CN205681631U - Positioning terminal - Google Patents
Positioning terminal Download PDFInfo
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- CN205681631U CN205681631U CN201620443834.4U CN201620443834U CN205681631U CN 205681631 U CN205681631 U CN 205681631U CN 201620443834 U CN201620443834 U CN 201620443834U CN 205681631 U CN205681631 U CN 205681631U
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Abstract
The utility model provides a kind of indoor positioning terminal, it is characterised in that include: locally stored unit, bluetooth unit, localization process unit and display unit.The broadcast singal of each bluetooth localizer beacon of indoor of the described building of bluetooth unit sensing, and export the corresponding broadcast data frame generating based on received broadcast singal.The fingerprint vector that localization process unit is constituted based on the broadcast data frame from described bluetooth unit, generates elements of a fix data and local map file.Display unit, based on the map file partly with described station location marker from described localization process unit, shows described positioning position in indoor map for the terminal.
Description
Technical field
The utility model relates to a kind of positioning equipment, particularly relates to a kind of indoor positioning terminal for indoor positioning.
Background technology
Global positioning system has obtained great exploitation with the development of chip and satellite technology, and this allows one to
The geographical position of oneself can be obtained in overwhelming majority place, the whole world by hand-held terminal device.The trip of this people, especially
It is the great convenience that the travelling in unfamiliar place brings.
But, with the progress of urbanization, heavy construction is increasing, especially shopping mall market and large-scale activity field
Institute is increasing.People can get lost in the complicated heavy construction of these internal structures often, and therefore, people are to indoor
The demand of positioning and navigation is also day by day urgent.Although it is extraordinary that GPS in outdoor is that work obtains, but under indoor environment due to
Being affected by multiple environmental factors, GPS cannot cover the environment of these indoor, so people just think that various to the greatest extent method expires
The demand of foot indoor positioning.Existing indoor positioning technologies generally uses bluetooth location technology, i.e. uses signal strength values and reality
The mapping relations of distance position.But due to Bluetooth signal intensity by environmental factor (temperature, humidity, physics block etc. because of
Element) affect relatively greatly, therefore, the actual distance value being calculated is also extremely unstable, inaccurate, causes current bluetooth
The shortcoming of location technology is exactly that position error is big, precision is low, stability is weak.
Content of the invention
For solving the problems referred to above, the utility model provides a kind of indoor positioning terminal, it is characterised in that include: this locality is deposited
Storage unit, stores the indoor map data of one or more building；Bluetooth unit, senses each indigo plant of indoor of described building
The broadcast singal of tooth localizer beacon, and export the corresponding broadcast data frame generating based on received broadcast singal, wherein
Described broadcast singal comprises unique ID of corresponding bluetooth localizer beacon；Localization process unit, based on from described bluetooth unit
The fingerprint vector that constitutes of broadcast data frame, generate elements of a fix data, and based on from described in described locally stored unit
The picture and text partly of the mark of position in described indoor map for the described elements of a fix data of indoor map data genaration instruction
Part；And display unit, based on the map file partly with described station location marker from described localization process unit, display
Described positioning position in indoor map for the terminal.
According to indoor positioning terminal of the present utility model, also including wireless communication unit, it receives at described positioning
The elements of a fix data of reason unit, and elements of a fix data are transferred to monitoring server.
According to indoor positioning terminal of the present utility model, described display unit is the display unit of a kind of tangible input,
It transfers and shows the indoor map that described locally stored unit is stored according to the touch operation of user, and it is according to user
Touch operation transfer and show the indoor map that described locally stored unit stored and in shown indoor map
Target location is set.
According to indoor positioning terminal of the present utility model, the indoor bluetooth containing corresponding building for the described indoor map packet
The ID of localizer beacon, wherein said ID data form comprises its geographic position data, floor data and the seat in floor level
Mark data.
According to indoor positioning terminal of the present utility model, also including: GPS positioning unit, its described indoor positioning of output is eventually
The first slightly position of end；And updating block, it is based on the first slightly position from GPS positioning unit, by wireless communication unit from
Indoor map database in map server transfers the described indoor map just omiting a range of building in position, and deposits
Described locally stored unit is arrived in storage.
According to indoor positioning terminal of the present utility model, also including finger print data signal generating unit, it is based on from described indigo plant
The broadcast data frame that tooth unit is generated, generates multidimensional fingerprint vector, and the fingerprint vector being generated is passed through described channel radio
Letter unit feeds back to the indoor map database in map server, thus updates map data base.
According to indoor positioning terminal of the present utility model, based on indigo plant between described bluetooth unit and described bluetooth localizer beacon
Tooth low energy consumption BLE agreement carries out communication.
According to indoor positioning terminal of the present utility model, also including usb interface unit, it can pass through usb interface unit
It directly is stored in indoor map file in described locally stored unit.
According to indoor positioning terminal of the present utility model, also include binding unit, its by described bluetooth unit by described
The ID of indoor positioning terminal is tied to control equipment, in order to the map file partly generating described localization process unit is by indigo plant
The wireless communication mode of tooth communication modes or described wireless communication unit is sent to described control equipment, in order to be shown in described control
On the display unit of control equipment.
According to indoor positioning terminal of the present utility model, also include emergency call button unit, in this emergency call button
When being pressed, the urgent call signal comprising location coordinate information is sent to described control by described wireless communication unit by it
Equipment is reported to the police.
Brief description
Accompanying drawing herein is merged in specification and constitutes the part of this specification, show meet of the present utility model
Embodiment, and be used for explaining principle of the present utility model together with specification.
Fig. 1 is indoor positioning terminal applies scene schematic diagram of the present utility model；
Shown in Fig. 2 is the application scenarios floor map according to positioning terminal of the present utility model.
Shown in Fig. 3 is the theory diagram according to positioning terminal of the present utility model；
Shown in Fig. 4 is the schematic diagram according to positioning terminal demonstration map of the present utility model；
Shown in Fig. 5 is according to positioning terminal guidance process schematic of the present utility model.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the utility model.On the contrary, they be only with such as
The example of the consistent apparatus and method of some aspects that described in detail in appended claims, of the present utility model.
The term using at the utility model is only merely for the purpose describing specific embodiment, and is not intended to be limiting this
Open." a kind of ", " described " and " being somebody's turn to do " of singulative used in the utility model and appended claims is also intended to
Including most forms, unless context clearly shows that other implications.It is also understood that term "and/or" used herein
Refer to and comprise one or more any or all possible combination listing project being associated.
Although it should be appreciated that and term first, second, third, etc. may being used to describe various information at the utility model,
But these information should not necessarily be limited by these terms.These terms are only used for same type of information is distinguished from each other out.For example, not
In the case of departing from the utility model scope, the first Bluetooth beacon also can be referred to as the second Bluetooth beacon, and similarly, second is blue
Tooth beacon also can be referred to as the first Bluetooth beacon.Depend on linguistic context, word as used in this " if " can be explained
Become " ... when " or " when ... " or " in response to determining ".
In order to make those skilled in the art be more fully understood that the utility model, below in conjunction with the accompanying drawings with detailed description of the invention pair
The utility model is described in further detail.
Fig. 1 is indoor positioning terminal applies scene schematic diagram of the present utility model.As it is shown in figure 1, a huge business
In Chang, multilayer, for example on the ground three layers and underground two-layer can be divided into, between every layer, pass through elevator or pedestrian stairway UNICOM.Ground
Being disposed with numerous retail shop in every floor layer plane, patronizing for client and picking commodities, underground floor is usually parking lot, Ren Men
This building envelope might easily get lost in space.Therefore people know oneself in building in the urgent need to a kind of indoor positioning terminal
Position in the world, so as to carry out navigating thus faster reach the destination oneself found.
Shown in Fig. 2 is the application scenarios floor map according to positioning terminal of the present utility model.As in figure 2 it is shown, it is whole
Individual floor is divided into multiple functional areas.It is evenly distributed with multiple Bluetooth beacon 110-01,110-02 in whole floor part ... 110-N
(hereinafter referred to as Bluetooth beacon 110).In the public domain of this floor, show a Bluetooth terminal mark 100.This positioning is eventually
Even if end 100 indoor positioning terminals described in the utility model.User is by hand-held or dress this indoor positioning terminal 100 at this
Walk about in building, obtain the Bluetooth signal of nearest several Bluetooth beacons 110 broadcast, and pass through in obtained Bluetooth signal
Know positional information to determine the position of oneself.Usual Bluetooth beacon 110 deployment density is every 4-10 square metre one, generally 7
Square metre one.This deployment way is so that the probability within 1 meter for the positioning precision of positioning terminal is more than 95%.
Shown in Fig. 3 is the configuration structure according to positioning terminal of the present utility model.As it is shown on figure 3, according to this practicality
Novel positioning terminal has following composed component: bluetooth unit the 10th, localization process unit the 15th, display unit is the 20th, locally stored
Unit the 25th, GPS unit the 30th, USB interface the 35th, wire/wireless communication unit the 40th, finger print data signal generating unit the 45th, binding unit 55.
Bluetooth unit 10 carries out communication by bluetooth communication agreement and Bluetooth beacon 110.Positioning terminal 100 is configured with bluetooth
4.0 modules, and its operating system can use android system or IOS system.Bluetooth beacon 110 is also configured with bluetooth 4.0 mould
Block.Bluetooth beacon 110 is periodically (for example with 10ms, 20ms, 50ms.In addition for power saving, it would however also be possible to employ the longer cycle,
Such as 10s.This cycle can according to circumstances be adjusted.) use 2.4 2.485GHz ISM band UHF radio wave to
Space broadcast wireless signal about.It is accompanied with uniquely setting of corresponding Bluetooth beacon in the wireless signal that Bluetooth beacon is broadcasted
Standby ID.In described ID data form in addition to the production sequence number of this Bluetooth beacon, also comprise it and actual be disposed in place
The geographic position data of position, floor data (or altitude data).It is possible if desired to comprise this bluetooth in this ID
Three-dimensional coordinate data in floor level for the beacon.According to positioning terminal 100 of the present utility model and Bluetooth beacon 110 all with low
Based on power consumption Bluetooth technology.
When hand-held or wearing positioning terminal user enters in the buildings such as building, the bluetooth list in positioning terminal 100
Unit 10 with each bluetooth localizer beacon 110 of indoor of the fixed cycle described building of sensing broadcasted based on Bluetooth signal.Institute
State unique ID and intensity RSSI comprising corresponding bluetooth localizer beacon 110 in broadcast singal.Bluetooth unit 10 is based on being received
The corresponding broadcast data frame that the broadcast singal arriving generates, and broadcast data frame is sent to localization process unit 15.
Localization process unit 15 resolves received broadcast data frame, the corresponding Bluetooth beacon in acquisition broadcast data frame
ID and intensity RSSI.Localization process unit 15, based on the Bluetooth beacon ID being parsed and corresponding RSSI intensity, is chosen
Three Bluetooth beacon ID of strong RSSI maximum intensity.Localization process unit 15 based on these three Bluetooth beacon ID included in
Physical geographic location and RSSI intensity, by optimizing k nearest neighbor algorithm and Kalman filtering algorithm, draw the elements of a fix accurately
Value, then marks this coordinate position on plane map, thus calculates the physical location of positioning terminal.
Localization process unit 15 calls locally stored unit 25 based on the physical location of the positioning terminal being calculated subsequently
One of indoor map data of one or more buildings of middle storage, by the map synthesis module in localization process unit 15
By the numerical value corresponding to the physical location of the positioning terminal being calculated in the map being called for the icon synthesis of positioning terminal
Position, is consequently formed synthetic map and is sent to display unit 20, in order to by the ground, position of the user oneself of hand-held positioning terminal
Figure shows on the display unit 20, and therefore, user can accurately obtain the position of self.
Owing to the Bluetooth beacon 110 in same floor and contiguous floors is a lot, the bluetooth unit 10 of positioning terminal 100 is very
Being likely to be received the broadcast singal of numerous Bluetooth beacon 110, therefore, bluetooth unit 10 can will meet the RSSI of certain threshold range
The broadcast data frame of intensity is sent to localization process unit 15 and carries out localization process.So weak by removing a part of RSSI intensity
Broadcast data frame, localization process unit 15 can be reduced and carry out the speed of location Calculation, thus improve the real-time of positioning.
Localization process unit 15 is in addition to being sent to display unit by localization process result, also simultaneously by handled acquisition number
According to being sent to finger print data signal generating unit 45.Subsequently, finger print data signal generating unit 45 has just obtained the generation of localization process result
The finger print data that this positioning terminal goes out, and finger print data is sent to locally stored unit 25, in order to update determining in this building
Position finger print data.And the local map file after updating eventually through wire/wireless communication unit 40 or USB interface 35
It is sent to indoor map database 120, in order to updating indoor map database 120, being consequently formed one can directly be carried out
Line study and the indoor map storehouse system updating.
When positioning equipment 100 enters building, monitoring system can be tied to by the binding unit 55 positioning terminal 100
System, or it is tied to monitoring server 130.Binding mode can be by installation in the ID of positioning equipment or positioning equipment
SIM is carried out.The mode that concrete binding procedure just can use this area conventional is carried out, and is not therefore described in detail.
After positioning terminal 100 is bound to monitoring server 130 by binding unit 55, determining of positioning terminal 100
Synthetic map can be sent to monitoring server 130 while synthetic map is sent to display unit 20 by bit processing unit 15
On, it is shown on the display of this server 130, in order to the position at the place of monitoring this positioning terminal 100 of personnel control, thus
It is recognized that hold or dress the position of personnel of this positioning terminal, in order to realize the management to personnel in building.Monitoring
Server is also based on the current location of this positioning terminal holder, transfers the monitoring of monitoring camera near this position
Video, follows the tracks of the behavior checking positioning terminal holder.
Also including a GPS unit 30 according to positioning terminal of the present utility model, it can pass through GPS alignment system or north
The approximate location of bucket alignment system positioning terminal.For example, user can be before entering building, by opening this GPS unit 30
Obtain current geographical position.User can be by the touch button input call instruction in display unit 20 subsequently, for example,
Touch sensitive display unit 20 touches " transferring " button, is connected by WIFI or radio communication unit 40 and indoor map storehouse 120
Carry out communication, all building in the geographical position certain limit (such as circumference 100m) that GPS unit 30 is positioned for the acquisition
Indoor map data, are stored in locally stored unit 25, such that it is able to realize outdoor and indoor positioning seamless link.
Also include a urgent call unit 60 according to positioning terminal of the present utility model, be bound to monitoring server
In the case of 130, when user presses urgent call unit 60, by binding unit 55, urgent call signal is sent to monitor
Server 130, enables a user to be rescued timely.
As it was previously stated, the display unit 20 according to positioning terminal of the present utility model can a kind of touch sensitive display unit.Fig. 4
Shown is the schematic diagram of the display unit display indoor map according to positioning terminal of the present utility model.As shown in Figure 4, shown
The map showing, owing to belonging to many floor maps, therefore uses the mode of Layering manifestation.According to actual needs, can be able to lead to user
Cross the finger that horizontally slips on screen and the plane of different for building floors is shown in the superiors, it is also possible to shown by pressing
Page-turning function key on unit shows the plane map of different floor successively.It is not only labeled with each business on every layer plane map
Paving and the position in shop and title, this map datum also has the mark of each Bluetooth beacon and related to the mark of Bluetooth beacon
ID data.Although data as shown in Figure 4 are shown as stereo data, but in the case of using virtual Display Technique, use
Family is it can directly be seen that the virtual display of stereo data, such that it is able to directly selected by the touching different floor maps of finger
Select floor level map denotation in the superiors, and without showing that required floor level map denotation is existed by each floor successively
The superiors.
The display pattern of the display screen of the display unit 20 according to positioning terminal of the present utility model can use multiple
Display pattern.For example, it is possible to arrange four function button (not shown)s on four angles of screen.User can be by touching
Touch the function button on one of them angle " destination " and enter destination and pattern is set.Arrange under pattern entering destination,
User can select any destination title being selected in currently displaying indoor map in catalogue in destination.Clicking on " really
The path calmly " carrying out routine after button is arranged.During alternatively, it is possible to show current indoor map on screen, pass through user
Touching screen slip and selecting destination, click on destination icon and determine destination, the path thus carrying out routine is arranged, it is achieved
Navigation.Fig. 5 shows the schematic diagram of indoor navigation.As it is shown in figure 5, when user's hand-held positioning terminal walks in building, open
Open positioning terminal.User utilizes hand-held positioning terminal, positions self current location by indoor Bluetooth beacon broadcast singal, for example
At one layer of lift port.Map at positioning terminal demonstration subsequently, selects destination mark, and by for the purpose of the flag of destination
Ground, thus generates the navigation circuit (as shown in the arrow instruction in figure) of recommendation.Thus, user can find according to navigation circuit
Destination.
Describe general principle of the present utility model above in association with specific embodiment, however, it is desirable to it is noted that to ability
For the those of ordinary skill in territory, it is to be understood that whole or any step of method and apparatus of the present utility model or portion
Part, can in any computing device (including processor, storage medium etc.) or the network of computing device, with hardware, firmware,
Software or combinations thereof are realized, this is that those of ordinary skill in the art are in the feelings having read explanation of the present utility model
Their basic programming skill is used to can be achieved with under condition.
Therefore, the purpose of this utility model can also be by running a program or one group of journey in any computing device
Sequence realizes.Described computing device can be known fexible unit.Therefore, the purpose of this utility model also can be only by
The program product providing the program code comprising to realize described method or device realizes.It is to say, such program is produced
Product also constitute the utility model, and the storage medium of such program product that is stored with also constitutes the utility model.Obviously, institute
Stating storage medium can be any known storage medium or any storage medium being developed in the future.
It may also be noted that in apparatus and method of the present utility model, it is clear that each parts or each step are to divide
Solve and/or reconfigure.These decompose and/or reconfigure and should be regarded as equivalents of the present utility model.Further, in execution
The step stating series of processes can order naturally following the instructions perform in chronological order, but be not required to necessarily according to when
Between order perform.Some step can parallel or perform independently of one another.
Above-mentioned detailed description of the invention, is not intended that the restriction to the utility model protection domain.Those skilled in the art should
Should it is realized that, depend on design require and other factors, various modification, combination, sub-portfolio and replacement can occur.
Any modification, equivalent and improvement etc. made within spirit of the present utility model and principle, should be included in this practicality
Within the scope of novel protected.
Claims (7)
1. a positioning terminal, it is characterised in that include:
Locally stored unit, stores the indoor map data of one or more building, and it leads to being connected respectively to wire/wireless
News unit, finger print data signal generating unit, display unit, USB interface；
GPS positioning unit, the first slightly position of its described indoor positioning terminal of output；
Updating block, it is based on the first slightly position from GPS positioning unit, by wire/wireless communication unit from Map Services
Indoor map database in device transfers the described indoor map just omiting a range of building in position, and stores described
Locally stored unit；
Bluetooth unit, senses the broadcast singal of each bluetooth localizer beacon of indoor of described building, and exports based on being received
The corresponding broadcast data frame that the broadcast singal arriving generates, comprises corresponding bluetooth localizer beacon only in wherein said broadcast singal
One ID；
Localization process unit, is connected with described bluetooth unit, and constitute based on the broadcast data frame from described bluetooth unit
Fingerprint vector, generates elements of a fix data, and refers to based on the described indoor map data genaration from described locally stored unit
Show the map file partly of the mark of position in described indoor map for the described elements of a fix data；
Binding unit, it is connected with described localization process unit and wire/wireless communication unit, by described bluetooth unit by institute
The ID stating indoor positioning terminal is tied to monitoring server, in order to lead to the map file partly that described localization process unit generates
Cross bluetooth communication mode or the wireless communication mode of described wireless communication unit is sent to control equipment, in order to be shown in described control
On the display unit of control equipment；And
Display unit, is connected with described localization process unit, marks based on the described position that has from described localization process unit
The map file partly known, shows described positioning position in indoor map for the terminal, and it is according to the touch operation of user
Transfer and show the indoor map that described locally stored unit stored and target position is set in shown indoor map
Put.
2. positioning terminal according to claim 1, is further characterized in that and includes wired/wireless communication unit, and it receives
From the elements of a fix data of described localization process unit, and elements of a fix data are transferred to monitoring server.
3. positioning terminal according to claim 1, is further characterized in that described indoor map packet containing corresponding building
The ID of indoor bluetooth localizer beacon, wherein said ID data form comprises its geographic position data, floor data and in building
The coordinate data of layer plane.
4. according to claim 2 positioning terminal, it is characterised in that also include finger print data signal generating unit, its based on come
The broadcast data frame being generated from described bluetooth unit, generates multidimensional fingerprint vector, and the fingerprint vector being generated is passed through institute
State the indoor map database that wireless communication unit feeds back in map server, thus update map data base.
5. positioning terminal according to claim 2, it is characterised in that described bluetooth unit and described bluetooth localizer beacon it
Between carry out communication based on bluetooth low energy consumption BLE agreement.
6. positioning terminal according to claim 1, it is characterised in that also including usb interface unit, it can be connect by USB
Indoor map file is directly stored in described locally stored unit by mouth unit.
7. according to the positioning terminal described in claim 1, it is characterised in that also include emergency call button unit, in this urgent call
When button is pressed, the urgent call signal comprising location coordinate information is sent to described by described wireless communication unit by it
Control equipment is reported to the police.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620443834.4U CN205681631U (en) | 2016-05-16 | 2016-05-16 | Positioning terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620443834.4U CN205681631U (en) | 2016-05-16 | 2016-05-16 | Positioning terminal |
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| CN205681631U true CN205681631U (en) | 2016-11-09 |
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| CN201620443834.4U Active CN205681631U (en) | 2016-05-16 | 2016-05-16 | Positioning terminal |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107483085A (en) * | 2017-09-29 | 2017-12-15 | 深圳市深层互联科技有限公司 | A kind of AI guide to visitors technologies based on bluetooth indoor positioning |
| CN107529145A (en) * | 2017-09-15 | 2017-12-29 | 南京轩世琪源软件科技有限公司 | The localization method of handheld terminal in a kind of high-precision office building |
| CN107948296A (en) * | 2017-11-30 | 2018-04-20 | 中电科卫星导航运营服务有限公司 | A kind of indoor locating system and method based on bluetooth |
| CN108616854A (en) * | 2017-03-28 | 2018-10-02 | 集速智能标签（上海）有限公司 | A kind of method and system of indoor positioning |
| CN109297491A (en) * | 2018-09-06 | 2019-02-01 | 西安云景智维科技有限公司 | A kind of indoor positioning navigation methods and systems |
| CN109462816A (en) * | 2018-11-20 | 2019-03-12 | 安阳师范学院 | A method of indoor positioning is carried out based on Bluetooth beacon |
| CN110401913A (en) * | 2019-07-18 | 2019-11-01 | 上海华虹集成电路有限责任公司 | A kind of indoor orientation method based on low-power consumption bluetooth |
| CN113556666A (en) * | 2020-04-03 | 2021-10-26 | 广州迈傲信息科技有限公司 | Floor positioning method in indoor environment |
| WO2023005814A1 (en) * | 2021-07-28 | 2023-02-02 | 华为技术有限公司 | Construction method for indoor fingerprint map, and related device |
-
2016
- 2016-05-16 CN CN201620443834.4U patent/CN205681631U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108616854A (en) * | 2017-03-28 | 2018-10-02 | 集速智能标签（上海）有限公司 | A kind of method and system of indoor positioning |
| CN108616854B (en) * | 2017-03-28 | 2021-11-12 | 集速智能标签（上海）有限公司 | Indoor positioning method and system |
| CN107529145A (en) * | 2017-09-15 | 2017-12-29 | 南京轩世琪源软件科技有限公司 | The localization method of handheld terminal in a kind of high-precision office building |
| CN107483085A (en) * | 2017-09-29 | 2017-12-15 | 深圳市深层互联科技有限公司 | A kind of AI guide to visitors technologies based on bluetooth indoor positioning |
| CN107948296A (en) * | 2017-11-30 | 2018-04-20 | 中电科卫星导航运营服务有限公司 | A kind of indoor locating system and method based on bluetooth |
| CN107948296B (en) * | 2017-11-30 | 2020-06-30 | 中电科卫星导航运营服务有限公司 | Indoor positioning system and method based on Bluetooth |
| CN109297491A (en) * | 2018-09-06 | 2019-02-01 | 西安云景智维科技有限公司 | A kind of indoor positioning navigation methods and systems |
| CN109462816A (en) * | 2018-11-20 | 2019-03-12 | 安阳师范学院 | A method of indoor positioning is carried out based on Bluetooth beacon |
| CN109462816B (en) * | 2018-11-20 | 2020-07-31 | 安阳师范学院 | Method for indoor positioning based on Bluetooth beacon |
| CN110401913A (en) * | 2019-07-18 | 2019-11-01 | 上海华虹集成电路有限责任公司 | A kind of indoor orientation method based on low-power consumption bluetooth |
| CN113556666A (en) * | 2020-04-03 | 2021-10-26 | 广州迈傲信息科技有限公司 | Floor positioning method in indoor environment |
| WO2023005814A1 (en) * | 2021-07-28 | 2023-02-02 | 华为技术有限公司 | Construction method for indoor fingerprint map, and related device |
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