The application relates to the field of indoor and outdoor seamless positioning processing, in particular to an indoor and outdoor seamless high-precision positioning method.
Background
The indoor and outdoor seamless positioning technology refers to that different positioning technologies can be jointly adopted in the above-ground, underground and outer space ranges of human activities so as to achieve seamless coverage of various positioning applications, and meanwhile smooth transition and seamless connection of the positioning technologies, positioning algorithms, positioning precision and coverage under various scenes are ensured. Meanwhile, the method is also a cross fusion and innovation of the fields of satellite navigation, indoor positioning, mobile location-based service and the like, and has become the market demand gradually along with popularization of the mobile Internet and rising of application of the Internet of things, so that the method has very wide application scenes. Indoor and outdoor seamless positioning can be divided into according to the coverage conditions of satellite signals and wireless positioning signals: outdoor area, indoor location area and indoor and outdoor juncture area. The outdoor area adopts satellite positioning technology, the indoor area adopts wireless positioning technology, and the indoor-outdoor junction area is a key area which needs to be solved by indoor-outdoor seamless positioning.
The traditional positioning method of the indoor and outdoor boundary area is to determine which positioning method is adopted according to the indoor and outdoor boundary judgment, namely, when a user is positioned outdoors, GPS data with higher positioning precision can be directly used for finishing, and when the user is positioned indoors, a corresponding indoor positioning algorithm is needed for positioning. The boundary is obtained through manually selected threshold values, and the indoor and outdoor positioning methods are switched, so that the positioning accuracy of the indoor and outdoor boundary areas is low, and the working cost is further increased.
Disclosure of Invention
In view of the above, it is necessary to provide an indoor and outdoor seamless high-precision positioning method, which improves positioning precision and further reduces indoor and outdoor positioning working cost compared with the conventional indoor and outdoor seamless high-precision positioning method.
The application provides an indoor and outdoor seamless high-precision positioning method, which is applied to the field of indoor and outdoor positioning, and comprises the following steps: acquiring a GPS positioning signal sequence and/or a base station positioning signal sequence received by a mobile terminal, and confirming a first signal intensity corresponding to the GPS positioning signal sequence and/or a second signal intensity corresponding to the base station positioning signal sequence; confirming a position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, wherein the position area comprises an indoor area, an outdoor area and an indoor-outdoor junction area; and calculating the positioning information of the mobile terminal based on a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction areas.
In one embodiment, the determining the location area of the mobile terminal according to the signal strength corresponding to the GPS positioning signal sequence and/or the base station positioning signal sequence, where the location area includes an indoor area, an outdoor area, and an indoor-outdoor junction area specifically includes: counting the number of signals corresponding to the GPS positioning signal sequence and the base station positioning signal sequence received by the mobile terminal, and obtaining the number of first signals corresponding to the GPS positioning signal sequence and the number of second signals corresponding to the base station positioning signal sequence; inputting the first signal number, the second signal number, the first signal strength and the second signal strength into a preset confidence coefficient model, and calculating a first region confidence coefficient, a second region confidence coefficient and a third region confidence coefficient, wherein the first region confidence coefficient corresponds to an outdoor region, and the second region confidence coefficient corresponds to an indoor region and a third region confidence coefficient corresponds to an indoor and outdoor junction region; and confirming the position area of the mobile terminal based on the first area confidence, the second area confidence and the third area confidence.
In one embodiment, the inputting the first signal number, the second signal number, the first signal strength, and the second signal strength into a preset confidence coefficient model, and calculating a first region confidence coefficient, a second region confidence coefficient, and a third region confidence coefficient, where the first region confidence coefficient corresponds to an outdoor region, the second region confidence coefficient corresponds to an indoor region, and the third region confidence coefficient corresponds to an indoor and outdoor border region, and specifically includes:
wherein ,for the first region confidence,/>For the second region confidence, ++>For the third region confidence, ++>For the first signal number corresponding to the GPS positioning signal sequence, < >>For GPS positioning signal sequence->First signal intensity corresponding to the GPS positioning signal, < >>A second number of signals corresponding to the base station positioning signal sequence, and (2)>Positioning signal sequence for base station->Second signal strength corresponding to the positioning signal of each base station, < >>To->An exponential function of the base.
In one embodiment, the determining the location area of the mobile terminal based on the first area confidence, the second area confidence and the third area confidence specifically includes:
comparing the first region confidence coefficient, the second region confidence coefficient and the third region confidence coefficient, and confirming a comparison maximum value;
When the comparison maximum value is the first region confidence coefficient, confirming that the position region of the mobile terminal is an outdoor region;
when the comparison maximum value is the confidence coefficient of the second area, confirming that the position area of the mobile terminal is an indoor area;
and when the comparison maximum value is the third region confidence coefficient, confirming that the position region of the mobile terminal is an indoor and outdoor junction region.
In one embodiment, after the determining the location area of the mobile terminal based on the first area confidence level, the second area confidence level, and the third area confidence level, before calculating the location information of the mobile terminal based on a location calculation algorithm corresponding to the indoor area, the outdoor area, and the indoor-outdoor junction area, the method further includes: acquiring a position area corresponding to the mobile terminal at the previous moment, and comparing the position area of the current mobile terminal with the position area corresponding to the previous moment; when the position area of the current mobile terminal is the same as the position area corresponding to the previous moment, confirming that the position area of the current mobile terminal is the position area of the final mobile terminal; and when the position area of the current mobile terminal is different from the position area corresponding to the previous moment, calculating a fourth area confidence coefficient, and replacing the third area confidence coefficient with the fourth area confidence coefficient so as to confirm the position area of the mobile terminal.
In one embodiment, when the location area of the current mobile terminal is different from the location area corresponding to the previous moment, calculating a fourth area confidence coefficient, and replacing the third area confidence coefficient with the fourth area confidence coefficient to confirm the location area of the mobile terminal, including:
wherein Q is the positioning point of the mobile terminal at the current moment, G is the positioning point of the mobile terminal at the previous moment,for the difference of the signal quantity of the locating point at the current moment and the locating point at the previous moment of the mobile terminal, the +.>For the signal intensity difference between the locating point at the current moment and the locating point at the previous moment of the mobile terminal, the +.>For the fourth region confidence level of the setpoint Q of the mobile terminal at the current time,/>For the second signal number corresponding to the positioning point Q at the current moment of the mobile terminal,/the mobile terminal>For the second signal number corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the first signal number corresponding to the positioning point Q at the current moment of the mobile terminal,/the mobile terminal>For the first signal number corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the second signal strength corresponding to the setpoint Q of the mobile terminal at the current moment,/o>For the second signal strength corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the first signal strength corresponding to the setpoint Q of the mobile terminal at the current moment,/o >For the first signal strength corresponding to the anchor point G of the mobile terminal at the previous moment, < >>For the third region confidence level of the setpoint Q at the current time of the mobile terminal,/>For the first region confidence of the anchor point G of the mobile terminal at the previous moment,/>For the second region confidence of the anchor point G of the mobile terminal at the previous moment,/>Is a very small positive number.
In one embodiment, the calculating the positioning information of the mobile terminal based on the position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor-outdoor junction area specifically includes: when the position area of the mobile terminal is an outdoor area, calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the GPS positioning signal sequence received by the mobile terminal and the outdoor area; when the position area of the mobile terminal is an indoor area, calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the indoor area and a base station positioning signal sequence received by the mobile terminal; and when the position area of the mobile terminal is an indoor and outdoor junction area, calculating the positioning information of the mobile terminal according to the GPS positioning signal sequence, the base station positioning signal sequence and a position calculation algorithm corresponding to the indoor and outdoor junction area received by the mobile terminal.
In one embodiment, when the location area of the mobile terminal is an outdoor area, calculating location information of the mobile terminal according to a location calculation algorithm corresponding to the outdoor area and a GPS location signal sequence received by the mobile terminal, specifically includes: confirming the initial positioning information of a preset quantity according to a position calculation algorithm corresponding to the GPS positioning signal sequence received by the mobile terminal and the outdoor area; when the initial positioning information is one, confirming that the current initial positioning information is the positioning information of the mobile terminal; when the number of the initial positioning information is two, calculating an evaluation value corresponding to the initial positioning information according to a preset evaluation value calculation formula so as to confirm the initial positioning information corresponding to the maximum evaluation value as the positioning information of the mobile terminal; and when the initial positioning information is at least three, confirming that the initial positioning information with the minimum Euclidean distance sum is the positioning information of the mobile terminal, wherein the Euclidean distance sum is the sum of the initial positioning information of the target and other initial positioning information in at least three.
In one embodiment, the calculating the positioning information of the mobile terminal based on the GPS positioning signal sequence, the base station positioning signal sequence, and the position calculation algorithm corresponding to the indoor and outdoor border areas received by the mobile terminal when the position area of the mobile terminal is the indoor and outdoor border areas specifically includes: when the position area of the mobile terminal is an indoor and outdoor boundary area, confirming a predicted positioning point based on a preset standard boundary positioning point and the mobile characteristic acquired by the mobile terminal; according to a preset prediction algorithm, calculating a GPS positioning signal sequence and a base station positioning signal sequence corresponding to the predicted positioning point; according to a position calculation algorithm corresponding to the outdoor area and a GPS positioning signal sequence of the current position of the mobile terminal, confirming a GPS positioning point of the mobile terminal; and calculating GPS positioning weight based on the predicted positioning point and the GPS positioning point of the current position, so as to calculate positioning information of the mobile terminal according to the GPS positioning weight.
In one embodiment, the calculating the GPS positioning weight based on the predicted positioning point and the GPS positioning point of the current position to calculate the positioning information of the mobile terminal according to the GPS positioning weight specifically includes:
wherein ,for GPS positioning weight, ++>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal intensity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal quantity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Distance value of>Predictive anchor point for mobile terminal +.>Is>Confidence of individual region>GPS positioning point for mobile terminal>Is>Confidence of individual region>For the positioning information of the mobile terminal, < > for>Positioning information calculated for the mobile terminal according to a position calculation algorithm corresponding to the outdoor area, < >>And calculating the positioning information for the mobile terminal according to the position calculation algorithm corresponding to the indoor area.
The embodiment of the application firstly confirms the first signal intensity corresponding to the GPS positioning signal sequence and/or the second signal intensity corresponding to the base station positioning signal sequence by acquiring the GPS positioning signal sequence and/or the base station positioning signal sequence received by the mobile terminal, then confirms the position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, wherein the position area comprises an indoor area, an outdoor area and an indoor and outdoor junction area, and finally calculates the positioning information of the mobile terminal based on a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction area. And confirming a position area through a GPS positioning signal sequence and/or a base station positioning signal sequence received by the mobile terminal, and calculating positioning information of the mobile terminal according to a position calculation algorithm corresponding to the position area.
Drawings
Fig. 1 is a schematic flow chart of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the application.
Fig. 2 is a schematic diagram of a first sub-flow of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a second sub-flow of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a third sub-flow of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a fourth sub-flow of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a fifth sub-flow of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the present application.
Fig. 7 is a schematic diagram of a sixth sub-flow of an indoor and outdoor seamless high-precision positioning method according to an embodiment of the present application.
Detailed Description
In describing embodiments of the present application, words such as "exemplary," "or," "such as," and the like are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "or," "such as," and the like are intended to present related concepts in a concrete fashion.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It is to be understood that, unless otherwise indicated, a "/" means or. For example, A/B may represent A or B. The "and/or" in the present application is merely one association relationship describing the association object, indicating that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone. "at least one" means one or more. "plurality" means two or more than two. For example, at least one of a, b or c may represent: seven cases of a, b, c, a and b, a and c, b and c, a, b and c.
It should be further noted that the terms "first" and "second" in the description and claims of the present application and the accompanying drawings are used for respectively similar objects, and are not used for describing a specific order or sequence. The method disclosed in the embodiments of the present application or the method shown in the flowchart, including one or more steps for implementing the method, may be performed in an order that the steps may be interchanged with one another, and some steps may be deleted without departing from the scope of the claims.
The embodiment of the application firstly provides an indoor and outdoor seamless high-precision positioning method which is applied to the field of indoor and outdoor positioning, and referring to figure 1, the method comprises the following steps:
s101, acquiring a GPS positioning signal sequence and/or a base station positioning signal sequence received by a mobile terminal, and confirming first signal intensity corresponding to the GPS positioning signal sequence and/or second signal intensity corresponding to the base station positioning signal sequence.
The GPS positioning signal sequence received by the mobile terminal refers to a data sequence formed by a preset number of GPS positioning signals received by the mobile terminal, that is, the GPS positioning signal sequence includes a preset number of GPS positioning signals. Similarly, the base station positioning signal sequence received by the mobile terminal refers to a data sequence formed by a preset number of base station positioning signals received by the mobile terminal, that is, the base station positioning signal sequence includes the preset number of base station positioning signals. The first signal intensity corresponding to the GPS positioning signal sequence is obtained by calculating the signal intensity corresponding to the GPS positioning signals of the preset quantity in the GPS positioning signal sequence, and can reflect the signal intensity degree corresponding to the GPS positioning signal sequence. The second signal strength corresponding to the base station positioning signal sequence is obtained by calculating the signal strength corresponding to the preset number of base station positioning signals in the base station positioning signal sequence, and can reflect the signal strength degree corresponding to the base station positioning signal sequence.
It should be noted that, in some special application scenarios, the mobile terminal may only be able to receive the GPS positioning signal, or the mobile terminal may only be able to receive the base station positioning signal, that is, only obtain the first signal strength corresponding to the GPS positioning signal sequence or the second signal strength corresponding to the base station positioning signal sequence, so that the corresponding positioning method may perform positioning of the mobile terminal according to the positioning signal with stronger corresponding signal strength, for example, in a common case, when in an outdoor area, the mobile terminal may only be able to receive the GPS positioning signal, then perform positioning calculation on the mobile terminal according to the received GPS positioning signal, and, for example, in an indoor area where a base station is located in a remote area, the mobile terminal may only be able to receive the base station positioning signal, and then perform positioning calculation on the mobile terminal according to the received base station positioning signal.
And S102, confirming the position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, wherein the position area comprises an indoor area, an outdoor area and an indoor and outdoor junction area.
The location area is divided into three areas, namely an indoor area, an outdoor area and an indoor and outdoor junction area, and the indoor area, the outdoor area and the indoor and outdoor junction area respectively correspond to different characteristics. Specifically, the outdoor area is not shielded by a building, the signal intensity of the GPS positioning signal which can be received is strong, the indoor area is internally provided with a base station for assisting in positioning, the signal intensity of the base station positioning signal which can be received in the indoor area is strong, the indoor and outdoor junction area is located at the junction of the indoor and the outdoor, the GPS positioning signal and the base station positioning signal can be received, and the signal intensity of the GPS positioning signal and the base station positioning signal which are received correspondingly is smaller than that of the outdoor area and the indoor area.
Specifically, after the GPS positioning signal sequence and the base station positioning signal sequence received by the mobile terminal are obtained, calculating the signal intensity corresponding to the GPS positioning signal sequence and the base station positioning signal sequence according to the signal intensity of the positioning data points of the GPS positioning signal sequence and the base station positioning signal sequence. And then according to the signal intensity corresponding to the GPS positioning signal sequence and the base station positioning signal sequence and other data, such as the signal quantity and the like, of the corresponding GPS positioning signal sequence and the base station positioning signal sequence, confirming which area of the indoor area, the outdoor area and the indoor and outdoor junction area the mobile terminal is positioned in according to a preset judging mode.
And S103, calculating the positioning information of the mobile terminal based on a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction areas.
The indoor and outdoor junction areas are located in the middle area between the indoor area and the outdoor area. And determining which area of the indoor area, the outdoor area and the indoor and outdoor junction areas the mobile terminal is positioned in according to the first signal intensity and/or the second signal intensity corresponding to the GPS positioning signal sequence and/or the base station positioning signal sequence and the corresponding signal quantity, and calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction areas. It should be noted that, different position calculation algorithms are adopted for the indoor area, the outdoor area and the indoor and outdoor boundary area, for example, if the mobile terminal is in the outdoor area, the position calculation algorithm corresponding to the GPS positioning signal is adopted for calculating the positioning information of the mobile terminal, if the mobile terminal is in the indoor and outdoor boundary area, the position calculation algorithm corresponding to the two signals of the integrated GPS positioning signal and the base station positioning signal is adopted for calculating the positioning information of the mobile terminal, and if the mobile terminal is in the indoor area, the positioning information of the mobile terminal is calculated according to the base station positioning signal.
It should be noted that, the positioning information of the mobile terminal is calculated according to the GPS positioning signal, that is, the pseudo range between the satellite and the receiver is obtained by multiplying the time difference (the satellite signal is transmitted to the receiving end at a constant speed) of the signal received by the mobile terminal before and after the signal is received by the mobile terminal, and the actual coordinates and time of the current user are calculated by at least four satellites. Map matching may utilize road network, landmark or trajectory information to determine location by comparing the consistency of GPS data and map information. According to the positioning signal of the base station, the positioning information of the mobile terminal is calculated, the distance difference is obtained through the signal arrival time difference between the mobile terminal and the base station, and then the position of the receiving end is calculated by using a hyperbola equation. The known positioning base station position is used as a focus, and the intersection point of the hyperbolas with the distance difference between the mobile terminal to be determined and the positioning base station as a long axis is the position of the mobile terminal. Further, the base station positioning device obtains the distance information by measuring the time delay or the signal strength between the received base station positioning signal and each anchor point. Based on the measured distance data, a positioning algorithm is used to calculate the target position. The positioning algorithm may be Multilateration (Multilateration), weighted least squares positioning (Weighted Least Squares), particle filtering, etc.
The embodiment of the application firstly confirms the first signal intensity corresponding to the GPS positioning signal sequence and/or the second signal intensity corresponding to the base station positioning signal sequence by acquiring the GPS positioning signal sequence and/or the base station positioning signal sequence received by the mobile terminal, then confirms the position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, wherein the position area comprises an indoor area, an outdoor area and an indoor and outdoor junction area, and finally calculates the positioning information of the mobile terminal based on a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction area. And confirming a position area through a GPS positioning signal sequence and/or a base station positioning signal sequence received by the mobile terminal, and calculating positioning information of the mobile terminal according to a position calculation algorithm corresponding to the position area.
In one embodiment of the present application, and referring to fig. 2, the step S102: the method comprises the steps of confirming a position area of a mobile terminal according to signal intensity corresponding to the GPS positioning signal sequence and/or the base station positioning signal sequence, wherein the position area comprises an indoor area, an outdoor area and an indoor and outdoor junction area, and specifically comprises the following steps:
S201, counting the number of signals corresponding to the GPS positioning signal sequence and the base station positioning signal sequence received by the mobile terminal, and obtaining the number of first signals corresponding to the GPS positioning signal sequence and the number of second signals corresponding to the base station positioning signal sequence.
The GPS positioning signal sequence and the base station positioning signal sequence respectively comprise the number of signals of the GPS positioning signals with preset number and the number of signals of the base station positioning signals with preset number. The first signal number corresponding to the GPS positioning signal sequence refers to the signal number of the GPS positioning signal included in the GPS positioning signal sequence acquired by the mobile terminal, and the second signal number corresponding to the base station positioning signal sequence refers to the signal number of the base station positioning signal included in the base station positioning signal sequence acquired by the mobile terminal.
S202, inputting the first signal number, the second signal number, the first signal strength and the second signal strength into a preset confidence coefficient model, and calculating a first region confidence coefficient, a second region confidence coefficient and a third region confidence coefficient, wherein the first region confidence coefficient corresponds to an outdoor region, and the second region confidence coefficient corresponds to an indoor region and the third region confidence coefficient corresponds to an indoor and outdoor junction region.
The confidence coefficient model is a calculation model for calculating region confidence coefficients corresponding to different position regions according to data parameters (such as the number of signals, the signal intensity and the like) of a GPS positioning signal sequence and a base station positioning signal sequence, and the first region confidence coefficient, the second region confidence coefficient and the third region confidence coefficient are probability degrees according to the outdoor region, the indoor region and the indoor and outdoor junction regions.
It should be noted that, the confidence coefficient model calculates the probability degree of occurrence of the outdoor area, the indoor area and the indoor-outdoor junction area according to the first signal number, the second signal number, the first signal strength and the second signal strength, and calculates the probability degree of occurrence of different location areas based on the characteristic that the signal strength and the signal number of the positioning signals received by the mobile terminal in the outdoor area, the indoor area and the indoor-outdoor junction area are different, that is, by taking the first signal number, the second signal number, the first signal strength and the second signal strength as the characteristic parameters of different location areas.
Specifically, the inputting the first signal number, the second signal number, the first signal strength and the second signal strength into a preset confidence coefficient model, and calculating a first region confidence coefficient, a second region confidence coefficient and a third region confidence coefficient, where the first region confidence coefficient corresponds to an outdoor region, the second region confidence coefficient corresponds to an indoor region and the third region confidence coefficient corresponds to an indoor and outdoor junction region, and the method specifically includes:
wherein ,for the first region confidence,/>For the second region confidence, ++>For the third region confidence, ++>For the first signal number corresponding to the GPS positioning signal sequence, < >>For GPS positioning signal sequence->GPS positioningFirst signal intensity corresponding to signal, +.>A second number of signals corresponding to the base station positioning signal sequence, and (2)>Positioning signal sequence for base station->Second signal strength corresponding to the positioning signal of each base station, < >>To->An exponential function of the base.
When the first region confidence isWhen the number and the signal intensity of the GPS positioning signals received by the current mobile terminal are proved to be larger than those of the base station positioning signals received by the current mobile terminal, the side face proves that the position area corresponding to the current mobile terminal is very likely to be an outdoor area, and when the confidence of the second area is higher than that of the first area>When the number and signal intensity of GPS positioning signals received by the current mobile terminal are proved to be smaller than those of base station positioning signals received by the current mobile terminal, the position area where the side face proving corresponding to the current mobile terminal is located is quite likely to be an indoor area, and when the confidence of the third area is improved>When the number of GPS positioning signals and the signal intensity received by the current mobile terminal are higher, the difference between the number of GPS positioning signals and the signal intensity received by the current mobile terminal and the number of base station positioning signals and the signal intensity received by the current mobile terminal is lower, the position area where the side surface evidence corresponds to the current mobile terminal is more likely to be indoor and outdoor And (3) a junction area.
And S203, confirming the position area of the mobile terminal based on the first area confidence, the second area confidence and the third area confidence.
After the first region confidence coefficient, the second region confidence coefficient and the third region confidence coefficient are obtained, according to characteristics such as signal strength and signal quantity among an indoor region, an outdoor region and an indoor-outdoor junction region, the position region of the mobile terminal can be confirmed according to the magnitude relation among the first region confidence coefficient, the second region confidence coefficient and the third region confidence coefficient.
Specifically, referring to fig. 3, the determining the location area of the mobile terminal based on the first area confidence, the second area confidence and the third area confidence specifically includes:
s301, comparing the first region confidence coefficient, the second region confidence coefficient and the third region confidence coefficient, and confirming a comparison maximum value;
s302, when the comparison maximum value is the first region confidence coefficient, confirming that the position region of the mobile terminal is an outdoor region;
s303, when the comparison maximum value is the confidence coefficient of the second area, confirming that the position area of the mobile terminal is an indoor area;
And S304, when the comparison maximum value is the third region confidence coefficient, confirming that the position region of the mobile terminal is an indoor and outdoor junction region.
After the first region confidence, the second region confidence and the third region confidence are obtained, the three region confidence are compared in pairs, and the largest region confidence is confirmed. According to the characteristic that the signal intensity and the number of GPS positioning signals received by an outdoor area are relatively large, confirming that when the comparison maximum value is the first area confidence level, confirming that the position area of the mobile terminal is the outdoor area; according to the characteristic that the signal intensity and the number of the base station positioning signals received by the indoor area are relatively large, confirming that the position area of the mobile terminal is the indoor area when the comparison maximum value is the second area confidence level; and according to the characteristics of small difference between the signal intensity and the quantity of the GPS positioning signals and the base station positioning signals received by the indoor and outdoor boundary areas, confirming that the position area of the mobile terminal is the indoor and outdoor boundary area when the comparison maximum value is the third area confidence degree.
In an embodiment of the present application, referring to fig. 4, after the location area of the mobile terminal is confirmed based on the first area confidence level, the second area confidence level, and the third area confidence level, before calculating the location information of the mobile terminal based on a location calculation algorithm corresponding to the indoor area, the outdoor area, and the indoor-outdoor junction area, the method further includes:
S401, acquiring a position area corresponding to a mobile terminal at a previous moment, and comparing the position area of the current mobile terminal with the position area corresponding to the previous moment;
s402, when the position area of the current mobile terminal is the same as the position area corresponding to the previous moment, confirming that the position area of the current mobile terminal is the position area of the final mobile terminal;
and S403, calculating a fourth region confidence coefficient when the position region of the current mobile terminal is different from the position region corresponding to the previous moment, and replacing the third region confidence coefficient with the fourth region confidence coefficient so as to confirm the position region of the mobile terminal.
Specifically, when the position area determined by the mobile terminal at the current moment is different from the position area confirmed by the mobile terminal at the previous moment, the third area confidence coefficient of the mobile terminal at the current moment is further optimized to obtain a fourth area confidence coefficient to replace the third area confidence coefficient, and accuracy of subsequent positioning information acquisition is improved. The third region confidence is further optimized, namely the number and the signal strength of the positioning signals acquired by the mobile terminal at the current moment and the previous moment are calculated, and the method is specific:
when the position area of the current mobile terminal is different from the position area corresponding to the previous moment, calculating a fourth area confidence coefficient, and replacing the third area confidence coefficient with the fourth area confidence coefficient to confirm the position area of the mobile terminal, wherein the method specifically comprises the following steps:
Wherein Q is the positioning point of the mobile terminal at the current moment, G is the positioning point of the mobile terminal at the previous moment,for the difference of the signal quantity of the locating point at the current moment and the locating point at the previous moment of the mobile terminal, the +.>For the signal intensity difference between the locating point at the current moment and the locating point at the previous moment of the mobile terminal, the +.>For the fourth region confidence level of the setpoint Q of the mobile terminal at the current time,/>For the second signal number corresponding to the positioning point Q at the current moment of the mobile terminal,/the mobile terminal>For the second signal number corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the first signal number corresponding to the positioning point Q at the current moment of the mobile terminal,/the mobile terminal>For the first signal number corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the second signal strength corresponding to the setpoint Q of the mobile terminal at the current moment,/o>For the second signal strength corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the first signal strength corresponding to the setpoint Q of the mobile terminal at the current moment,/o>For the first signal strength corresponding to the anchor point G of the mobile terminal at the previous moment, < >>For the third region confidence level of the setpoint Q at the current time of the mobile terminal,/>For the first region confidence of the anchor point G of the mobile terminal at the previous moment,/ >For the second region confidence of the anchor point G at the previous moment of the mobile terminal,is->And->Maximum value of>Is a very small positive number. Preferably, said->A value of 0.001 is preferred in order to prevent the denominator from being 0.
It should be noted that, by multiplying the signal quantity difference between the positioning point at the current time and the positioning point at the previous time by the signal strength difference, and the difference between the maximum value of the first region confidence coefficient and the second region confidence coefficient at the previous time of the mobile terminal and the third region confidence coefficient at the previous time of the mobile terminal, calculating the ratio, so as to be used as the weight value of the third region confidence coefficient at the previous time of the mobile terminal, further multiplying the weight value by the third region confidence coefficient at the previous time of the mobile terminal, and obtaining the optimized third region confidence coefficient, that is, the fourth region confidence coefficient. And after the fourth region confidence is obtained, replacing the third region confidence with the fourth region confidence, comparing the fourth region confidence with the first region confidence and the second region confidence, and taking the position regions corresponding to the three maximum values of the fourth region confidence, the first region confidence and the second region confidence as the position region where the mobile terminal is located.
Further, the fourth region confidence replaces the third region confidence to judge the position region of the positioning point Q at the current moment, if the position regions of the positioning point Q at the current moment and the positioning point G at the previous moment after optimization are inconsistent, no subsequent operation is needed, if the position region of the positioning point Q at the current moment is consistent with the position region of the positioning point G at the previous moment, the judgment of the position region of the positioning point Q at the next moment at the current moment is continuously optimized (namely, the fourth region confidence is continuously calculated to replace the third region confidence) until the fact that the position regions of the positioning point Q at the current moment and the positioning point G at the previous moment are inconsistent is met.
In this embodiment, when the location area determined by the mobile terminal at the current moment is different from the location area determined by the mobile terminal at the previous moment, the third confidence coefficient is further optimized, so as to solve the problem that the positioning accuracy is low because the signal received by the user in the moving process is affected by the obstacle, further improve the overall positioning accuracy, and reduce the working cost.
In an embodiment of the present application, referring to fig. 5, in step S103, the calculating the positioning information of the mobile terminal based on the position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor-outdoor junction area specifically includes:
And S501, when the position area of the mobile terminal is an outdoor area, calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the outdoor area and a GPS positioning signal sequence received by the mobile terminal.
The position calculation algorithm corresponding to the outdoor area is a positioning information calculation algorithm of the mobile terminal according to the GPS positioning signal. Namely, the pseudo range between the satellite and the receiver is obtained by multiplying the speed of light by the time difference (the satellite signal is transmitted to the receiving end at a constant speed) of the signals received by the mobile terminal before and after the mobile terminal, and the positioning information of the current user is calculated by at least four satellites. The method is particularly not limited by the fact that a GPS positioning signal is used for carrying out a positioning information calculation algorithm of the mobile terminal according to the mode recorded in the prior art.
Specifically, referring to fig. 6, when the location area of the mobile terminal is an outdoor area, according to a location calculation algorithm corresponding to the outdoor area and a GPS positioning signal sequence received by the mobile terminal, the method specifically includes:
s601, confirming initial positioning information of a preset quantity according to a position calculation algorithm corresponding to an outdoor area and a GPS positioning signal sequence received by a mobile terminal;
S602, when the initial positioning information is one, confirming that the current initial positioning information is the positioning information of the mobile terminal;
s603, when the number of the initial positioning information is two, calculating an evaluation value corresponding to the initial positioning information according to a preset evaluation value calculation formula, so as to confirm the initial positioning information corresponding to the maximum evaluation value as the positioning information of the mobile terminal;
specifically, assuming that the GPS positioning signal sequence includes four GPS positioning signals, and performing expansion analysis according to this example, the calculating, according to a preset evaluation value calculation formula, an evaluation value corresponding to the initial positioning information specifically includes:
wherein ,for the preset evaluation value corresponding to the initial positioning information, < >>The distance value of the satellite corresponding to any two GPS positioning signals of four GPS positioning signals in the GPS positioning signal sequence is +.>For the variance of four GPS positioning signals in the GPS positioning signal sequence, < >>Is a very small positive number. Preferably, said->A value of 0.001 is preferred in order to prevent the denominator from being 0.
It should be noted that, when the distance values of the satellites corresponding to any two GPS positioning signals of the four GPS positioning signals areWhen the two satellites are larger, the two satellites are far apart, the probability of being shielded is small, the probability of positioning accuracy is relatively high, and when the variances of four GPS positioning signals in the GPS positioning signal sequence are + >When the GPS positioning signal sequence is larger, the degree of dispersion of the four GPS positioning signals in the GPS positioning signal sequence is larger, namely the data difference is larger, the possibility of abnormality of the data is larger, and the accuracy of the positioning information calculated according to the four GPS positioning signals is lower. Therefore, when the distance values of four GPS positioning signals in the GPS positioning signal sequence +.>The larger the four GPS positioning signals in the GPS positioning signal sequenceVariance->The larger the preset evaluation value corresponding to the initial positioning information +.>The larger the initial positioning information corresponding to the maximum evaluation value is, the positioning information of the mobile terminal is confirmed, so that the positioning accuracy can be improved, and the working cost is further reduced.
And S604, when the initial positioning information is at least three, confirming that the initial positioning information with the minimum Euclidean distance sum is the positioning information of the mobile terminal, wherein the Euclidean distance sum is the sum of the initial positioning information of the target and other initial positioning information in the at least three.
After at least three pieces of initial positioning information are acquired, one piece of initial positioning information of the at least three pieces of initial positioning information is calculated in pairs with other pieces of initial positioning information, corresponding Euclidean distances are added to obtain the sum of the Euclidean distances, and initial positioning information corresponding to the sum of the minimum Euclidean distances is used as positioning information of the mobile terminal. That is, the initial positioning information at the center of the obtained at least three initial positioning information is selected as the positioning information of the mobile terminal, so as to improve the positioning accuracy.
S502, when the position area of the mobile terminal is an indoor area, calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the indoor area and a base station positioning signal sequence received by the mobile terminal.
The position calculation algorithm corresponding to the indoor area refers to a positioning information calculation algorithm for the mobile terminal according to the base station positioning signal alone. Namely, the distance difference is obtained through the signal arrival time difference between the mobile terminal and the base station, and then the position of the receiving end is calculated by using a hyperbola equation. The known positioning base station position is used as a focus, and the intersection point of the hyperbolas with the distance difference between the mobile terminal to be determined and the positioning base station as a long axis is the position of the mobile terminal. Specifically, the positioning information calculation algorithm of the mobile terminal is performed through the base station positioning signal, and the scheme is not further limited according to the mode recorded in the prior art.
And S503, when the position area of the mobile terminal is an indoor and outdoor junction area, calculating the positioning information of the mobile terminal according to the GPS positioning signal sequence, the base station positioning signal sequence and a position calculation algorithm corresponding to the indoor and outdoor junction area received by the mobile terminal.
And when the position area of the mobile terminal is an indoor and outdoor boundary area, calculating positioning information through a GPS positioning signal sequence and a corresponding position calculation algorithm, calculating positioning information through a base station positioning signal sequence and a corresponding position calculation algorithm, and fusing the two positioning information through weight distribution to obtain final positioning information of the mobile terminal.
Specifically, referring to fig. 7, the calculating, based on the fact that the location area of the mobile terminal is an indoor and outdoor boundary area, according to a GPS positioning signal sequence received by the mobile terminal, a base station positioning signal sequence, and a location calculation algorithm corresponding to the indoor and outdoor boundary area, specifically includes:
s701, when the position area of the mobile terminal is an indoor and outdoor boundary area, confirming a predicted positioning point based on a preset standard boundary positioning point and corresponding moving characteristics;
the preset standard boundary positioning points refer to positioning points at the boundary between the indoor and outdoor boundary areas and the indoor area or the outdoor area, and the standard boundary positioning points may be multiple, and the standard boundary positioning points of the same type (i.e., the indoor and outdoor boundary areas are of one type and the indoor area is of another type) may form a boundary line, i.e., the boundary line between the indoor and outdoor boundary areas and the indoor area, or the boundary line between the indoor and outdoor boundary areas and the outdoor area. Specifically, the preset standard boundary locating point can be obtained in advance through the above position area determination mode, and is not further analyzed here. The predicted positioning points refer to positioning points where the mobile terminal is further predicted to enter the indoor and outdoor boundary areas according to the moving characteristics acquired by the mobile terminal on the preset standard boundary positioning points. The mobile characteristic refers to motion data, such as motion speed, motion direction, acceleration and the like, of the mobile terminal in the moving process, for example, the mobile characteristic of a user can be obtained through a PDR gait detection algorithm, the PDR algorithm is used for sensing data, such as acceleration, angular speed, magnetic force, pressure and the like, of a person in the advancing process by using an inertial measurement unit in a beacon-free environment, and the specific algorithm scheme is not further limited and can be described in the prior art.
For example, when the mobile terminal moves from the outdoor area or the indoor area to the indoor and outdoor boundary area, the mobile terminal must pass through a preset standard boundary positioning point, and when the mobile terminal is obtained to be located at the preset standard boundary positioning point, the mobile characteristic of the mobile terminal in the preset standard boundary positioning point is obtained so as to predict the positioning information of the mobile terminal when entering the indoor and outdoor boundary area.
S702, calculating a GPS positioning signal sequence and a base station positioning signal sequence corresponding to the predicted positioning point according to a preset prediction algorithm.
The preset prediction algorithm may be an exponential moving average EMA algorithm, and the operation procedure of the exponential moving average EMA algorithm is not further limited and may be implemented according to the content described in the prior art.
S703, confirming the GPS positioning point of the mobile terminal according to the GPS positioning signal sequence of the position calculation algorithm corresponding to the outdoor area and the current position of the mobile terminal.
S704, calculating GPS positioning weight based on the predicted positioning point and the GPS positioning point of the current position, so as to calculate positioning information of the mobile terminal according to the GPS positioning weight.
Specifically, the calculating the GPS positioning weight based on the predicted positioning point and the GPS positioning point of the current position to calculate positioning information of the mobile terminal according to the GPS positioning weight specifically includes:
wherein ,for GPS positioning weight, ++>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal intensity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal quantity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Distance value of>Predictive anchor point for mobile terminal +.>Is>Confidence of individual region>GPS positioning point for mobile terminal>Is>Confidence of individual region>For the positioning information of the mobile terminal, < > for>Positioning information calculated for the mobile terminal according to a position calculation algorithm corresponding to the outdoor area, < >>And calculating the positioning information for the mobile terminal according to the position calculation algorithm corresponding to the indoor area.
It should be noted that the number of the substrates,predicting anchor point +.>Is +.>Confidence difference value of (a) when the mobile terminal predicts anchor point +.>Is +.>When the confidence difference value of (2) is smaller, the GPS positioning calibration is described, and the corresponding GPS positioning weight is +.>Should be larger. Equivalent logic->Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal intensity difference, < >>Predictive anchor point for mobile terminal +. >GPS positioning point of mobile terminal>Signal quantity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Distance values of (2) are all equal to the GPS positioning weight +.>In inverse proportion to->、/> and />The smaller the GPS positioning calibration is described, the corresponding GPS positioning weight +.>Should be larger.
The embodiment of the application firstly confirms the first signal intensity corresponding to the GPS positioning signal sequence and/or the second signal intensity corresponding to the base station positioning signal sequence by acquiring the GPS positioning signal sequence and/or the base station positioning signal sequence received by the mobile terminal, then confirms the position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, wherein the position area comprises an indoor area, an outdoor area and an indoor and outdoor junction area, and finally calculates the positioning information of the mobile terminal based on a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction area. And confirming a position area through a GPS positioning signal sequence and/or a base station positioning signal sequence received by the mobile terminal, and calculating positioning information of the mobile terminal according to a position calculation algorithm corresponding to the position area.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The above-described embodiments of the application are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (8)

1. An indoor and outdoor seamless high-precision positioning method is applied to the field of indoor and outdoor positioning and is characterized by comprising the following steps:
acquiring a GPS positioning signal sequence and/or a base station positioning signal sequence received by a mobile terminal, and confirming a first signal intensity corresponding to the GPS positioning signal sequence and/or a second signal intensity corresponding to the base station positioning signal sequence;
confirming a position area of the mobile terminal according to the first signal intensity and/or the second signal intensity, wherein the position area comprises an indoor area, an outdoor area and an indoor-outdoor junction area;
calculating positioning information of the mobile terminal based on a position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction areas;
The method comprises the steps of confirming a position area of a mobile terminal according to signal intensity corresponding to the GPS positioning signal sequence and/or the base station positioning signal sequence, wherein the position area comprises an indoor area, an outdoor area and an indoor and outdoor junction area, and specifically comprises the following steps:
counting the number of signals corresponding to the GPS positioning signal sequence and the base station positioning signal sequence received by the mobile terminal, and obtaining the number of first signals corresponding to the GPS positioning signal sequence and the number of second signals corresponding to the base station positioning signal sequence;
inputting the first signal number, the second signal number, the first signal strength and the second signal strength into a preset confidence coefficient model, and calculating a first region confidence coefficient, a second region confidence coefficient and a third region confidence coefficient, wherein the first region confidence coefficient corresponds to an outdoor region, and the second region confidence coefficient corresponds to an indoor region and a third region confidence coefficient corresponds to an indoor and outdoor junction region;
confirming a position area of the mobile terminal based on the first area confidence, the second area confidence and the third area confidence;
the first signal number corresponding to the GPS positioning signal sequence refers to the signal number of the GPS positioning signal included in the GPS positioning signal sequence acquired by the mobile terminal, and the second signal number corresponding to the base station positioning signal sequence refers to the signal number of the base station positioning signal included in the base station positioning signal sequence acquired by the mobile terminal;
Inputting the first signal number, the second signal number, the first signal strength and the second signal strength into a preset confidence coefficient model, and calculating a first region confidence coefficient, a second region confidence coefficient and a third region confidence coefficient, wherein the first region confidence coefficient corresponds to an outdoor region, the second region confidence coefficient corresponds to an indoor region and the third region confidence coefficient corresponds to an indoor and outdoor junction region, and the method specifically comprises the following steps:
wherein ,for the first region confidence,/>For the second region confidence, ++>For the third region confidence, ++>For the first signal number corresponding to the GPS positioning signal sequence, < >>For GPS positioning signal sequence->First signal intensity corresponding to the GPS positioning signal, < >>A second number of signals corresponding to the base station positioning signal sequence, and (2)>Positioning signal sequence for base station->Second signal strength corresponding to the positioning signal of each base station, < >>To->An exponential function of the base.
2. The indoor and outdoor seamless high-precision positioning method according to claim 1, wherein the determining the location area of the mobile terminal based on the first area confidence level, the second area confidence level, and the third area confidence level specifically comprises:
Comparing the first region confidence coefficient, the second region confidence coefficient and the third region confidence coefficient, and confirming a comparison maximum value;
when the comparison maximum value is the first region confidence coefficient, confirming that the position region of the mobile terminal is an outdoor region;
when the comparison maximum value is the confidence coefficient of the second area, confirming that the position area of the mobile terminal is an indoor area;
and when the comparison maximum value is the third region confidence coefficient, confirming that the position region of the mobile terminal is an indoor and outdoor junction region.
3. The indoor and outdoor seamless high-precision positioning method according to claim 2, wherein after the location area of the mobile terminal is confirmed based on the first area confidence level, the second area confidence level, and the third area confidence level, before calculating the positioning information of the mobile terminal based on a location calculation algorithm corresponding to an indoor area, an outdoor area, and an indoor and outdoor border area, the method further comprises:
acquiring a position area corresponding to the mobile terminal at the previous moment, and comparing the position area of the current mobile terminal with the position area corresponding to the previous moment;
when the position area of the current mobile terminal is the same as the position area corresponding to the previous moment, confirming that the position area of the current mobile terminal is the position area of the final mobile terminal;
And when the position area of the current mobile terminal is different from the position area corresponding to the previous moment, calculating a fourth area confidence coefficient, and replacing the third area confidence coefficient with the fourth area confidence coefficient so as to confirm the position area of the mobile terminal.
4. The indoor and outdoor seamless high-precision positioning method according to claim 3, wherein when the location area of the current mobile terminal is different from the location area corresponding to the previous time, calculating a fourth area confidence coefficient, and replacing the third area confidence coefficient with the fourth area confidence coefficient to confirm the location area of the mobile terminal, comprising:
wherein Q is the positioning point of the mobile terminal at the current moment, G is the positioning point of the mobile terminal at the previous moment,for the difference of the signal quantity of the locating point at the current moment and the locating point at the previous moment of the mobile terminal, the +.>For the signal intensity difference between the locating point at the current moment and the locating point at the previous moment of the mobile terminal, the +.>For the fourth region confidence level of the setpoint Q of the mobile terminal at the current time,/>For the second signal number corresponding to the positioning point Q at the current moment of the mobile terminal,/the mobile terminal>For the second signal number corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the first signal number corresponding to the positioning point Q at the current moment of the mobile terminal,/the mobile terminal >For the first signal number corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the second signal strength corresponding to the setpoint Q of the mobile terminal at the current moment,/o>For the second signal strength corresponding to the positioning point G of the mobile terminal at the previous moment, < >>For the first signal strength corresponding to the setpoint Q of the mobile terminal at the current moment,/o>For the first signal strength corresponding to the anchor point G of the mobile terminal at the previous moment, < >>For the third region confidence level of the setpoint Q at the current time of the mobile terminal,/>For the first region confidence of the anchor point G of the mobile terminal at the previous moment,/>For the second region confidence of the anchor point G at the previous moment of the mobile terminal,is->And->Maximum value of>Is a very small positive number.
5. The indoor and outdoor seamless high-precision positioning method according to claim 4, wherein the calculating the positioning information of the mobile terminal based on the position calculation algorithm corresponding to the indoor area, the outdoor area and the indoor and outdoor junction area specifically comprises:
when the position area of the mobile terminal is an outdoor area, calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the GPS positioning signal sequence received by the mobile terminal and the outdoor area;
when the position area of the mobile terminal is an indoor area, calculating the positioning information of the mobile terminal according to a position calculation algorithm corresponding to the indoor area and a base station positioning signal sequence received by the mobile terminal;
And when the position area of the mobile terminal is an indoor and outdoor junction area, calculating the positioning information of the mobile terminal according to the GPS positioning signal sequence, the base station positioning signal sequence and a position calculation algorithm corresponding to the indoor and outdoor junction area received by the mobile terminal.
6. The indoor and outdoor seamless high-precision positioning method according to claim 5, wherein when the location area of the mobile terminal is an outdoor area, the positioning information of the mobile terminal is calculated according to a position calculation algorithm corresponding to the outdoor area and a GPS positioning signal sequence received by the mobile terminal, and the method specifically comprises:
confirming the initial positioning information of a preset quantity according to a position calculation algorithm corresponding to the GPS positioning signal sequence received by the mobile terminal and the outdoor area;
when the initial positioning information is one, confirming that the current initial positioning information is the positioning information of the mobile terminal;
when the number of the initial positioning information is two, calculating an evaluation value corresponding to the initial positioning information according to a preset evaluation value calculation formula so as to confirm the initial positioning information corresponding to the maximum evaluation value as the positioning information of the mobile terminal;
and when the initial positioning information is at least three, confirming that the initial positioning information with the minimum Euclidean distance sum is the positioning information of the mobile terminal, wherein the Euclidean distance sum is the sum of the initial positioning information of the target and other initial positioning information in at least three.
7. The indoor and outdoor seamless high-precision positioning method according to claim 6, wherein the calculating the positioning information of the mobile terminal based on the GPS positioning signal sequence received by the mobile terminal, the base station positioning signal sequence, and the position calculation algorithm corresponding to the indoor and outdoor border area is based on the fact that the position area of the mobile terminal is the indoor and outdoor border area, specifically comprises:
when the position area of the mobile terminal is an indoor and outdoor boundary area, confirming a predicted positioning point based on a preset standard boundary positioning point and corresponding moving characteristics;
according to a preset prediction algorithm, calculating a GPS positioning signal sequence and a base station positioning signal sequence corresponding to the predicted positioning point;
according to a position calculation algorithm corresponding to the outdoor area and a GPS positioning signal sequence of the current position of the mobile terminal, confirming a GPS positioning point of the mobile terminal;
and calculating GPS positioning weight based on the predicted positioning point and the GPS positioning point of the current position, so as to calculate positioning information of the mobile terminal according to the GPS positioning weight.
8. The indoor and outdoor seamless high-precision positioning method according to claim 7, wherein the calculating the GPS positioning weight based on the predicted positioning point and the GPS positioning point of the current position to calculate positioning information of the mobile terminal according to the GPS positioning weight specifically comprises:
wherein ,for GPS positioning weight, ++>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal intensity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Signal quantity difference, < >>Predictive anchor point for mobile terminal +.>GPS positioning point of mobile terminal>Distance value of>Predictive anchor point for mobile terminal +.>Is>Confidence of individual region>GPS positioning point for mobile terminal>Is>Confidence of individual region>For the positioning information of the mobile terminal, < > for>Positioning information calculated for the mobile terminal according to a position calculation algorithm corresponding to the outdoor area, < >>And calculating the positioning information for the mobile terminal according to the position calculation algorithm corresponding to the indoor area.
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Denomination of invention: A seamless high-precision positioning method for indoor and outdoor environments

Granted publication date: 20231020

Pledgee: Qishang Bank Co.,Ltd. Weifang Weicheng Branch

Pledgor: Shandong beidouyuan IOT Technology Co.,Ltd.

Registration number: Y2024980010815