CN116634364A - Positioning method, positioning device, electronic equipment and storage medium - Google Patents

Positioning method, positioning device, electronic equipment and storage medium Download PDF

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Publication number
CN116634364A
CN116634364A CN202310638466.3A CN202310638466A CN116634364A CN 116634364 A CN116634364 A CN 116634364A CN 202310638466 A CN202310638466 A CN 202310638466A CN 116634364 A CN116634364 A CN 116634364A
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China
Prior art keywords
information
positioning
terminal equipment
determining
position coordinates
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Inventor
路兆铭
张晓洋
初星河
温向明
陈亚文
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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Priority to CN202310638466.3A priority Critical patent/CN116634364A/en
Publication of CN116634364A publication Critical patent/CN116634364A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • 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
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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

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

Abstract

The application provides a positioning method, a positioning device, electronic equipment and a storage medium, wherein the positioning method comprises the following steps: determining whether the terminal device is moving in response to determining that the current position of the terminal device is an indoor position; responding to the determination that the terminal equipment moves to acquire the signal intensity of the terminal equipment, and calculating and determining the positioning information of the terminal equipment according to the signal intensity by a fingerprint positioning method; acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information; fusing the positioning information and the predicted position coordinates to determine the current position coordinates; and updating the position information of the terminal equipment according to the current position coordinates. According to the application, the predicted position coordinates are fused through the measured positioning information, so that the correction of the predicted position coordinates is realized, the accurate position coordinates are determined as the current position coordinates, the positioning accuracy is improved, and the cost is reduced.

Description

Positioning method, positioning device, electronic equipment and storage medium
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method, a positioning device, an electronic device, and a storage medium.
Background
With the advent of smart devices, the social and business needs of location-based services have increased significantly. Currently, the common positioning technologies mainly include satellite positioning, bluetooth beacon, UWB (Ultra Wide Band) positioning, WIFI positioning, positioning by GNSS (Global Navigation Satellite System ), and the like. However, satellite positioning, bluetooth beacons, UWB positioning, WIFI positioning, etc. of the prior art are only available for one type of positioning, for example: GNSS cannot penetrate a building and cannot provide reliable positioning service indoors; the UWB needs to arrange a special base station, a special positioning tag and a terminal, and the cost is high; WIFI positioning power consumption is high.
Therefore, the prior art has the problems of high hardware laying cost, low positioning precision and low applicability.
Disclosure of Invention
In view of the above, the present application provides a positioning method, a positioning device, an electronic device, and a storage medium.
Based on the above object, the present application provides a positioning method, comprising:
determining whether the terminal equipment moves or not in response to determining that the current position of the terminal equipment is an indoor position;
responding to the determination that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity by a fingerprint positioning method, and determining the positioning information of the terminal equipment;
acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information;
fusing the positioning information and the predicted position coordinates to determine the current position coordinates;
and updating the position information of the terminal equipment according to the current position coordinates, and determining the current position of the holder of the terminal equipment according to the position information of the terminal equipment.
The method further comprises the following steps of, before the current position of the terminal device is determined to be indoor:
and acquiring the antenna position of the terminal equipment, and determining the current position of the terminal equipment as an indoor position or an outdoor position according to the antenna position.
Optionally, the determining whether the terminal device moves includes:
reading parameters of a step counting sensor of the terminal equipment, determining acceleration, and determining whether the terminal equipment moves or not according to the acceleration;
in response to determining that the acceleration conforms to a step acceleration periodicity law, the terminal device moves;
and in response to determining that the acceleration does not conform to the swing acceleration periodicity law, the terminal device is not moved.
Optionally, the acquiring the signal strength of the terminal device, calculating according to the signal strength by a fingerprint positioning method, and determining the positioning information of the terminal device includes:
determining a target Bluetooth or a target WiFi, reading a signal strength database of the target Bluetooth or the target WiFi, and confirming the signal strength;
determining the position distance between the holder and the target Bluetooth or the target WiFi through a fingerprint positioning algorithm according to the signal intensity;
determining the positioning information according to the position distance; the second positioning information is positioning information of a target Bluetooth or a target WiFi.
Optionally, the historical location information base includes: the position information of the terminal equipment at any historical moment;
the track information base comprises step length information and direction information.
Optionally, the determining, according to the historical position information base and the track information base, the predicted position coordinate of the terminal device includes:
determining the position information of the moment before the current moment according to the historical position information base;
and determining the predicted position coordinates according to the position information of the previous moment, the step length information and the direction information.
Optionally, the fusing the positioning information and the predicted position coordinate to determine a current position coordinate includes:
and correcting the predicted position coordinate according to the positioning information by an extended Kalman filtering algorithm, and determining the current position coordinate according to a correction result.
Based on the same inventive concept, an embodiment of the present application further provides a positioning device, including:
a first judging module configured to determine whether the terminal device moves in response to determining that a current position of the terminal device is an indoor position;
the information acquisition module is configured to respond to the determination that the terminal equipment moves, acquire the signal intensity of the terminal equipment, calculate according to the signal intensity through a fingerprint positioning method and determine the positioning information of the terminal equipment;
the position prediction module is configured to acquire a historical position information base and a track information base, and determine predicted position coordinates of the terminal equipment at the current moment according to the historical position information and the track information;
the data fusion module is configured to fuse the positioning information and the predicted position coordinates and determine the current position coordinates;
and the position updating module is configured to update the position information of the terminal equipment according to the current position coordinates and determine the current position of the holder of the terminal equipment according to the position information of the terminal equipment.
Based on the same inventive concept, the embodiment of the application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor executes the program to realize the positioning method according to any one of the above.
Based on the same inventive concept, the embodiments of the present application further provide a non-transitory computer readable storage medium storing computer instructions, where the computer instructions are configured to cause a computer to perform any one of the above positioning methods.
From the above, it can be seen that the positioning method, apparatus, electronic device and storage medium provided by the present application include: determining whether the terminal equipment moves or not in response to determining that the current position of the terminal equipment is an indoor position; responding to the determination that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity by a fingerprint positioning method, and determining the positioning information of the terminal equipment; acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information; fusing the positioning information and the predicted position coordinates to determine the current position coordinates; and updating the position information of the terminal equipment according to the current position coordinates, and determining the current position of the holder of the terminal equipment according to the position information of the terminal equipment. According to the application, the predicted position coordinates are fused through the measured positioning information, so that the correction of the predicted position coordinates is realized, the accurate position coordinates are determined as the current position coordinates, the positioning accuracy is improved, the applicability of the model is improved, and the cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a schematic diagram of a positioning method according to an embodiment of the present application;
fig. 2 is a schematic diagram of an embodiment of a terminal device in a room in a positioning method according to an embodiment of the present application;
fig. 3 is a schematic diagram of an embodiment of a terminal device in a positioning method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a positioning device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
The present application will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present application more apparent.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
As described in the background section, with the advent of smart devices, the social and business needs of location-based services have increased significantly. Currently, the common positioning technologies mainly include satellite positioning, bluetooth beacon, UWB (Ultra Wide Band) positioning, WIFI positioning, positioning by GNSS (Global Navigation Satellite System ), and the like.
However, the applicant has found through research that satellite positioning, bluetooth beacons, UWB positioning, WIFI positioning, etc. of the prior art can be used for only one type of positioning, for example: GNSS cannot penetrate a building and cannot provide reliable positioning service indoors; the UWB needs to arrange a special base station, a special positioning tag and a terminal, and the cost is high; WIFI positioning power consumption is high. In order to achieve higher positioning accuracy, the above positioning means all need to deploy related equipment on a large scale, and the cost is higher.
Further, the existing positioning method is only suitable for indoor or outdoor single scenes, such as GPS positioning, signal strength positioning and the like, and has disadvantages. Because satellite signals cannot penetrate through a building, in some closed spaces, the satellite signals can be shielded, indoor coverage cannot be realized, and positioning cannot be realized by using GNSS; common indoor positioning modes have certain defects so as to influence positioning accuracy, bluetooth/WIFI fingerprint positioning can generate the problem that positioning points repeatedly rebound, and modes such as pedestrian track positioning and inertial navigation positioning are easy to generate accumulated errors. Therefore, how to realize high-precision, low-cost and adaptable positioning in different environments is a problem to be solved.
In view of this, embodiments of the present application provide a positioning method, a positioning device, an electronic device, and a storage medium, including: determining whether the terminal equipment moves or not in response to determining that the current position of the terminal equipment is an indoor position; responding to the determination that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity by a fingerprint positioning method, and determining the positioning information of the terminal equipment; acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information; fusing the positioning information and the predicted position coordinates to determine the current position coordinates; and updating the position information of the terminal equipment according to the current position coordinates, and determining the current position of the holder of the terminal equipment according to the position information of the terminal equipment. According to the application, the predicted position coordinates are fused through the measured positioning information, so that the correction of the predicted position coordinates is realized, the accurate position coordinates are determined as the current position coordinates, the positioning accuracy is improved, the applicability of the model is improved, and the cost is reduced.
Referring to fig. 1, the positioning method includes:
step S102, determining whether the terminal equipment moves or not in response to determining that the current position of the terminal equipment is an indoor position;
step S104, responding to the determination that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity by a fingerprint positioning method, and determining the positioning information of the terminal equipment;
step S106, acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information;
step S108, fusing the positioning information and the predicted position coordinates to determine the current position coordinates;
step S110, the position information of the terminal equipment is updated according to the current position coordinates, and the current position of the holder of the terminal equipment is determined according to the position information of the terminal equipment.
In step S102, as shown in fig. 2, it can be seen from fig. 2 that when the current position of the terminal device is determined to be an indoor position, first, relevant information of the current position of the terminal device is determined, for example: the method can be that the current position coordinates, direction information and the like of the terminal equipment are obtained, meanwhile, acceleration information is obtained from a step counting sensor, further, whether the terminal equipment moves is determined according to the acceleration, and after the terminal equipment is determined to move, the fact that the holder of the terminal equipment moves is determined.
Specifically, determining whether the terminal device moves according to the acceleration includes: in response to determining that the acceleration conforms to a step acceleration periodicity law, the terminal device moves; and in response to determining that the acceleration does not conform to the swing acceleration periodicity law, the terminal device is not moved. The periodic law of stepping acceleration is expressed as follows: if the walking step is taken, the acceleration in the horizontal direction or the vertical direction can be periodically changed, and the walking step is similar to a sine.
It should be noted that, since the terminal device is a mobile device with a positioning function, the terminal device includes, but is not limited to, a desktop computer, a mobile phone, a mobile computer, a tablet computer, a media player, a smart wearable device, a personal digital assistant (personal digital assistant, PDA), or other electronic devices with the above functions, and the like.
Further, after determining that the owner moves, acquiring the position of the received antenna signal through the Beidou signal, wherein the antenna signal received by the Beidou signal is the antenna signal sent by the terminal equipment, and acquiring the position of the received antenna signal by the Beidou signal comprises: the pseudorange location (x, y, z) function of a GNSS (Global Navigation Satellite System ) is determined by solving four satellites as follows:
(x-x 1 ) 2 +(y-y 1 ) 2 +(z-z 1 ) 2 -c 2 (t-t 1 ) 2 ＝0
(x-x 2 ) 2 +(y-y 2 ) 2 +(z-z 2 ) 2 -c 2 (t-t 2 ) 2 ＝0
(x-x 3 ) 2 +(y-y 3 ) 2 +(z-z 3 ) 2 -c 2 (t-t 3 ) 2 ＝0
(x-x 4 ) 2 +(y-y 4 ) 2 +(z-z 4 ) 2 -c 2 (t-t 4 ) 2 ＝0
wherein x, y, z, t are the space-time coordinates of the received antenna signal to be solved, x i ，y i ，z i ，t i Is the known ith Beidou satellite transmitterThe position of the Beidou signal receiving antenna can be obtained by solving the equation set, and more reasonable solutions (such as closer to the earth surface) are obtained under the condition that two solutions appear in the equation set.
In some alternative embodiments, as shown in fig. 3, the present application includes two cases that the terminal device is indoor and the terminal device is outdoor, when the current position of the terminal device is determined to be the outdoor position, that is, the holder of the device moves outside the building, when the terminal device is determined to be outdoor, the Beidou signal is directly used for acquiring the position of the terminal, and then the historical position information of the previous moment is updated according to the acquired current position information.
In some alternative embodiments, responsive to determining that the bearer has moved, track location information and bluetooth location information may be determined by track location and fingerprint location; the track positioning information comprises step length information and direction information, the track positioning information is calculated and determined by reading relevant parameters of a step counting sensor, and the Bluetooth positioning information is calculated and determined by a fingerprint positioning algorithm according to the intensity of signal information formed by indoor reflection or refraction and a pre-generated signal intensity database.
Step S104, in response to determining that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity through a fingerprint positioning method, and determining the positioning information of the terminal equipment. Specifically, when it is determined that the terminal device and the holder of the terminal device are in the room, because the indoor environment is complex, the signal reflection and refraction are relatively large, and in many cases, the RSSI (Received Signal Strength Indicator, strength indication of the received signal) and the distance do not completely correspond, so that a fingerprint positioning algorithm is often adopted for positioning. In which the terminal device is not actively moving itself, and is required to move by means of a movable person or a movable device, and in which the terminal device is typically by means of a movable person. When the terminal equipment moves by means of a person, the position of the terminal equipment is the position of the holder of the terminal equipment, the holder can be determined to move when the movement of the terminal equipment is detected, and similarly, the holder of the terminal equipment can be determined to move indoors when the movement of the terminal equipment is detected.
In some optional embodiments, acquiring the signal strength of the terminal device, calculating according to the signal strength by a fingerprint positioning method, and determining the positioning information of the terminal device includes: determining a target Bluetooth or a target WiFi, reading a signal strength database of the target Bluetooth or the target WiFi, and confirming the signal strength; determining the position distance between the holder and the target Bluetooth or the target WiFi through a fingerprint positioning algorithm according to the signal intensity; determining the positioning information according to the position distance; the second positioning information is positioning information of a target Bluetooth or a target WiFi.
In some specific embodiments, the fingerprint positioning algorithm makes full use of signal information formed by reflection and refraction, firstly generates a fingerprint signal intensity database offline, and then calculates the position distance through a set of actually measured RSSI values in online positioning. And in the off-line calibration stage, a fingerprint map is established through actual acquisition or calculation and analysis. And in the positioning stage, the best matching parameters are found by comparing the signal received in real time with the signal characteristic parameters in the fingerprint database, and the corresponding position coordinates are regarded as the position coordinates of the target to be detected.
Further, when the signal received in real time in the actual process is compared with the signal characteristic parameters in the fingerprint database to find the best matching parameters, firstly, calculating the similarity between the signal received in real time and the signal characteristic parameters in the fingerprint database according to the Euclidean coordinates to find the best matching parameters, so as to determine the position coordinates of the target terminal equipment according to the best matching parameters. Specifically, the formula for calculating the European coordinates is as follows:
where a is the RSSI value, the area to be locatedDividing the distance picture into n grid points according to a certain distance picture, wherein each grid point can be used as a reference position, x i For the actual coordinates of the terminal position, x j For reference position coordinates, a r (x i ) At x for the terminal i Received RSSI value, a r (x j ) For reference position x in fingerprint database j And (3) calculating the RSSI value at the position, determining the Euclidean distance, and then recording the Euclidean distance, wherein the reference position coordinate corresponding to the minimum Euclidean distance is regarded as the terminal position coordinate, and the final positioning coordinate is as follows:
wherein k is the number of times of recording Euclidean distance, x i For the abscissa of the measured terminal position, y i And (5) for the ordinate of the measured terminal position, calculating the average value of the ordinate and determining the average value as a final coordinate.
In some alternative embodiments, since satellite signals cannot penetrate the building, in some enclosed spaces, satellite signals can be blocked, indoor coverage cannot be achieved, and positioning cannot be achieved using GNSS; common indoor positioning modes have certain defects so as to influence positioning accuracy, bluetooth/WIFI fingerprint positioning can generate the problem that positioning points repeatedly rebound, and modes such as pedestrian track positioning and inertial navigation positioning are easy to generate accumulated errors. Thus, after determining the bluetooth positioning information and the predicted position coordinates, the bluetooth positioning information and the predicted position coordinates are fused. Further, since the bluetooth positioning information and the predicted position coordinates are nonlinear, the fusion positioning algorithm is realized by extending the kalman filter.
In some embodiments, the process of obtaining the predicted position coordinates of the current moment of the terminal device includes: and acquiring a historical position information base and a track information base, and determining the predicted position coordinates of the terminal equipment at the current moment according to the historical position information and the track information. Specifically, the historical position information base and the track information base can read recorded parameters in the step counting sensor, and according to the position information, the step length information and the direction information of each historical moment in the past time period recorded in the step counting sensor, the direction information can also be a course angle.
In this step, first, the position information of the previous time of the current time may be determined according to the history position information base; the historical position information base stores position information, step information and direction information of any historical moment in a past time period, so that the position information, the step information and the direction information of any historical moment in the past time period can be obtained by reading the historical position information base, and the information of the previous moment of the current moment is naturally included. For example, when the current time is k time, the previous time of the current time is k-1 time. Then, the predicted position coordinates are determined based on the position information of the previous time, the step size information, and the direction information. The determined predicted position coordinates include not only position information but also a predicted heading angle at the current moment.
Specifically, after determining the position information, the step length information and the direction information of the previous moment, determining the predicted position coordinate according to the position information, the step length information and the direction information of the previous moment by the following formula:
wherein X is k The system state of the kth step, namely the position information at the current moment, comprises a position coordinate and a course angle, wherein k represents the walking step number of the pedestrian; x is x k And y is k Representing the coordinate position of the pedestrian after walking through the k steps; θ k Representing the orientation angle of the pedestrian after walking k steps; d, d k Representing the step length of the pedestrian at the kth step;representing the variation of the pedestrian in the direction of the kth step; w (W) k-1 Is process noise.
As an alternative embodiment, the predicted position coordinates may also be determined by predicting based on the track positioning information and the positioning information determined based on the signal strength information. The trace positioning information may be determined as follows: firstly, acquiring acceleration information of a current gait cycle in a step counting sensor, wherein the acceleration information comprises maximum acceleration and minimum acceleration, and then determining step length information according to the maximum acceleration and the minimum acceleration by the following formula:
where k is a constant, a max And a min The maximum and minimum accelerations in a gait cycle, respectively, and d is the step size.
After the step size information is determined, the position of the terminal equipment holder at the next moment can be further predicted according to the pedestrian dead reckoning (Pedestrian Dead Reckoning), namely the PDR, through a calculation formula shown as follows, so as to obtain coordinate (x-axis and y-axis) information of the position at the next moment:
wherein x is k For the abscissa after the terminal device holder has travelled k steps, y k Ordinate, x after k steps of travel for the terminal device holder 0 Initial abscissa, y, for the holder of the terminal device 0 An initial ordinate of a terminal equipment holder, d is a step length, d n To advance the step length of the nth step, θ n Is the heading of the step when the nth step is travelled.
It should be noted that, since the smart phone is already equipped with the step counting sensor or the sensor with the step counting function, for example, the "WeChat motion" may read the data of the step counting sensor of the smart phone to determine the number of steps the application program uses to walk every day. Therefore, the method can be combined with a PDR algorithm, the motion distance is estimated by utilizing the step number measured by the mobile phone sensor and the estimated step length, and the heading is obtained by combining with the attitude sensor, so that the relative position of the pedestrian is calculated to realize the navigation and positioning of the pedestrian in a complex environment.
In some alternative embodiments, since satellite signals cannot penetrate the building, in some enclosed spaces, satellite signals can be blocked, indoor coverage cannot be achieved, and positioning cannot be achieved using GNSS; common indoor positioning modes have certain defects so as to influence positioning accuracy, bluetooth/WIFI fingerprint positioning can generate the problem that positioning points repeatedly rebound, and modes such as pedestrian track positioning and inertial navigation positioning are easy to generate accumulated errors. Thus, after determining the bluetooth positioning information and the predicted position coordinates, the bluetooth positioning information and the predicted position coordinates are fused. Further, since the bluetooth positioning information and the predicted position coordinates are nonlinear, the fusion positioning algorithm is realized by extending the kalman filter.
Therefore, in step S108, the current position coordinates are determined by fusing the positioning information and the predicted position coordinates. Specifically, by fusing the positioning information and the predicted position coordinates, determining the current position coordinates includes: and correcting the predicted position coordinate according to the positioning information by an extended Kalman filtering algorithm, and determining the current position coordinate according to a correction result.
In some alternative embodiments, the fusing of the positioning information and the predicted position coordinates, determining the current position coordinates may specifically include a prediction phase and an update phase. The prediction stage is shown in step S106, and the update stage specifically includes: according to the positioning information and the predicted position coordinates, correction of the predicted position coordinates according to the positioning information determined by Bluetooth is realized through a measurement equation shown in the following to determine the current position coordinates:
wherein x is k And y is k Represents the pedestrian position (measurement value of the Bluetooth position at the current moment) obtained by Bluetooth positioning, d k Representing the step size of the pedestrian at the kth step obtained by the step size model;representing the variation of the pedestrian in the direction of the kth step, which is obtained by positioning the inertial sensor; θ k Representing the orientation angle of the inertial sensor to locate the pedestrian after k steps of walking; v (V) k To observe noise. Firstly, acquiring a starting point position by using Bluetooth fingerprint positioning, then judging whether a pedestrian takes a step, and if not, acquiring the last positioning result to update the position information; and if the step is taken out, dead reckoning is carried out, step length and direction information and Bluetooth positioning information are obtained, and a fusion positioning algorithm is used for carrying out state updating and measurement updating.
From the foregoing, it can be seen that the positioning method, apparatus, electronic device, storage medium and program product provided by the present application include: determining whether a holder of the terminal device moves in response to determining that the current position of the terminal device is an indoor position; responding to the determination that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity by a fingerprint positioning method, and determining the positioning information of the terminal equipment; acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information; fusing the positioning information and the predicted position coordinates to determine the current position coordinates; and updating the position information of the terminal equipment according to the current position coordinates, and determining the current position of the holder of the terminal equipment according to the position information of the terminal equipment. According to the application, the predicted position coordinates are fused through the measured positioning information, so that the correction of the predicted position coordinates is realized, the accurate position coordinates are determined as the current position coordinates, the positioning accuracy is improved, the applicability of the model is improved, and the cost is reduced.
It should be noted that, the method of the embodiment of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the method of an embodiment of the present application, the devices interacting with each other to accomplish the method.
It should be noted that the foregoing describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, the application also provides a positioning device corresponding to the method of any embodiment.
Referring to fig. 4, the positioning device includes:
a first judging module 402 configured to determine whether the terminal device moves in response to determining that the current position of the terminal device is an indoor position;
an information obtaining module 404, configured to obtain signal strength of the terminal device in response to determining that the terminal device moves, perform calculation according to the signal strength by a fingerprint positioning method, and determine positioning information of the terminal device;
a position prediction module 406, configured to obtain a historical position information base and a track information base, and determine a predicted position coordinate of the current moment of the terminal device according to the historical position information and the track information;
the data fusion module 406 is configured to fuse the track positioning information and the bluetooth positioning information through a kalman filtering algorithm, and determine a current position coordinate;
an updating module 408 configured to update the terminal device location information according to the current location coordinates and to determine the current location of the terminal device holder according to the location information of the terminal device.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
The device of the foregoing embodiment is configured to implement the corresponding positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the positioning method of any embodiment when executing the program.
Fig. 5 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the corresponding positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the positioning method according to any of the above embodiments, corresponding to the method according to any of the above embodiments.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The storage medium of the foregoing embodiments stores computer instructions for causing the computer to perform the positioning method according to any one of the foregoing embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.
Based on the same inventive concept, the present disclosure also provides a computer program product, corresponding to the positioning method according to any of the above embodiments, comprising computer program instructions. In some embodiments, the computer program instructions may be executed by one or more processors of a computer to cause the computer and/or the processor to perform the color correction method. Corresponding to the execution subject corresponding to each step in each embodiment of the color correction method, the processor executing the corresponding step may belong to the corresponding execution subject.
The computer program product of the above embodiment is configured to enable the computer and/or the processor to perform the positioning method according to any one of the above embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the application as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, and the like, which are within the spirit and principles of the embodiments of the application, are intended to be included within the scope of the application.

Claims (10)

1. A positioning method, comprising:
determining whether the terminal equipment moves or not in response to determining that the current position of the terminal equipment is an indoor position;
responding to the determination that the terminal equipment moves, acquiring the signal intensity of the terminal equipment, calculating according to the signal intensity by a fingerprint positioning method, and determining the positioning information of the terminal equipment;
acquiring a historical position information base and a track information base, and determining a predicted position coordinate of the terminal equipment at the current moment according to the historical position information and the track information;
fusing the positioning information and the predicted position coordinates to determine the current position coordinates;
and updating the position information of the terminal equipment according to the current position coordinates, and determining the current position of the holder of the terminal equipment according to the position information of the terminal equipment.
2. The method of claim 1, wherein the responding to determining the current location of the terminal device as indoor is preceded by:
and acquiring the antenna position of the terminal equipment, and determining the current position of the terminal equipment as an indoor position or an outdoor position according to the antenna position.
3. The method of claim 1, wherein the determining whether the terminal device has moved comprises:
reading parameters of a step counting sensor of the terminal equipment, determining acceleration, and determining whether the terminal equipment moves or not according to the acceleration;
in response to determining that the acceleration conforms to a step acceleration periodicity law, the terminal device moves;
and in response to determining that the acceleration does not conform to the swing acceleration periodicity law, the terminal device is not moved.
4. The method according to claim 1, wherein the obtaining the signal strength of the terminal device, calculating by a fingerprint positioning method according to the signal strength, and determining the positioning information of the terminal device includes:
determining a target Bluetooth or a target WiFi, reading a signal strength database of the target Bluetooth or the target WiFi, and confirming the signal strength;
determining the position distance between the holder and the target Bluetooth or the target WiFi through a fingerprint positioning algorithm according to the signal intensity;
determining the positioning information according to the position distance; the second positioning information is positioning information of a target Bluetooth or a target WiFi.
5. The method of claim 1, wherein the historical location information repository comprises: the position information of the terminal equipment at any historical moment;
the track information base comprises step length information and direction information.
6. The method of claim 5, wherein said determining predicted location coordinates of said terminal device based on said historical location information repository and said track information repository comprises:
determining the position information of the moment before the current moment according to the historical position information base;
and determining the predicted position coordinates according to the position information of the previous moment, the step length information and the direction information.
7. The method of claim 1, wherein the fusing the positioning information and the predicted position coordinates to determine current position coordinates comprises:
and correcting the predicted position coordinate according to the positioning information by an extended Kalman filtering algorithm, and determining the current position coordinate according to a correction result.
8. A positioning device, comprising:
a first judging module configured to determine whether the terminal device moves in response to determining that a current position of the terminal device is an indoor position;
the information acquisition module is configured to respond to the determination that the terminal equipment moves, acquire the signal intensity of the terminal equipment, calculate according to the signal intensity through a fingerprint positioning method and determine the positioning information of the terminal equipment;
the position prediction module is configured to acquire a historical position information base and a track information base, and determine predicted position coordinates of the terminal equipment at the current moment according to the historical position information and the track information;
the data fusion module is configured to fuse the positioning information and the predicted position coordinates and determine the current position coordinates;
and the position updating module is configured to update the position information of the terminal equipment according to the current position coordinates and determine the current position of the holder of the terminal equipment according to the position information of the terminal equipment.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method according to any one of claims 1 to 7 when the computer program is executed.
10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
CN202310638466.3A 2023-05-31 2023-05-31 Positioning method, positioning device, electronic equipment and storage medium Pending CN116634364A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310638466.3A CN116634364A (en) 2023-05-31 2023-05-31 Positioning method, positioning device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310638466.3A CN116634364A (en) 2023-05-31 2023-05-31 Positioning method, positioning device, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116634364A true CN116634364A (en) 2023-08-22

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