WO2014079245A1 - Positioning method, device and system - Google Patents

Positioning method, device and system Download PDF

Info

Publication number
WO2014079245A1
WO2014079245A1 PCT/CN2013/082230 CN2013082230W WO2014079245A1 WO 2014079245 A1 WO2014079245 A1 WO 2014079245A1 CN 2013082230 W CN2013082230 W CN 2013082230W WO 2014079245 A1 WO2014079245 A1 WO 2014079245A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
marg
gps
positioning system
combined
Prior art date
Application number
PCT/CN2013/082230
Other languages
French (fr)
Chinese (zh)
Inventor
刘兴川
李超
林孝康
Original Assignee
中兴通讯股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中兴通讯股份有限公司 filed Critical 中兴通讯股份有限公司
Publication of WO2014079245A1 publication Critical patent/WO2014079245A1/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/48Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/011Identifying the radio environment

Definitions

  • the present invention relates to the field of communications, and in particular to a positioning method, apparatus, and system.
  • GPS Global Position System
  • AP wireless access nodes
  • Wi-Fi Wireless Fidelity
  • the MARG sensor (a sensor combination based on a three-axis gyro, a three-axis accelerometer, and a three-axis magnetometer) constitutes an autonomous positioning system that provides position, velocity, and attitude information for the carrier, and has a short time Very good positioning accuracy, but due to the accumulated error, the positioning accuracy is poor in a long time.
  • a variety of methods have been proposed, which can be divided into the following three categories, and the three methods are specifically described below.
  • Particle-filter based Wi-Fi/MARG combined positioning system Based on particle filter Wi-Fi/MARG combined positioning system, the basic idea is: Firstly, the Wi-Fi positioning algorithm is used to obtain the position estimation of the moving target, and then the particle filter equation is established. , filtering the position estimate of the moving target.
  • the above method effectively combines the complementary characteristics of the two positioning technologies Wi-Fi and MARG, and not only corrects the Wi-Fi positioning error caused by the received signal strength fluctuation and the discontinuous coverage of the Wi-Fi access point, but also reduces the The cumulative error caused by the MARG sensor can achieve better positioning performance in both urban and indoor environments.
  • Kalman filter-based GPS/MARG combined positioning system The basic idea of GPS/MARG combined positioning system based on Kalman filter is: Firstly, the GPS positioning algorithm is used to obtain the position estimation of the moving target, and then the carrier attitude information obtained by the MARG sensor is obtained. Kalman The state equation and the observation equation of the filter are used to filter the position estimation of the user. The method effectively combines the complementary characteristics of the two positioning technologies, not only can make up for the gap of GPS signal blocking, but also can use the position and velocity information obtained by GPS to correct the cumulative error of the MARG sensor. However, in an indoor environment where the GPS signal is completely blocked, the positioning performance of the GPS/MARG combined positioning system will be extremely deteriorated or even impossible to use.
  • GPS/Wi-Fi combined positioning system based on numerical weighting based on numerical weighting is: Firstly, the position information of the moving target is obtained by GPS and Wi-Fi positioning respectively; Then, according to The Horizontal Dilution of Precision (HDOP) of the GPS determines the weighting factor. Since GPS can achieve good positioning accuracy in outdoor open areas, GPS can be used to obtain accurate location information in areas where APs are missing. At the same time, in high-rise urban areas, WLAN positioning can be used to compensate for the lack of GPS positioning. In this way, good positioning performance can be achieved in an outdoor environment. However, in an indoor environment, the GPS signal is occluded, and the accuracy of the WLAN indoor positioning cannot be improved.
  • HDOP Horizontal Dilution of Precision
  • Embodiments of the present invention provide a positioning method, apparatus, and system, to at least solve the prior art caused by positioning by using a GPS/MARG combined positioning system or a Wi-Fi/MARG combined positioning system alone. The technical problem of lower positioning accuracy for moving targets.
  • a positioning method including: calculating a current positioning performance parameter of a GPS/MARG combined positioning system; if the positioning performance parameter meets a preset condition, starting Wi-Fi/MARG The combined positioning system performs positioning; the position information of the moving target is calculated according to the result obtained by the above GPS/MARG combined positioning system positioning and the result obtained by the above-mentioned Wi-Fi/MARG combined positioning system positioning.
  • the method further includes: if the positioning performance parameter does not meet the preset condition, the result obtained by positioning the GPS/MARG combined positioning system is The location information of the above moving target.
  • the current positioning performance parameter of the GPS/MARG combined positioning system is: obtaining the horizontal precision attenuation factor of the GPS receiver at the current moment; calculating the GPS/MARG combined positioning system The failure rate, wherein the failure rate is a difference between a measurement value of the GPS receiver at the current moment and a result of the Kalman filter update; and the positioning performance parameter is calculated according to the horizontal precision attenuation factor and the failure rate.
  • the condition that meets the foregoing preset conditions comprises: the foregoing positioning performance parameter is greater than a predetermined parameter threshold.
  • the failure rate of the above GPS/MARG combined positioning system is calculated according to the following formula: Among them, it indicates the failure rate of the GPS/MARG combined positioning system at the current moment, g, fc represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, ⁇ represents the state transition matrix, k is the time stamp; The distance, g ⁇ w represents the position estimation value of the moving target obtained by Kalman filtering at the previous moment of the current time; the above positioning performance parameter is calculated according to the following formula:
  • HDOP represents the horizontal precision attenuation factor.
  • the above-mentioned GPS/MARG combined positioning according to the above The result of the system positioning and the result obtained by the above-mentioned Wi-Fi/MARG combined positioning system are calculated.
  • the position information of the moving target is calculated by: using the positioning performance parameter as a weighting coefficient; and positioning the GPS/MARG combined positioning system according to the weighting coefficient.
  • the obtained result is weighted with the result of the positioning of the Wi-Fi/MARG combined positioning system to obtain the position information of the moving target.
  • the position information of the moving target is calculated according to the following formula:
  • the failure rate of GPS/MARG combined positioning system indicates the current time Wi-Fi/MARG combined positioning system
  • the failure rate, g represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment
  • lwifi represents the position information of the moving target output by the Wi-Fi/MARG combined positioning system at the current moment
  • k is the time identifier.
  • a positioning apparatus including: a first calculating unit configured to calculate a current positioning performance parameter of a GPS/MARG combined positioning system; and a starting unit configured to meet the positioning performance parameter
  • the Wi-Fi/MARG combined positioning system is activated for positioning; the second calculating unit is set to obtain the result obtained by the above GPS/MARG combined positioning system positioning and the above-mentioned Wi-Fi/MARG combined positioning system positioning
  • the result of the calculation calculates the position information of the moving target.
  • the first calculating unit includes: an acquiring module, configured to acquire a horizontal precision attenuation factor of the GPS receiver at the current moment; and a first calculating module configured to calculate a failure rate of the GPS/MARG combined positioning system, where the foregoing failure The rate is the difference between the measured value of the GPS receiver at the current moment and the updated result after Kalman filtering; the second calculating module is configured to calculate the positioning performance parameter according to the horizontal precision attenuation factor and the above-mentioned failure rate.
  • the second calculating unit includes: a determining module configured to use the positioning performance parameter as a weighting coefficient; and an operation module configured to locate the result of the GPS/MARG combined positioning system according to the weighting coefficient and the Wi-Fi The result obtained by the positioning of the /MARG combined positioning system is weighted to obtain the position information of the moving target.
  • a positioning system including: a Wi-Fi positioning device, a MARG sensor, a GPS receiver, a particle filter, a Kalman filter, a performance detecting device, and a combined positioning device,
  • the output end of the Wi-Fi positioning device is connected to the input end of the particle filter;
  • the output end of the GPS receiver is connected to the input end of the Kalman filter;
  • the MARG sensor passes through the attitude information acquiring unit respectively
  • the particle filter is connected to the Kalman filter;
  • the input end of the performance detecting device is respectively connected to the output end of the GPS receiver and the output end of the Kalman filter, and is set to calculate the current positioning of the GPS/MARG combined positioning system.
  • the combination parameter positioning device is respectively connected to the output end of the particle filter and the output end of the performance detecting device, and is set to be combined according to the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning.
  • the result obtained by the system positioning calculates the position information of the moving target.
  • the output end of the performance detecting device is connected to the combined positioning device by a single-pole double-throw switch, wherein an output end of the performance detecting device is connected to an input end of the single-pole double-throw switch, and the first one of the single-pole double-throw switch The output end is connected to the input end of the combined positioning device, and the second output of the single-pole double-throw switch The end is connected to the output line; the output end of the Wi-Fi positioning device is connected to the input end of the particle filter through a first switch; the output end of the particle filter is connected to the input end of the combined positioning device through a second switch; When the positioning performance parameter meets the preset condition, the input end of the single-pole double-throw switch and the first input end of the single-pole double-throw switch are in an on state, and the first switch and the second switch are in a closed state.
  • the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning system are simultaneously adopted.
  • the Wi-Fi/MARG combination is turned on.
  • the positioning system performs positioning, and then combines the results obtained by the positioning of the two combined positioning systems to finally calculate the position information of the moving target, thereby achieving accurate positioning of the moving target.
  • FIG. 1 is a preferred flow chart of a positioning method according to an embodiment of the present invention
  • FIG. 2 is a preferred flow chart for calculating positioning performance parameters according to an embodiment of the present invention
  • FIG. 4 is a block diagram showing a preferred structure of a first computing unit according to an embodiment of the present invention
  • FIG. 5 is a block diagram showing a preferred structure of a second computing unit according to an embodiment of the present invention
  • Figure 6 is a block diagram of a preferred structure of a positioning system in accordance with an embodiment of the present invention
  • Figure 7 is a preferred flow diagram of a positioning method based on positioning in a positioning system in accordance with an embodiment of the present invention.
  • the method includes the following steps: Step S102: Calculating a current positioning performance parameter of a GPS/MARG combined positioning system; Step S104: If the positioning performance parameter is consistent The pre-set condition starts the Wi-Fi/MARG combined positioning system for positioning; Step S106: Calculate the moving target according to the result obtained by the GPS/MARG combined positioning system positioning and the result obtained by the Wi-Fi/MARG combined positioning system positioning location information.
  • Step S102 Calculating a current positioning performance parameter of a GPS/MARG combined positioning system
  • Step S104 If the positioning performance parameter is consistent The pre-set condition starts the Wi-Fi/MARG combined positioning system for positioning
  • Step S106 Calculate the moving target according to the result obtained by the GPS/MARG combined positioning system positioning and the result obtained by the Wi-Fi/MARG combined positioning system positioning location information.
  • the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning system are simultaneously adopted.
  • the Wi-Fi/MARG combination is turned on.
  • the positioning system performs positioning, and then combines the results obtained by the positioning of the two combined positioning systems to finally calculate the position information of the moving target, thereby achieving accurate positioning of the moving target.
  • the above-mentioned method solves the technical problem that the positioning accuracy of the moving target is low in some environments caused by the positioning of the GPS/MARG combined positioning system or the Wi-Fi/MARG combined positioning system in the prior art alone, and the technical problem is solved.
  • the technical effect of improving the positioning accuracy of the positioning system in various environments has expanded the scope of use of the positioning system.
  • the method further includes: if the positioning performance parameter does not meet the preset condition, positioning the GPS/MARG combined positioning system.
  • the result is the position information of the moving target.
  • the foregoing positioning performance parameter may be a horizontal precision attenuation factor. However, if only the horizontal precision attenuation factor is used as the positioning performance parameter, the combination performance is relatively poor.
  • calculating the current positioning performance parameter of the GPS/MARG combined positioning system may include the following steps: Step S202: Acquire a horizontal precision attenuation factor of the GPS receiver at the current moment; Step S204: Calculating the failure rate of the GPS/MARG combined positioning system, wherein the failure rate is the difference between the measured value of the GPS receiver at the current moment and the updated result after Kalman filtering; Step S206: According to the horizontal precision attenuation factor and The failure rate is calculated to obtain the positioning performance parameter.
  • the pre-set conditions may include: the positioning performance parameter is greater than a predetermined parameter threshold, that is, a parameter threshold is predefined, and if the threshold is greater, the positioning effect of the GPS/MARG combined positioning system is considered not To meet the requirements, this time you need to open the Wi-Fi/MARG combined positioning system for positioning.
  • the preferred embodiment also provides a preferred formula for calculating the failure rate, which is: Where, fc represents the failure rate of the GPS/MARG combined positioning system at the current moment, g, fc represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, indicating the state transition matrix, k is the time identifier; II indicates The Euclidean distance, ⁇ represents the position estimate of the moving target obtained by Kalman filtering at the previous moment of the current time; wherein the Euclidean distance in the two-dimensional and three-dimensional space is the distance between the two points:
  • the positioning performance parameter can be used as a weighting coefficient, and the weighting coefficient is used to finally determine the movement.
  • the location information of the target is calculated according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system, including: using the positioning performance parameter as a weighting coefficient; The coefficient weights the results obtained by the GPS/MARG combined positioning system and the results obtained by the Wi-Fi/MARG combined positioning system to obtain the position information of the moving target.
  • the position information of the moving target it can be calculated according to the following formula: Where, it represents the calculated position information of the moving target, ⁇ represents the failure rate of the GPS/MARG combined positioning system at the current moment, ⁇ ' ⁇ represents the failure rate of the current time Wi-Fi/MARG combined positioning system, indicating the current time GPS/MARG
  • the position information of the moving target output by the combined positioning system lwifi ' k indicates the position information of the moving target output by the Wi-Fi/MARG combined positioning system at the current time, k is the time mark, and -1 indicates the inverse of the matrix.
  • a positioning device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and has not been described again.
  • the term "unit” or “module” may implement a combination of software and/or hardware of a predetermined function.
  • the apparatus described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware, is also possible and conceivable.
  • 3 is a block diagram of a preferred structure of a positioning apparatus according to an embodiment of the present invention. As shown in FIG. 3, the method includes: a first calculating unit 302, a starting unit 304, and a second calculating unit 306. The structure will be described below.
  • the first calculating unit 302 is configured to calculate a current positioning performance parameter of the GPS/MARG combined positioning system; the starting unit 304 is coupled with the first calculating unit 302, and is configured to start Wi- when the positioning performance parameter meets a preset condition.
  • the Fi/MARG combined positioning system performs positioning; the second calculating unit 306 is coupled to the starting unit 304, and is configured to calculate the movement according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system.
  • the location information of the target In a preferred embodiment, as shown in FIG.
  • the first calculating unit includes: an obtaining module 402, configured to acquire a horizontal precision attenuation factor of a GPS receiver at a current moment; and a first calculating module 404 configured to calculate a GPS/MARG combination
  • the failure rate of the positioning system wherein the failure rate is the difference between the measurement value of the GPS receiver at the current moment and the result of the Kalman filter update;
  • the second calculation module 406 is coupled with the acquisition module 402 and the first calculation module 404. , set to calculate the positioning performance parameters according to the horizontal precision attenuation factor and the failure rate.
  • the second calculating unit includes: a determining module 502, configured to use the positioning performance parameter as a weighting coefficient; and an operation module 504 coupled to the determining module 502, configured to perform GPS according to the weighting coefficient.
  • the result obtained by the /MARG combined positioning system positioning and the result obtained by the positioning of the Wi-Fi/MARG combined positioning system are weighted to obtain the position information of the moving target.
  • the embodiment of the present invention further provides a preferred positioning system. As shown in FIG. 6, the method includes: a Wi-Fi positioning device 602, a MARG sensor 604, a GPS receiver 606, a particle filter 608, a Kalman filter 610, and performance. a detecting device 612, and a combined positioning device 614, wherein
  • An output of the Wi-Fi positioning device 602 is coupled to an input of the particle filter 608;
  • the output of the GPS receiver 606 is coupled to the input of the Kalman filter 610; the MARG sensor 604 is coupled to the particle filter 608 and the Kalman filter 610 via the attitude information acquisition unit 616; the inputs of the performance detection device 614 are respectively.
  • the output of the GPS receiver 606 is coupled to the output of the Kalman filter 610 and is configured to calculate the current positioning performance parameters of the GPS/MARG combined positioning system; the combined positioning device 614, and the output and performance detection of the particle filter 608, respectively.
  • the outputs of the device 612 are connected, and are set to calculate the position information of the moving target according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system.
  • the Wi-Fi/MARG combined positioning system is turned on.
  • the control switch can be set to control whether the Wi-Fi/MARG combined positioning system is used for positioning by controlling the opening and closing of the switch.
  • the output of the performance detecting device is connected to the combined positioning device by a single-pole double-throw switch (K1), wherein the output of the performance detecting device is connected to the input of the single-pole double-throw switch, and the single-pole double-throw switch
  • K1 single-pole double-throw switch
  • the first output end (b) is connected to the input end of the combined positioning device, and the second output end (a) of the single-pole double-throw switch is connected to the output line;
  • the output end of the Wi-Fi positioning device is connected to the input end of the particle filter through the first switch (K2);
  • the output of the particle filter is connected to the input end of the combined positioning device through the second switch (K3);
  • the input of the single-pole double-throw switch and the first input of the single-pole double-throw switch are performed under the condition that the positioning performance parameter meets the preset condition
  • the terminal is in an on state, and the first switch (K2) and the second switch (K3) are in a closed state.
  • the preferred embodiment also defines a failure rate factor according to the Kalman filter, and combines the horizontal attenuation factor of GPS, and proposes an adaptive weighting algorithm to fuse the Wi-Fi/MARG combined positioning subsystem and the GPS/MARG combined positioning subsystem. It not only effectively improves the positioning accuracy, but also realizes the seamless positioning of indoor and outdoor, and expands the use range of the positioning system.
  • the GPS receiver receives the satellite signal, calculates the position, and establishes a GPS measurement output model
  • Step S6 State estimation
  • S7 Estimation error variance calculation
  • Step S704 Performance detection. mainly includes:
  • S1 Obtain the horizontal precision attenuation factor of the GPS receiver at the current moment.
  • the particle filter outputs carrier position information, carrier heading angle information, and speed information. Among them, the location information is estimated as the location of the mobile user (moving target).
  • S2 Calculating the failure rate, wherein the failure rate is defined as the difference between the current measured GPS value and the value obtained after Kalman filtering.
  • S3 Calculate the positioning performance parameters of the GPS/MARG combined positioning subsystem by using the horizontal precision attenuation factor and the failure rate.
  • Step S706 Threshold determination. Mainly includes: S1: setting threshold parameter; S2: determining whether the positioning performance parameter of the GPS/MARG combined positioning subsystem is less than a threshold or greater than a threshold.
  • Step S4 If greater than the threshold, start the Wi-Fi/MARG combined positioning subsystem.
  • Step S708 Performing positioning based on the particle filter-based Wi-Fi/MARG combination.
  • initializing particles preferably, a Gaussian distribution may be used to initialize a probability density function of the particles, wherein the mean is the initial position of the moving target;
  • S3 predicting, using the carrier heading angle, speed information, and the result of WLAN positioning, predicting the position information of the next step by particle filtering;
  • the weight of each particle can be obtained by measuring the model and the current measured value. When the particle position is closer to the current estimated position of the target, the weight of the particle is larger.
  • Step S5 Resampling, which can generate new particles based on the posterior probability density function to solve the particle degradation problem.
  • Step S710 Combine positioning. Mainly include: S1: Obtain the result of GPS/MARG combined positioning;
  • the satellite receiver receives the satellite signal, calculates the position, establishes the Kalman filter system equation and fuses the MARG sensor data, reduces the influence of multipath and other factors on the GPS, and finally obtains the accurate position information of the moving target.
  • the GPS accuracy attenuation factor reflects the influence of the spatial geometry of the effective visible satellite on the navigation accuracy of the moving target.
  • the number of visible satellites is one of the main factors affecting the accuracy attenuation factor.
  • the accuracy attenuation factor only reflects the GPS positioning accuracy very coarsely, so another parameter is proposed in the preferred embodiment: Failure Rate. Table 1
  • the above failure rate can be defined as the difference between the GPS measurement value at the current time and the updated value after Kalman filter.
  • the failure rate can be calculated by the following formula: gps gps, k-1
  • the position information of the moving target output by the GPS/MARG combined positioning subsystem at the current moment ⁇ ⁇ ⁇ is a state transition matrix, indicating the Euclidean distance, and ⁇ indicates the location obtained by Kalman filtering at the previous moment of the current time. a position estimate of the moving target;
  • the failure rate of the Wi-Fi/MARG combined positioning subsystem is defined as the difference between the current time Wi-Fi positioning system measurement value and the particle filter updated value, which is the current time Wi-Fi/MARG combination locator The position information of the moving target output by the system.
  • a storage medium is provided, the software being stored, including but not limited to: an optical disk, a floppy disk, a hard disk, a rewritable memory, and the like.
  • the technical problem of low positioning accuracy of moving targets in some environments caused by the positioning of the system or the Wi-Fi/MARG combined positioning system achieves the technical effect of improving the positioning accuracy of the positioning system in various environments, and expands The scope of use of the positioning system.
  • Industrial Applicability uses a GPS/MARG combined positioning system and a Wi-Fi/MARG combined positioning system to achieve two complementary positioning methods, which realizes the complementary advantages of the two positioning modes, and can accurately locate the moving target and solve the present problem.
  • the GPS/MARG combined positioning system or the Wi-Fi/MARG combined positioning system is used for positioning, and the positioning accuracy of the moving target is low in some environments, and the positioning system is improved in various environments.
  • the technical effect of the positioning accuracy is expanded, and the use range of the positioning system is expanded, which has good industrial applicability.
  • modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices.
  • they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device and, in some cases, may be different from the order herein.
  • the steps shown or described are performed, or they are separately fabricated into individual integrated circuit modules, or a plurality of modules or steps are fabricated as a single integrated circuit module.
  • the invention is not limited to any specific combination of hardware and software.

Abstract

Disclosed are a positioning method, device and system . The method comprises: performing calculation to obtain a current positioning performance parameter of a GPS/MARG integrated positioning system; if the positioning performance parameter conforms to a preset condition, then starting a Wi-Fi/MARG integrated positioning system to perform positioning; and according to a result obtained by the positioning of the GPS/MARG integrated positioning system and a result obtained by the positioning of the Wi-Fi/MARG integrated positioning system, performing calculations to obtain location information of a moving target. The present invention solves the technical problem in the prior art that the accuracy of positioning moving targets in some environments is low, due to the fact that a GPS/MARG integrated positioning system or a Wi-Fi/MARG integrated positioning system is individually used to perform positioning, thereby achieving the technical effect of improving the positioning accuracy of positioning systems in various environments, and expanding the utilization range of the positioning systems.

Description

定位方法、 装置及系统  Positioning method, device and system
技术领域 本发明涉及通信领域, 具体而言, 涉及一种定位方法、 装置及系统。 背景技术 目前, 全球定位系统(Global Position System, 简称为 GPS)是一种被广泛应用在 智能终端的定位系统。 在空旷的区域 GPS能够获得比较好的定位性能, 然而, 在高楼 林立的市区或者是在完全被遮挡的室内环境中, GPS定位性能将会急剧恶化甚至无法 进行定位。 无线保真(Wireless Fidelity, 简称为 Wi-Fi)定位技术在市区和室内环境中 具有良好的定位性能, 可以有效弥补 GPS 定位技术的不足, 然而, 在无线访问节点 (Access Point, 简称为 AP)没有覆盖到的区域, 由于 AP缺失经常会导致 Wi-Fi定位 失效。 MARG传感器(一种基于三轴陀螺、 三轴加速度计以及三轴磁强计组成的传感 器组合) 构成了一种自主式定位系统, 能够提供载体的位置、 速度和姿态信息, 在短 时间内具有很好的定位精度, 但是由于存在累积误差, 长时间内定位精度较差。 为了 有效融合这三种特性互补的定位技术, 人们提出了多种方法, 可以分为以下三类, 下 面对这三种方式进行具体描述。 TECHNICAL FIELD The present invention relates to the field of communications, and in particular to a positioning method, apparatus, and system. BACKGROUND OF THE INVENTION Currently, a Global Position System (GPS) is a positioning system widely used in intelligent terminals. In an open area, GPS can achieve better positioning performance. However, in high-rise urban areas or in a completely occluded indoor environment, GPS positioning performance will deteriorate sharply or even fail to locate. Wireless Fidelity (Wi-Fi) positioning technology has good positioning performance in urban and indoor environments, which can effectively compensate for the shortcomings of GPS positioning technology. However, in wireless access nodes (Access Point, referred to as AP) The area that is not covered, often causes Wi-Fi positioning to fail due to AP loss. The MARG sensor (a sensor combination based on a three-axis gyro, a three-axis accelerometer, and a three-axis magnetometer) constitutes an autonomous positioning system that provides position, velocity, and attitude information for the carrier, and has a short time Very good positioning accuracy, but due to the accumulated error, the positioning accuracy is poor in a long time. In order to effectively integrate the three complementary features of the positioning technology, a variety of methods have been proposed, which can be divided into the following three categories, and the three methods are specifically described below.
1 ) 基于粒子滤波的 Wi-Fi/MARG组合定位系统 基于粒子滤波的 Wi-Fi/MARG组合定位系统的基本思想是: 首先利用 Wi-Fi定位 算法获得移动目标的位置估计, 然后建立粒子滤波方程, 对移动目标的位置估计进行 滤波处理。 上述方式有效融合了 Wi-Fi和 MARG这两种定位技术的互补特性,不仅校正了由 接收信号强度浮动和 Wi-Fi 接入点非连续覆盖引起的 Wi-Fi 定位误差, 还减小了由 MARG传感器引起的累积误差,在市区和室内环境下都能取得较好的定位性能。然而, 对于 Wi-Fi接入点没有覆盖到的郊区, Wi-Fi/MARG组合定位系统的定位性能将会极 度恶化, 甚至无法使用。 2) 基于卡尔曼滤波的 GPS/MARG组合定位系统 基于卡尔曼滤波的 GPS/MARG组合定位系统的基本思想是: 首先利用 GPS定位 算法获得移动目标的位置估计,然后 MARG传感器获得的载体姿态信息, 构造卡尔曼 滤波器的状态方程和观测方程, 对用户的位置估计进行滤波处理。 该方法有效融合了 这两种定位技术的互补特性, 不仅能够很好地弥补 GPS信号阻塞的间隙, 而且还可以 利用 GPS获得的位置和速度信息, 修正 MARG传感器的累积误差。 然而, 在 GPS信 号完全阻塞的室内环境中, GPS/MARG组合定位系统的定位性能将会极度恶化, 甚至 无法使用。 1) Particle-filter based Wi-Fi/MARG combined positioning system Based on particle filter Wi-Fi/MARG combined positioning system, the basic idea is: Firstly, the Wi-Fi positioning algorithm is used to obtain the position estimation of the moving target, and then the particle filter equation is established. , filtering the position estimate of the moving target. The above method effectively combines the complementary characteristics of the two positioning technologies Wi-Fi and MARG, and not only corrects the Wi-Fi positioning error caused by the received signal strength fluctuation and the discontinuous coverage of the Wi-Fi access point, but also reduces the The cumulative error caused by the MARG sensor can achieve better positioning performance in both urban and indoor environments. However, for suburbs that are not covered by Wi-Fi access points, the positioning performance of the Wi-Fi/MARG combined positioning system will be extremely degraded or even unusable. 2) Kalman filter-based GPS/MARG combined positioning system The basic idea of GPS/MARG combined positioning system based on Kalman filter is: Firstly, the GPS positioning algorithm is used to obtain the position estimation of the moving target, and then the carrier attitude information obtained by the MARG sensor is obtained. Kalman The state equation and the observation equation of the filter are used to filter the position estimation of the user. The method effectively combines the complementary characteristics of the two positioning technologies, not only can make up for the gap of GPS signal blocking, but also can use the position and velocity information obtained by GPS to correct the cumulative error of the MARG sensor. However, in an indoor environment where the GPS signal is completely blocked, the positioning performance of the GPS/MARG combined positioning system will be extremely deteriorated or even impossible to use.
3 ) 基于数值加权的 GPS/Wi-Fi组合定位系统 基于数值加权的 GPS/Wi-Fi组合定位系统的基本思想是: 首先利用 GPS和 Wi-Fi 定位分别获得移动目标的位置信息; 然后, 根据 GPS的水平精度衰减因子(Horizontal Dilution of Precision, HDOP)来决定加权因子。 由于 GPS在室外空旷地区, 能够取得 很好的定位精度, 因此在 AP缺失的区域, 可以利用 GPS获得准确的位置信息; 同时 在高楼林立的市区, 可以利用 WLAN定位来弥补 GPS定位的不足, 通过这种方式在 室外环境下可以取得良好的定位性能, 然而在室内环境下, 由于 GPS信号被遮挡, 无 法改善 WLAN室内定位的精度, 同时由于只考虑利用水平精度衰减因子, 组合性能相 对较差。 针对上述的问题, 目前尚未提出有效的解决方案。 发明内容 本发明实施例提供了一种定位方法、 装置及系统, 以至少解决现有技术中由单独 采用 GPS/MARG组合定位系统或者 Wi-Fi/MARG组合定位系统进行定位而导致的在 有些环境下对移动目标的定位准确性较低的技术问题。 根据本发明实施例的一个方面,提供了一种定位方法,包括:计算得到 GPS/MARG 组合定位系统当前的定位性能参数; 如果上述定位性能参数符合预先设置的条件, 则 启动 Wi-Fi/MARG组合定位系统进行定位; 根据上述 GPS/MARG组合定位系统定位 得到的结果和上述 Wi-Fi/MARG组合定位系统定位得到的结果计算得到移动目标的位 置信息。 优选地, 在计算得到 GPS/MARG组合定位系统当前的定位性能参数之后, 上述 方法还包括: 如果上述定位性能参数不符合预先设置的条件, 则将上述 GPS/MARG 组合定位系统定位得到的结果作为上述移动目标的位置信息。 优选地, 上述计算得到 GPS/MARG 组合定位系统当前的定位性能参数包括: 获 取当前时刻 GPS接收机的水平精度衰减因子; 计算上述 GPS/MARG组合定位系统的 失效率, 其中, 上述失效率是当前时刻 GPS接收机的测量值与卡尔曼滤波后更新的结 果之间的差值;根据上述水平精度衰减因子和上述失效率计算得到上述定位性能参数。 优选地,符合上述预先设置的条件包括: 上述定位性能参数大于预定的参数阈值。 优选地, 按照以下公式计算上述 GPS/MARG组合定位系统的失效率:
Figure imgf000005_0001
其中, 表示当前时刻 GPS/MARG组合定位系统的失效率, g ,fc表示当前时 刻 GPS/MARG组合定位系统输出的移动目标的位置信息, Φ 表示状态转换矩阵, k是时刻标识; I I表示求欧式距离, g^^w表示当前时刻的前一时刻利用卡尔曼滤波 获得的所述移动目标的位置估计值; 按照以下公式计算得到上述定位性能参数:
3) The basic idea of GPS/Wi-Fi combined positioning system based on numerical weighting based on numerical weighting is: Firstly, the position information of the moving target is obtained by GPS and Wi-Fi positioning respectively; Then, according to The Horizontal Dilution of Precision (HDOP) of the GPS determines the weighting factor. Since GPS can achieve good positioning accuracy in outdoor open areas, GPS can be used to obtain accurate location information in areas where APs are missing. At the same time, in high-rise urban areas, WLAN positioning can be used to compensate for the lack of GPS positioning. In this way, good positioning performance can be achieved in an outdoor environment. However, in an indoor environment, the GPS signal is occluded, and the accuracy of the WLAN indoor positioning cannot be improved. At the same time, since only the horizontal precision attenuation factor is considered, the combined performance is relatively poor. . In response to the above problems, no effective solution has been proposed yet. SUMMARY OF THE INVENTION Embodiments of the present invention provide a positioning method, apparatus, and system, to at least solve the prior art caused by positioning by using a GPS/MARG combined positioning system or a Wi-Fi/MARG combined positioning system alone. The technical problem of lower positioning accuracy for moving targets. According to an aspect of the embodiments of the present invention, a positioning method is provided, including: calculating a current positioning performance parameter of a GPS/MARG combined positioning system; if the positioning performance parameter meets a preset condition, starting Wi-Fi/MARG The combined positioning system performs positioning; the position information of the moving target is calculated according to the result obtained by the above GPS/MARG combined positioning system positioning and the result obtained by the above-mentioned Wi-Fi/MARG combined positioning system positioning. Preferably, after calculating the current positioning performance parameter of the GPS/MARG combined positioning system, the method further includes: if the positioning performance parameter does not meet the preset condition, the result obtained by positioning the GPS/MARG combined positioning system is The location information of the above moving target. Preferably, the current positioning performance parameter of the GPS/MARG combined positioning system is: obtaining the horizontal precision attenuation factor of the GPS receiver at the current moment; calculating the GPS/MARG combined positioning system The failure rate, wherein the failure rate is a difference between a measurement value of the GPS receiver at the current moment and a result of the Kalman filter update; and the positioning performance parameter is calculated according to the horizontal precision attenuation factor and the failure rate. Preferably, the condition that meets the foregoing preset conditions comprises: the foregoing positioning performance parameter is greater than a predetermined parameter threshold. Preferably, the failure rate of the above GPS/MARG combined positioning system is calculated according to the following formula:
Figure imgf000005_0001
Among them, it indicates the failure rate of the GPS/MARG combined positioning system at the current moment, g, fc represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, Φ represents the state transition matrix, k is the time stamp; The distance, g^^w represents the position estimation value of the moving target obtained by Kalman filtering at the previous moment of the current time; the above positioning performance parameter is calculated according to the following formula:
Cgps, = ^k + {\ - a)HDOP 其中, 表示上述定位性能参数, "表示加权因子, 0≤«≤1, HDOP表示水 平精度衰减因子。 优选地, 上述根据上述 GPS/MARG 组合定位系统定位得到的结果和上述 Wi-Fi/MARG组合定位系统定位得到的结果计算得到移动目标的位置信息包括: 将上 述定位性能参数作为加权系数; 根据上述加权系数对上述 GPS/MARG 组合定位系统 定位得到的结果和上述 Wi-Fi/MARG组合定位系统定位得到的结果进行加权运算, 得 到上述移动目标的位置信息。 优选地, 按照以下公式计算上述移动目标的位置信息:
Figure imgf000005_0002
C gps , = ^ k + {\ - a) HDOP where, represents the above positioning performance parameter, "represents the weighting factor, 0 ≤ « ≤ 1, HDOP represents the horizontal precision attenuation factor. Preferably, the above-mentioned GPS/MARG combined positioning according to the above The result of the system positioning and the result obtained by the above-mentioned Wi-Fi/MARG combined positioning system are calculated. The position information of the moving target is calculated by: using the positioning performance parameter as a weighting coefficient; and positioning the GPS/MARG combined positioning system according to the weighting coefficient. The obtained result is weighted with the result of the positioning of the Wi-Fi/MARG combined positioning system to obtain the position information of the moving target. Preferably, the position information of the moving target is calculated according to the following formula:
Figure imgf000005_0002
wifi ,k ' 其中, z 表示计算得到的上述移动目标的位置信息, ^" 表示当前时刻 Wifi ,k ' where z represents the calculated position information of the above moving target, ^" represents the current time
GPS/MARG组合定位系统的失效率, rwifl'k表示当前时刻 Wi-Fi/MARG组合定位系统 的失效率, g 表示当前时刻 GPS/MARG组合定位系统输出的移动目标的位置信息, lwifik表示当前时刻 Wi-Fi/MARG组合定位系统输出的移动目标的位置信息, k是时刻 标识。 根据本发明实施例的另一方面, 提供了一种定位装置, 包括: 第一计算单元, 设 置为计算 GPS/MARG组合定位系统当前的定位性能参数; 启动单元, 设置为在上述 定位性能参数符合预先设置的条件情况下,启动 Wi-Fi/MARG组合定位系统进行定位; 第二计算单元, 设置为根据上述 GPS/MARG 组合定位系统定位得到的结果和上述 Wi-Fi/MARG组合定位系统定位得到的结果计算得到移动目标的位置信息。 优选地, 上述第一计算单元包括: 获取模块, 设置为获取当前时刻 GPS接收机的 水平精度衰减因子; 第一计算模块, 设置为计算上述 GPS/MARG 组合定位系统的失 效率, 其中, 上述失效率是当前时刻 GPS接收机的测量值与卡尔曼滤波后更新的结果 之间的差值; 第二计算模块, 设置为根据上述水平精度衰减因子和上述失效率计算得 到上述定位性能参数。 优选地, 上述第二计算单元包括: 确定模块, 设置为将上述定位性能参数作为加 权系数; 运算模块, 设置为根据上述加权系数对上述 GPS/MARG 组合定位系统定位 得到的结果和上述 Wi-Fi/MARG组合定位系统定位得到的结果进行加权运算, 得到上 述移动目标的位置信息。 根据本发明实施例的另一方面, 提供了一种定位系统, 包括: Wi-Fi 定位装置、 MARG传感器、 GPS接收机, 粒子滤波器、 卡尔曼滤波器、 性能检测装置, 以及组合 定位装置, 其中, 上述 Wi-Fi定位装置的输出端与上述粒子滤波器的输入端相连; 上 述 GPS接收机的输出端与上述卡尔曼滤波器的输入端相连; 上述 MARG传感器通过 姿态信息获取单元分别与上述粒子滤波器和上述卡尔曼滤波器相连; 上述性能检测装 置的输入端分别与上述 GPS接收机的输出端和上述卡尔曼滤波器的输出端相连,设置 为计算 GPS/MARG 组合定位系统当前的定位性能参数; 上述组合定位装置, 分别与 上述粒子滤波器的输出端和上述性能检测装置的输出端相连, 设置为根据上述 GPS/MARG组合定位系统定位得到的结果和上述 Wi-Fi/MARG组合定位系统定位得 到的结果计算得到移动目标的位置信息。 优选地,上述性能检测装置的输出端通过单刀双掷开关与上述组合定位装置相连, 其中, 上述性能检测装置的输出端与上述单刀双掷开关的输入端相连, 上述单刀双掷 开关的第一输出端与上述组合定位装置的输入端相连, 上述单刀双掷开关的第二输出 端与输出线路相连; 上述 Wi-Fi定位装置输出端通过第一开关与上述粒子滤波器的输 入端相连;上述粒子滤波器的输出端通过第二开关与上述组合定位装置的输入端相连; 在上述定位性能参数符合预先设置的条件情况下, 上述单刀双掷开关的输入端与上述 单刀双掷开关的第一输入端处于导通状态, 上述第一开关和上述第二开关处于闭合状 态。 在本发明实施例中, 同时采用了 GPS/MARG组合定位系统和 Wi-Fi/MARG组合 定位系统, 当 GPS/MARG 组合定位系统的定位性能参数不能满足要求时, 就开启 Wi-Fi/MARG组合定位系统进行定位, 然后结合这两个组合定位系统定位得到的结果 最终计算得到移动目标的位置信息, 从而实现对移动目标的准确定位。 通过上述方式 解决了现有技术中单独采用 GPS/MARG组合定位系统或者 Wi-Fi/MARG组合定位系 统进行定位而导致的在有些环境下对移动目标的定位准确性较低的技术问题, 达到了 提高定位系统在各个环境下的定位准确性的技术效果, 扩大了定位系统的使用范围。 附图说明 此处所说明的附图用来提供对本发明的进一步理解, 构成本申请的一部分, 本发 明的示意性实施例及其说明用于解释本发明, 并不构成对本发明的不当限定。 在附图 中- 图 1是根据本发明实施例的定位方法的一种优选流程图; 图 2是根据本发明实施例的计算定位性能参数的一种优选流程图; 图 3是根据本发明实施例的定位装置的一种优选结构框图; 图 4是根据本发明实施例的第一计算单元的一种优选结构框图; 图 5是根据本发明实施例的第二计算单元的一种优选结构框图; 图 6是根据本发明实施例的定位系统的一种优选结构框图; 图 7是根据本发明实施例的基于实施例中的定位系统进行定位的定位方法的一种 优选流程图。 具体实施方式 下文中将参考附图并结合实施例来详细说明本发明。 需要说明的是, 在不冲突的 情况下, 本申请中的实施例及实施例中的特征可以相互组合。 本发明实施例提供了一种优选的定位方法, 如图 1所示, 该方法包括以下步骤: 步骤 S102: 计算得到 GPS/MARG组合定位系统当前的定位性能参数; 步骤 S104: 如果定位性能参数符合预先设置的条件, 则启动 Wi-Fi/MARG组合定 位系统进行定位; 步骤 S106: 根据 GPS/MARG组合定位系统定位得到的结果和 Wi-Fi/MARG组合 定位系统定位得到的结果计算得到移动目标的位置信息。 在上述优选实施方式中, 同时采用了 GPS/MARG组合定位系统和 Wi-Fi/MARG 组合定位系统, 当 GPS/MARG 组合定位系统的定位性能参数不能满足要求时, 就开 启 Wi-Fi/MARG组合定位系统进行定位, 然后结合这两个组合定位系统定位得到的结 果最终计算得到移动目标的位置信息, 从而实现对移动目标的准确定位。 通过上述方 式解决了现有技术中单独采用 GPS/MARG组合定位系统或者 Wi-Fi/MARG组合定位 系统进行定位而导致的在有些环境下对移动目标的定位准确性较低的技术问题, 达到 了提高定位系统在各个环境下的定位准确性的技术效果,扩大了定位系统的使用范围。 为了减少定位系统的功耗, 如果说单独使用 GPS/MARG组合定位系统的定位性 能参数已经能够满足要求, 则可知直接以该 GPS/MARG组合定位系统的定位结果作 为移动目标的位置信息。 在一个优选实施方式中, 在计算得到 GPS/MARG 组合定位 系统当前的定位性能参数之后, 上述方法还包括: 如果定位性能参数不符合预先设置 的条件, 则将 GPS/MARG组合定位系统定位得到的结果作为移动目标的位置信息。 作为一种实施方式, 上述的定位性能参数可以是水平精度衰减因子。 然而, 如果 仅采用水平精度衰减因子作为定位性能参数, 其组合性能相对较差, 为了解决组合性 能较差的问题, 作为一种优选的实施方式, 可以引入失效率的概念, 从而更为有效地 获取定位性能参数。 在一个优选实施方式, 如图 2所示, 计算得到 GPS/MARG组合 定位系统当前的定位性能参数可以包括以下步骤: 步骤 S202: 获取当前时刻 GPS接收机的水平精度衰减因子; 步骤 S204 : 计算 GPS/MARG组合定位系统的失效率, 其中, 失效率是当前时刻 GPS接收机的测量值与卡尔曼滤波后更新的结果之间的差值; 步骤 S206 : 根据水平精度衰减因子和失效率计算得到定位性能参数。 在上述各个优选实施方式中, 符合预先设置的条件可以包括: 定位性能参数大于 预定的参数阈值, 即, 预先定义一个参数阈值, 如果大于该阈值, 则认为 GPS/MARG 组合定位系统的定位效果不能满足要求, 这个时候便需要开启 Wi-Fi/MARG组合定位 系统进行定位。 本优选实施例还提供了一种优选的计算失效率的公式, 该公式为:
Figure imgf000009_0001
其中, ,fc表示当前时刻 GPS/MARG组合定位系统的失效率, g ,fc表示当前时 刻 GPS/MARG组合定位系统输出的移动目标的位置信息, 表示状态转换矩阵, k是时刻标识; I I表示求欧式距离, ζρ^^表示当前时刻的前一时刻利用卡尔曼滤波 获得的所述移动目标的位置估计值; 其中, 在二维和三维空间中的欧氏距离就是两点之间的距离: 在二维空间中计算欧式距离的公式为: d = sqrt((xl -x2)A2+(yl -y2)A2) ; 在三维空间中计算欧式距离的公式为: d = sqrt(x 1 -x2)A2+(y 1 -y2)A2+(z 1 -ζ2)Λ2) 推广到 n维空间中,计算欧氏距离的公式为: d=sqrt(∑(χϊ1 -χϊ2)Λ2 ) ,其中, i=l ,2..n。 xil表示第一个点的第 i维坐标, xi2表示第二个点的第 i维坐标。 在明确了失效率和水平衰因子后, 可以按照以下公式计算定位性能参数: Cg^ = ^k + {\ - a HDOP 其中, 表示定位性能参数, "表示加权因子, ο≤«≤ι, "的具体大小可以 根据实验数据选取, HDOP表示水平精度衰减因子。 如果是根据 GPS/MARG组合定位系统定位得到的结果和 Wi-Fi/MARG组合定位 系统定位得到的结果计算得到移动目标的位置信息, 可以将定位性能参数作为加权系 数, 用该加权系数最终确定移动目标的位置信息。 在一个优选实施方式中, 根据 GPS/MARG组合定位系统定位得到的结果和 Wi-Fi/MARG组合定位系统定位得到的 结果计算得到移动目标的位置信息包括: 将定位性能参数作为加权系数; 根据加权系 数对 GPS/MARG组合定位系统定位得到的结果和 Wi-Fi/MARG组合定位系统定位得 到的结果进行加权运算, 得到移动目标的位置信息。 在计算移动目标的位置信息的过程中, 可以按照以下公式进行计算:
Figure imgf000010_0001
其中, 表示计算得到的移动目标的位置信息, ^ 表示当前时刻 GPS/MARG 组合定位系统的失效率, ^' ^表示当前时刻 Wi-Fi/MARG组合定位系统的失效率, 表示当前时刻 GPS/MARG组合定位系统输出的移动目标的位置信息, lwifi'k表示 当前时刻 Wi-Fi/MARG组合定位系统输出的移动目标的位置信息, k是时刻标识, -1 表示求矩阵的逆。 在本实施例中还提供了一种定位装置, 该装置用于实现上述实施例及优选实施方 式, 已经进行过说明的不再赘述。 如以下所使用的, 术语"单元"或者"模块"可以实现 预定功能的软件和 /或硬件的组合。 尽管以下实施例所描述的装置较佳地以软件来实 现, 但是硬件, 或者软件和硬件的组合的实现也是可能并被构想的。 图 3是根据本发 明实施例的定位装置的一种优选结构框图, 如图 3所示, 包括: 第一计算单元 302、 启动单元 304以及第二计算单元 306, 下面对该结构进行说明。 第一计算单元 302, 设置为计算 GPS/MARG组合定位系统当前的定位性能参数; 启动单元 304, 与第一计算单元 302耦合, 设置为在定位性能参数符合预先设置 的条件情况下, 启动 Wi-Fi/MARG组合定位系统进行定位; 第二计算单元 306, 与启动单元 304耦合, 设置为根据 GPS/MARG组合定位系统 定位得到的结果和 Wi-Fi/MARG组合定位系统定位得到的结果计算得到移动目标的位 置信息。 在一个优选实施方式中, 如图 4所示, 第一计算单元包括: 获取模块 402, 设置 为获取当前时刻 GPS 接收机的水平精度衰减因子; 第一计算模块 404, 设置为计算 GPS/MARG组合定位系统的失效率, 其中, 失效率是当前时刻 GPS接收机的测量值 与卡尔曼滤波后更新的结果之间的差值; 第二计算模块 406, 与获取模块 402和第一 计算模块 404耦合, 设置为根据水平精度衰减因子和失效率计算得到定位性能参数。 在一个优选实施方式中, 如图 5所示, 第二计算单元包括: 确定模块 502, 设置 为将定位性能参数作为加权系数; 运算模块 504, 与确定模块 502耦合, 设置为根据 加权系数对 GPS/MARG组合定位系统定位得到的结果和 Wi-Fi/MARG组合定位系统 定位得到的结果进行加权运算, 得到移动目标的位置信息。 本发明实施例还提供了一种优选的定位系统, 如图 6所示, 包括: Wi-Fi定位装 置 602、 MARG传感器 604、 GPS接收机 606, 粒子滤波器 608、 卡尔曼滤波器 610、 性能检测装置 612, 以及组合定位装置 614, 其中,
The failure rate of GPS/MARG combined positioning system, r w ifl ' k indicates the current time Wi-Fi/MARG combined positioning system The failure rate, g represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, lwifi , k represents the position information of the moving target output by the Wi-Fi/MARG combined positioning system at the current moment, and k is the time identifier. According to another aspect of the present invention, a positioning apparatus is provided, including: a first calculating unit configured to calculate a current positioning performance parameter of a GPS/MARG combined positioning system; and a starting unit configured to meet the positioning performance parameter In the case of pre-set conditions, the Wi-Fi/MARG combined positioning system is activated for positioning; the second calculating unit is set to obtain the result obtained by the above GPS/MARG combined positioning system positioning and the above-mentioned Wi-Fi/MARG combined positioning system positioning The result of the calculation calculates the position information of the moving target. Preferably, the first calculating unit includes: an acquiring module, configured to acquire a horizontal precision attenuation factor of the GPS receiver at the current moment; and a first calculating module configured to calculate a failure rate of the GPS/MARG combined positioning system, where the foregoing failure The rate is the difference between the measured value of the GPS receiver at the current moment and the updated result after Kalman filtering; the second calculating module is configured to calculate the positioning performance parameter according to the horizontal precision attenuation factor and the above-mentioned failure rate. Preferably, the second calculating unit includes: a determining module configured to use the positioning performance parameter as a weighting coefficient; and an operation module configured to locate the result of the GPS/MARG combined positioning system according to the weighting coefficient and the Wi-Fi The result obtained by the positioning of the /MARG combined positioning system is weighted to obtain the position information of the moving target. According to another aspect of an embodiment of the present invention, a positioning system is provided, including: a Wi-Fi positioning device, a MARG sensor, a GPS receiver, a particle filter, a Kalman filter, a performance detecting device, and a combined positioning device, The output end of the Wi-Fi positioning device is connected to the input end of the particle filter; the output end of the GPS receiver is connected to the input end of the Kalman filter; and the MARG sensor passes through the attitude information acquiring unit respectively The particle filter is connected to the Kalman filter; the input end of the performance detecting device is respectively connected to the output end of the GPS receiver and the output end of the Kalman filter, and is set to calculate the current positioning of the GPS/MARG combined positioning system. The combination parameter positioning device is respectively connected to the output end of the particle filter and the output end of the performance detecting device, and is set to be combined according to the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning. The result obtained by the system positioning calculates the position information of the moving target. Preferably, the output end of the performance detecting device is connected to the combined positioning device by a single-pole double-throw switch, wherein an output end of the performance detecting device is connected to an input end of the single-pole double-throw switch, and the first one of the single-pole double-throw switch The output end is connected to the input end of the combined positioning device, and the second output of the single-pole double-throw switch The end is connected to the output line; the output end of the Wi-Fi positioning device is connected to the input end of the particle filter through a first switch; the output end of the particle filter is connected to the input end of the combined positioning device through a second switch; When the positioning performance parameter meets the preset condition, the input end of the single-pole double-throw switch and the first input end of the single-pole double-throw switch are in an on state, and the first switch and the second switch are in a closed state. In the embodiment of the present invention, the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning system are simultaneously adopted. When the positioning performance parameter of the GPS/MARG combined positioning system cannot meet the requirements, the Wi-Fi/MARG combination is turned on. The positioning system performs positioning, and then combines the results obtained by the positioning of the two combined positioning systems to finally calculate the position information of the moving target, thereby achieving accurate positioning of the moving target. The above-mentioned method solves the technical problem that the positioning accuracy of the moving target is low in some environments caused by the positioning of the GPS/MARG combined positioning system or the Wi-Fi/MARG combined positioning system in the prior art alone, and the technical problem is solved. The technical effect of improving the positioning accuracy of the positioning system in various environments has expanded the scope of use of the positioning system. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are set to illustrate,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, 1 is a preferred flow chart of a positioning method according to an embodiment of the present invention; FIG. 2 is a preferred flow chart for calculating positioning performance parameters according to an embodiment of the present invention; FIG. 4 is a block diagram showing a preferred structure of a first computing unit according to an embodiment of the present invention; FIG. 5 is a block diagram showing a preferred structure of a second computing unit according to an embodiment of the present invention; Figure 6 is a block diagram of a preferred structure of a positioning system in accordance with an embodiment of the present invention; Figure 7 is a preferred flow diagram of a positioning method based on positioning in a positioning system in accordance with an embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The embodiment of the present invention provides a preferred positioning method. As shown in FIG. 1 , the method includes the following steps: Step S102: Calculating a current positioning performance parameter of a GPS/MARG combined positioning system; Step S104: If the positioning performance parameter is consistent The pre-set condition starts the Wi-Fi/MARG combined positioning system for positioning; Step S106: Calculate the moving target according to the result obtained by the GPS/MARG combined positioning system positioning and the result obtained by the Wi-Fi/MARG combined positioning system positioning location information. In the above preferred embodiment, the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning system are simultaneously adopted. When the positioning performance parameter of the GPS/MARG combined positioning system cannot meet the requirements, the Wi-Fi/MARG combination is turned on. The positioning system performs positioning, and then combines the results obtained by the positioning of the two combined positioning systems to finally calculate the position information of the moving target, thereby achieving accurate positioning of the moving target. The above-mentioned method solves the technical problem that the positioning accuracy of the moving target is low in some environments caused by the positioning of the GPS/MARG combined positioning system or the Wi-Fi/MARG combined positioning system in the prior art alone, and the technical problem is solved. The technical effect of improving the positioning accuracy of the positioning system in various environments has expanded the scope of use of the positioning system. In order to reduce the power consumption of the positioning system, if the positioning performance parameters of the GPS/MARG combined positioning system alone can meet the requirements, it can be known that the positioning result of the GPS/MARG combined positioning system is directly used as the position information of the moving target. In a preferred embodiment, after calculating the current positioning performance parameter of the GPS/MARG combined positioning system, the method further includes: if the positioning performance parameter does not meet the preset condition, positioning the GPS/MARG combined positioning system. The result is the position information of the moving target. As an implementation manner, the foregoing positioning performance parameter may be a horizontal precision attenuation factor. However, if only the horizontal precision attenuation factor is used as the positioning performance parameter, the combination performance is relatively poor. In order to solve the problem of poor combination performance, as a preferred embodiment, the concept of failure rate can be introduced, thereby more effectively Get positioning performance parameters. In a preferred embodiment, as shown in FIG. 2, calculating the current positioning performance parameter of the GPS/MARG combined positioning system may include the following steps: Step S202: Acquire a horizontal precision attenuation factor of the GPS receiver at the current moment; Step S204: Calculating the failure rate of the GPS/MARG combined positioning system, wherein the failure rate is the difference between the measured value of the GPS receiver at the current moment and the updated result after Kalman filtering; Step S206: According to the horizontal precision attenuation factor and The failure rate is calculated to obtain the positioning performance parameter. In each of the foregoing preferred embodiments, the pre-set conditions may include: the positioning performance parameter is greater than a predetermined parameter threshold, that is, a parameter threshold is predefined, and if the threshold is greater, the positioning effect of the GPS/MARG combined positioning system is considered not To meet the requirements, this time you need to open the Wi-Fi/MARG combined positioning system for positioning. The preferred embodiment also provides a preferred formula for calculating the failure rate, which is:
Figure imgf000009_0001
Where, fc represents the failure rate of the GPS/MARG combined positioning system at the current moment, g, fc represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, indicating the state transition matrix, k is the time identifier; II indicates The Euclidean distance, ζρ^^ represents the position estimate of the moving target obtained by Kalman filtering at the previous moment of the current time; wherein the Euclidean distance in the two-dimensional and three-dimensional space is the distance between the two points: The formula for calculating the Euclidean distance in a two-dimensional space is: d = sqrt((xl -x2) A 2+(yl -y2) A 2) ; The formula for calculating the Euclidean distance in three-dimensional space is: d = sqrt(x 1 - X2) A 2+(y 1 -y2) A 2+(z 1 -ζ2) Λ 2) The formula for calculating the Euclidean distance in n-dimensional space is: d=sqrt(∑(χϊ1 -χϊ2) Λ 2 ) , where i=l , 2..n. Xil represents the i-th dimension of the first point, and xi2 represents the i-th dimension of the second point. After the failure rate and the horizontal failure factor are clarified, the positioning performance parameter can be calculated according to the following formula: C g ^ = ^ k + {\ - a HDOP where, indicating the positioning performance parameter, "representing the weighting factor, ο ≤ « ≤ ι, The specific size can be selected based on experimental data, and HDOP represents the horizontal accuracy attenuation factor. If the position information of the moving target is calculated according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system, the positioning performance parameter can be used as a weighting coefficient, and the weighting coefficient is used to finally determine the movement. The location information of the target. In a preferred embodiment, the location information of the mobile target is calculated according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system, including: using the positioning performance parameter as a weighting coefficient; The coefficient weights the results obtained by the GPS/MARG combined positioning system and the results obtained by the Wi-Fi/MARG combined positioning system to obtain the position information of the moving target. In the process of calculating the position information of the moving target, it can be calculated according to the following formula:
Figure imgf000010_0001
Where, it represents the calculated position information of the moving target, ^ represents the failure rate of the GPS/MARG combined positioning system at the current moment, ^' ^ represents the failure rate of the current time Wi-Fi/MARG combined positioning system, indicating the current time GPS/MARG The position information of the moving target output by the combined positioning system, lwifi ' k indicates the position information of the moving target output by the Wi-Fi/MARG combined positioning system at the current time, k is the time mark, and -1 indicates the inverse of the matrix. In this embodiment, a positioning device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and has not been described again. As used hereinafter, the term "unit" or "module" may implement a combination of software and/or hardware of a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware, is also possible and conceivable. 3 is a block diagram of a preferred structure of a positioning apparatus according to an embodiment of the present invention. As shown in FIG. 3, the method includes: a first calculating unit 302, a starting unit 304, and a second calculating unit 306. The structure will be described below. The first calculating unit 302 is configured to calculate a current positioning performance parameter of the GPS/MARG combined positioning system; the starting unit 304 is coupled with the first calculating unit 302, and is configured to start Wi- when the positioning performance parameter meets a preset condition. The Fi/MARG combined positioning system performs positioning; the second calculating unit 306 is coupled to the starting unit 304, and is configured to calculate the movement according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system. The location information of the target. In a preferred embodiment, as shown in FIG. 4, the first calculating unit includes: an obtaining module 402, configured to acquire a horizontal precision attenuation factor of a GPS receiver at a current moment; and a first calculating module 404 configured to calculate a GPS/MARG combination The failure rate of the positioning system, wherein the failure rate is the difference between the measurement value of the GPS receiver at the current moment and the result of the Kalman filter update; the second calculation module 406 is coupled with the acquisition module 402 and the first calculation module 404. , set to calculate the positioning performance parameters according to the horizontal precision attenuation factor and the failure rate. In a preferred embodiment, as shown in FIG. 5, the second calculating unit includes: a determining module 502, configured to use the positioning performance parameter as a weighting coefficient; and an operation module 504 coupled to the determining module 502, configured to perform GPS according to the weighting coefficient. The result obtained by the /MARG combined positioning system positioning and the result obtained by the positioning of the Wi-Fi/MARG combined positioning system are weighted to obtain the position information of the moving target. The embodiment of the present invention further provides a preferred positioning system. As shown in FIG. 6, the method includes: a Wi-Fi positioning device 602, a MARG sensor 604, a GPS receiver 606, a particle filter 608, a Kalman filter 610, and performance. a detecting device 612, and a combined positioning device 614, wherein
Wi-Fi定位装置 602的输出端与粒子滤波器 608的输入端相连; An output of the Wi-Fi positioning device 602 is coupled to an input of the particle filter 608;
GPS接收机 606的输出端与卡尔曼滤波器 610的输入端相连; MARG传感器 604通过姿态信息获取单元 616分别与粒子滤波器 608和卡尔曼滤 波器 610相连; 性能检测装置 614的输入端分别与 GPS接收机 606的输出端和卡尔曼滤波器 610 的输出端相连, 设置为计算 GPS/MARG组合定位系统当前的定位性能参数; 组合定位装置 614, 分别与粒子滤波器 608的输出端和性能检测装置 612的输出 端相连, 设置为根据 GPS/MARG组合定位系统定位得到的结果和 Wi-Fi/MARG组合 定位系统定位得到的结果计算得到移动目标的位置信息。 为了实现在满足条件的情况下, 即 GPS/MARG 组合定位系统的定位效果不能满 足预定要求的情况下,才会开启 Wi-Fi/MARG组合定位系统的目的。可以如图 6所示, 设置控制开关, 通过控制开关的开闭来控制是否采用 Wi-Fi/MARG组合定位系统进行 定位。 在一个优选实施方式中, 性能检测装置的输出端通过单刀双掷开关 (K1 ) 与组 合定位装置相连, 其中, 性能检测装置的输出端与单刀双掷开关的输入端相连, 单刀 双掷开关的第一输出端(b)与组合定位装置的输入端相连, 所述单刀双掷开关的第二 输出端 (a) 与输出线路相连; The output of the GPS receiver 606 is coupled to the input of the Kalman filter 610; the MARG sensor 604 is coupled to the particle filter 608 and the Kalman filter 610 via the attitude information acquisition unit 616; the inputs of the performance detection device 614 are respectively The output of the GPS receiver 606 is coupled to the output of the Kalman filter 610 and is configured to calculate the current positioning performance parameters of the GPS/MARG combined positioning system; the combined positioning device 614, and the output and performance detection of the particle filter 608, respectively. The outputs of the device 612 are connected, and are set to calculate the position information of the moving target according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system. In order to achieve the condition that the positioning effect of the GPS/MARG combined positioning system cannot meet the predetermined requirements, the Wi-Fi/MARG combined positioning system is turned on. As shown in Figure 6, the control switch can be set to control whether the Wi-Fi/MARG combined positioning system is used for positioning by controlling the opening and closing of the switch. In a preferred embodiment, the output of the performance detecting device is connected to the combined positioning device by a single-pole double-throw switch (K1), wherein the output of the performance detecting device is connected to the input of the single-pole double-throw switch, and the single-pole double-throw switch The first output end (b) is connected to the input end of the combined positioning device, and the second output end (a) of the single-pole double-throw switch is connected to the output line;
Wi-Fi定位装置输出端通过第一开关 (K2) 与粒子滤波器的输入端相连; 粒子滤波器的输出端通过第二开关 (K3 ) 与组合定位装置的输入端相连; 在定位性能参数符合预先设置的条件情况下, 单刀双掷开关的输入端与单刀双掷 开关的第一输入端处于导通状态, 第一开关 (K2) 和第二开关 (K3 ) 处于闭合状态。 上述的基于自适应加权算法的 GPS/Wi-Fi/MARG组合定位系统, 该系统融合特性 互补的 Wi-Fi/MARG组合定位子系统和 GPS/MARG组合定位子系统, 解决了现有技 术中 GPS/Wi-Fi/MARG组合定位系统存在的不足。本优选实施例还根据卡尔曼滤波器 定义了一个失效率因子, 同时结合 GPS的水平衰减因子, 提出一种自适应加权算法融 合 Wi-Fi/MARG组合定位子系统和 GPS/MARG组合定位子系统, 不仅有效提高了定 位精度, 还实现了室内室外的无缝定位, 扩大了定位系统的使用范围。 基于上述的自适应加权算法的 GPS/Wi-Fi/MARG组合定位系统, 如图 7所示, 该 定位方法主要包括以下几个步骤: 步骤 S702: 基于卡尔曼滤波的 GPS/MARG组合进行定位。 主要包括: The output end of the Wi-Fi positioning device is connected to the input end of the particle filter through the first switch (K2); The output of the particle filter is connected to the input end of the combined positioning device through the second switch (K3); the input of the single-pole double-throw switch and the first input of the single-pole double-throw switch are performed under the condition that the positioning performance parameter meets the preset condition The terminal is in an on state, and the first switch (K2) and the second switch (K3) are in a closed state. The above-mentioned GPS/Wi-Fi/MARG combined positioning system based on adaptive weighting algorithm, the system integrates the complementary Wi-Fi/MARG combined positioning subsystem and the GPS/MARG combined positioning subsystem, and solves the GPS in the prior art. /Wi-Fi/MARG combined positioning system is insufficient. The preferred embodiment also defines a failure rate factor according to the Kalman filter, and combines the horizontal attenuation factor of GPS, and proposes an adaptive weighting algorithm to fuse the Wi-Fi/MARG combined positioning subsystem and the GPS/MARG combined positioning subsystem. It not only effectively improves the positioning accuracy, but also realizes the seamless positioning of indoor and outdoor, and expands the use range of the positioning system. The GPS/Wi-Fi/MARG combined positioning system based on the above adaptive weighting algorithm, as shown in FIG. 7, the positioning method mainly includes the following steps: Step S702: Positioning based on the Kalman filter-based GPS/MARG combination. mainly includes:
SI : GPS接收机接收卫星信号, 计算位置, 建立 GPS测量输出模型; SI: The GPS receiver receives the satellite signal, calculates the position, and establishes a GPS measurement output model;
S2: 将 MARG传感器获得的滚动角、俯仰角、 航向角, 以及载体速度信息等信息 作为卡尔曼滤波状态值的输入, 并建立 MARG传感器模型; S2: using the information such as the rolling angle, the elevation angle, the heading angle, and the carrier speed information obtained by the MARG sensor as the input of the Kalman filter state value, and establishing the MARG sensor model;
S3: 进行卡尔曼滤波的状态一步预测; S3: performing one-step prediction of the state of Kalman filtering;
S4: 计算预测误差方差矩阵; S4: calculating a prediction error variance matrix;
S5: 计算滤波增益矩阵; S5: calculating a filter gain matrix;
S6: 状态估计; S7: 估计误差方差计算。 步骤 S704: 性能检测。 主要包括: S6: State estimation; S7: Estimation error variance calculation. Step S704: Performance detection. mainly includes:
S1 : 获得当前时刻 GPS接收机的水平精度衰减因子。粒子滤波器输出载体的位置 信息, 载体航向角信息, 速度信息。 其中, 位置信息作为移动用户 (移动目标) 的位 置估计。 S2: 计算失效率, 其中, 失效率定义为当前时刻 GPS测量值与卡尔曼滤波后得到 的值之间的差值。 S3: 利用水平精度衰减因子和失效率, 计算 GPS/MARG组合定位子系统定位性 能参数。 步骤 S706: 阈值判定。 主要包括: S1 : 设定阈值参数; S2: 判定 GPS/MARG组合定位子系统定位性能参数是小于阈值还是大于阈值。 S1: Obtain the horizontal precision attenuation factor of the GPS receiver at the current moment. The particle filter outputs carrier position information, carrier heading angle information, and speed information. Among them, the location information is estimated as the location of the mobile user (moving target). S2: Calculating the failure rate, wherein the failure rate is defined as the difference between the current measured GPS value and the value obtained after Kalman filtering. S3: Calculate the positioning performance parameters of the GPS/MARG combined positioning subsystem by using the horizontal precision attenuation factor and the failure rate. Step S706: Threshold determination. Mainly includes: S1: setting threshold parameter; S2: determining whether the positioning performance parameter of the GPS/MARG combined positioning subsystem is less than a threshold or greater than a threshold.
S3: 如果小于阈值, 则直接将 GPS/MARG组合定位子系统的定位结果作为整个 定位系统的输出, 即将其作为移动目标的最终定位信息。 S3: If it is less than the threshold, the positioning result of the GPS/MARG combined positioning subsystem is directly used as the output of the entire positioning system, which is the final positioning information of the moving target.
S4: 如果大于阈值, 则启动 Wi-Fi/MARG组合定位子系统。 步骤 S708: 基于粒子滤波的 Wi-Fi/MARG组合进行定位。 主要包括: SI : MARG传感器获得的滚动角、 俯仰角、 航向角, 以及载体速度信息, 将其作 为粒子滤波器的输入。 S4: If greater than the threshold, start the Wi-Fi/MARG combined positioning subsystem. Step S708: Performing positioning based on the particle filter-based Wi-Fi/MARG combination. Mainly include: SI: Rolling angle, pitch angle, heading angle, and carrier speed information obtained by the MARG sensor as input to the particle filter.
S2: 初始化粒子, 优选地, 可以采用高斯分布来初始化粒子的概率密度函数, 其 中, 均值为移动目标的初始位置; S2: initializing particles, preferably, a Gaussian distribution may be used to initialize a probability density function of the particles, wherein the mean is the initial position of the moving target;
S3: 预测, 可以利用载体航向角、 速度信息, 以及 WLAN定位的结果, 通过粒子 滤波预测目标下一步的位置信息; S3: predicting, using the carrier heading angle, speed information, and the result of WLAN positioning, predicting the position information of the next step by particle filtering;
S4: 粒子权重计算及归一化, 可以通过测量模型和现在的测量值来求取每个粒子 的权重, 当粒子位置越靠近目标当前估计位置时, 粒子获得的权重越大。 S4: Particle weight calculation and normalization, the weight of each particle can be obtained by measuring the model and the current measured value. When the particle position is closer to the current estimated position of the target, the weight of the particle is larger.
S5: 重采样, 可以根据后验概率密度函数来产生新的粒子, 解决粒子退化问题。 步骤 S710: 组合定位。 主要包括: S1 : 获得 GPS/MARG组合定位的结果; S5: Resampling, which can generate new particles based on the posterior probability density function to solve the particle degradation problem. Step S710: Combine positioning. Mainly include: S1: Obtain the result of GPS/MARG combined positioning;
S2: 获得 Wi-Fi/MARG组合定位的结果; S2: obtaining the result of the Wi-Fi/MARG combined positioning;
S3: 将 GPS/MARG 组合定位子系统的定位性能参数作为加权参数, 对预测 GPS/MARG组合定位的结果和 Wi-Fi/MARG组合定位的结果进行加权融合,从而获得 移动目标的最终位置信息。 本发明实施例还给出了一种具体的实施方法, 下面对其进行详细描述。 GPS/Wi-Fi/MARG组合定位系统实现框图如图 6所示, 主要由三部分组成: 基于 粒子滤波的 Wi-Fi/MARG组合定位子系统、 基于卡尔曼滤波的 GPS/MARG组合定位 子系统、 以及基于自适应加权算法的两种子系统的组合定位。 其中, 基于自适应加权算法的两种定位子系统的组合定位实现分为以下步骤: S3: Using the positioning performance parameter of the GPS/MARG combined positioning subsystem as a weighting parameter, weighting and fusion of the predicted GPS/MARG combined positioning result and the Wi-Fi/MARG combined positioning result to obtain the final position information of the moving target. A specific implementation method is also given in the embodiment of the present invention, which will be described in detail below. The block diagram of GPS/Wi-Fi/MARG combined positioning system is shown in Figure 6. It consists of three parts: Wi-Fi/MARG combined positioning subsystem based on particle filter and GPS/MARG combined positioning subsystem based on Kalman filter. And combined positioning of two subsystems based on an adaptive weighting algorithm. The combined positioning implementation of the two positioning subsystems based on the adaptive weighting algorithm is divided into the following steps:
S1 : 首先由 GPS接收机接收卫星信号, 计算位置, 建立卡尔曼滤波系统方程融合 MARG传感器数据,减小多径等因素对 GPS的影响,最终获得移动目标准确的位置信 S1: First, the satellite receiver receives the satellite signal, calculates the position, establishes the Kalman filter system equation and fuses the MARG sensor data, reduces the influence of multipath and other factors on the GPS, and finally obtains the accurate position information of the moving target.
S2 : 接着进行性能检测, 其中, 性能检测主要由 GPS 的水平精度衰减因子 (Horizontal Dilution of Precision, 简称为 HDOP) 和失效率决定。 GPS的精度衰减因 子整体上反映了有效可视卫星的空间几何结构对移动目标导航精度的影响, 其中, 可 视卫星的数目是影响精度衰减因子的主要因素之一,通常, 随着可视卫星数目的增加, 精度衰减因子将减小, 精度衰减因子与 GPS定位精度之间的关系表 1所示。 然而, 精 度衰减因子只是很粗糙地反映了 GPS定位精度, 因此在本优选实施例中提出了另外一 个参数: 失效率。 表 1 S2: Next, performance testing is performed. Among them, performance testing is mainly determined by GPS's Horizontal Dilution of Precision (HDOP) and failure rate. The GPS accuracy attenuation factor reflects the influence of the spatial geometry of the effective visible satellite on the navigation accuracy of the moving target. Among them, the number of visible satellites is one of the main factors affecting the accuracy attenuation factor. Usually, with the visible satellite As the number increases, the accuracy attenuation factor will decrease, and the relationship between the accuracy attenuation factor and the GPS positioning accuracy is shown in Table 1. However, the accuracy attenuation factor only reflects the GPS positioning accuracy very coarsely, so another parameter is proposed in the preferred embodiment: Failure Rate. Table 1
Figure imgf000014_0002
Figure imgf000014_0002
上述失效率可以定义为当前时刻 GPS测量值与卡尔曼滤波后更新值之间的差值, 可以通过以下公式计算得到失效率: gps gps,k—l The above failure rate can be defined as the difference between the GPS measurement value at the current time and the updated value after Kalman filter. The failure rate can be calculated by the following formula: gps gps, k-1
Figure imgf000014_0001
其中, 为当前时刻 GPS/MARG组合定位子系统输出的移动目标的位置信息, Φ^ ^为状态转换矩阵, 表示求欧式距离, ξρ^^表示当前时刻的前一时刻利用卡 尔曼滤波获得的所述移动目标的位置估计值;
Figure imgf000014_0001
Wherein, the position information of the moving target output by the GPS/MARG combined positioning subsystem at the current moment, Φ ^ ^ is a state transition matrix, indicating the Euclidean distance, and ξρ^^ indicates the location obtained by Kalman filtering at the previous moment of the current time. a position estimate of the moving target;
GPS定位性能 由 GPS的水平精度衰减因子和失效率共同决定, 可以通过以 下公式计算得到- Cgps^ = argps k + (\ - a)HDOP 其中, "表示加权因子, 0≤«≤1, 具体大小可以根据实验数据选取。 GPS positioning performance is determined by the horizontal accuracy attenuation factor of GPS and the failure rate, which can be calculated by the following formula - C gps ^ = ar gps k + (\ - a) HDOP where "represents the weighting factor, 0 ≤ « ≤ 1, the specific size can be selected according to the experimental data.
S3: 当 GPS的定位性能指标 小于设定的阈值时, 就认为 GPS/MARG定位子 系统的性能已经能够满足移动目标定位性能的需求, 因此 GPS/MARG 定位子系统的 输出可以直接作为整个定位系统的输出, 相应的, 在图 6中, 可以是开关闭合到 a点, 即, 此时并不启动 Wi-Fi/MARG组合定位子系统进行定位。 S3: When the GPS positioning performance index is less than the set threshold, it is considered that the performance of the GPS/MARG positioning subsystem can meet the requirements of the mobile target positioning performance, so the output of the GPS/MARG positioning subsystem can be directly used as the entire positioning system. The output, correspondingly, in Figure 6, can be the switch closed to point a, ie, the Wi-Fi/MARG combined positioning subsystem is not activated for positioning at this time.
S4: 当 GPS的定位性能指标 CgM;i大于设定的阈值时,就认为 GPS/MARG定位子 系统的输出不可靠, 已经无法满足移动目标定位性能的需求。 此时启动 Wi-Fi/MARG 组合定位子系统, 相应的, 在图 6中将开关闭合到 b点。 定位系统的输出为两个组合 定位子系统输出, 具体数值可以通过以下公式计算得到: ― lg I S4: When the GPS positioning performance index C gM;i is greater than the set threshold, it is considered that the output of the GPS/MARG positioning subsystem is unreliable and cannot meet the requirements of the mobile target positioning performance. At this point, the Wi-Fi/MARG combined positioning subsystem is started, and correspondingly, the switch is closed to point b in FIG. The output of the positioning system is the output of two combined positioning subsystems. The specific values can be calculated by the following formula: ― lg I
其中, 表示 Wi-Fi/MARG组合定位子系统的失效率, 定义为当前时刻 Wi-Fi 定位系统测量值与粒子滤波后更新值之间的差值, 为当前时刻 Wi-Fi/MARG组合 定位子系统输出的移动目标的位置信息。 通过上述数据融合的 GPS/Wi-Fi/MARG组合定位系统进行定位, 有效地利用了特 性互补的两个定位子系统, 显著改善了 Wi-Fi/MARG定位子系统和 GPS/MARG定位 子系统中出现的各种问题, 不仅显著提高了定位精度,还实现了室内室外的无缝定位, 扩大了定位系统的使用范围。 在另外一个实施例中, 还提供了一种软件, 该软件用于执行上述实施例及优选实 施方式中描述的技术方案。 在另外一个实施例中, 还提供了一种存储介质, 该存储介质中存储有上述软件, 该存储介质包括但不限于: 光盘、 软盘、 硬盘、 可擦写存储器等。 从以上的描述中,可以看出,本发明实现了如下技术效果:同时采用了 GPS/MARG 组合定位系统和 Wi-Fi/MARG组合定位系统, 当 GPS/MARG组合定位系统的定位性 能参数不能满足要求时, 就开启 Wi-Fi/MARG组合定位系统进行定位, 然后结合这两 个组合定位系统定位得到的结果最终计算得到移动目标的位置信息, 从而实现对移动 目标的准确定位。 通过上述方式解决了现有技术中单独采用 GPS/MARG 组合定位系 统或者 Wi-Fi/MARG组合定位系统进行定位而导致的在有些环境下对移动目标的定位 准确性较低的技术问题,达到了提高定位系统在各个环境下的定位准确性的技术效果, 扩大了定位系统的使用范围。 工业实用性 本发明使用了 GPS/MARG组合定位系统和 Wi-Fi/MARG组合定位系统两种定位 方式, 实现了这两种定位方式的优势互补, 能够实现对移动目标的准确定位, 解决了 现有技术中单独采用 GPS/MARG组合定位系统或者 Wi-Fi/MARG组合定位系统进行 定位而导致的在有些环境下对移动目标的定位准确性较低的技术问题, 达到了提高定 位系统在各个环境下的定位准确性的技术效果, 扩大了定位系统的使用范围, 具有较 好的工业实用性。 显然, 本领域的技术人员应该明白, 上述的本发明的各模块或各步骤可以用通用 的计算装置来实现, 它们可以集中在单个的计算装置上, 或者分布在多个计算装置所 组成的网络上, 可选地, 它们可以用计算装置可执行的程序代码来实现, 从而, 可以 将它们存储在存储装置中由计算装置来执行, 并且在某些情况下, 可以以不同于此处 的顺序执行所示出或描述的步骤, 或者将它们分别制作成各个集成电路模块, 或者将 它们中的多个模块或步骤制作成单个集成电路模块来实现。 这样, 本发明不限制于任 何特定的硬件和软件结合。 以上所述仅为本发明的优选实施例而已, 并不用于限制本发明, 对于本领域的技 术人员来说, 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内, 所作的 任何修改、 等同替换、 改进等, 均应包含在本发明的保护范围之内。 Wherein, the failure rate of the Wi-Fi/MARG combined positioning subsystem is defined as the difference between the current time Wi-Fi positioning system measurement value and the particle filter updated value, which is the current time Wi-Fi/MARG combination locator The position information of the moving target output by the system. Through the above-mentioned data fusion GPS/Wi-Fi/MARG combined positioning system for positioning, the two positioning subsystems with complementary features are effectively utilized, and the Wi-Fi/MARG positioning subsystem and the GPS/MARG positioning subsystem are significantly improved. The various problems that have arisen have not only significantly improved the positioning accuracy, but also achieved seamless positioning indoors and outdoors, and expanded the use range of the positioning system. In another embodiment, software is also provided for performing the technical solutions described in the above embodiments and preferred embodiments. In another embodiment, a storage medium is provided, the software being stored, including but not limited to: an optical disk, a floppy disk, a hard disk, a rewritable memory, and the like. From the above description, it can be seen that the present invention achieves the following technical effects: the GPS/MARG combined positioning system and the Wi-Fi/MARG combined positioning system are simultaneously adopted, and the positioning performance parameters of the GPS/MARG combined positioning system cannot be satisfied. When required, the Wi-Fi/MARG combined positioning system is turned on for positioning, and then the results of the positioning of the two combined positioning systems are combined to finally calculate the position information of the moving target, thereby achieving accurate positioning of the moving target. In the above manner, the GPS/MARG combined positioning system is separately adopted in the prior art. The technical problem of low positioning accuracy of moving targets in some environments caused by the positioning of the system or the Wi-Fi/MARG combined positioning system achieves the technical effect of improving the positioning accuracy of the positioning system in various environments, and expands The scope of use of the positioning system. Industrial Applicability The present invention uses a GPS/MARG combined positioning system and a Wi-Fi/MARG combined positioning system to achieve two complementary positioning methods, which realizes the complementary advantages of the two positioning modes, and can accurately locate the moving target and solve the present problem. In the technology, the GPS/MARG combined positioning system or the Wi-Fi/MARG combined positioning system is used for positioning, and the positioning accuracy of the moving target is low in some environments, and the positioning system is improved in various environments. The technical effect of the positioning accuracy is expanded, and the use range of the positioning system is expanded, which has good industrial applicability. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device and, in some cases, may be different from the order herein. The steps shown or described are performed, or they are separately fabricated into individual integrated circuit modules, or a plurality of modules or steps are fabricated as a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

权 利 要 求 书 一种定位方法, 包括: Claims A method of positioning, including:
计算得到 GPS/MARG组合定位系统当前的定位性能参数;  Calculate the current positioning performance parameters of the GPS/MARG combined positioning system;
如果所述定位性能参数符合预先设置的条件, 贝 lj启动 Wi-Fi/MARG组合定 位系统进行定位;  If the positioning performance parameter meets the preset condition, the shell lj starts the Wi-Fi/MARG combination positioning system for positioning;
根据所述 GPS/MARG组合定位系统定位得到的结果和所述 Wi-Fi/MARG 组合定位系统定位得到的结果计算得到移动目标的位置信息。 根据权利要求 1所述的方法, 其中, 在计算得到 GPS/MARG组合定位系统当 前的定位性能参数之后, 所述方法还包括:  The position information of the moving target is calculated according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result obtained by the positioning of the Wi-Fi/MARG combined positioning system. The method according to claim 1, wherein after calculating the current positioning performance parameter of the GPS/MARG combined positioning system, the method further includes:
如果所述定位性能参数不符合预先设置的条件, 则将所述 GPS/MARG组 合定位系统定位得到的结果作为所述移动目标的位置信息。 根据权利要求 1或 2所述的方法, 其中, 所述计算得到 GPS/MARG组合定位 系统当前的定位性能参数包括:  If the positioning performance parameter does not meet the pre-set condition, the result obtained by positioning the GPS/MARG combined positioning system is used as the location information of the moving target. The method according to claim 1 or 2, wherein the calculating the current positioning performance parameters of the GPS/MARG combined positioning system comprises:
获取当前时刻 GPS接收机的水平精度衰减因子;  Obtaining the horizontal precision attenuation factor of the GPS receiver at the current moment;
计算所述 GPS/MARG组合定位系统的失效率, 其中, 所述失效率是当前 时刻 GPS接收机的测量值与卡尔曼滤波后更新的结果之间的差值;  Calculating a failure rate of the GPS/MARG combined positioning system, wherein the failure rate is a difference between a measured value of the GPS receiver at the current moment and a result of updating after Kalman filtering;
根据所述水平精度衰减因子和所述失效率计算得到所述定位性能参数。 根据权利要求 1或 2所述的方法, 其中, 符合所述预先设置的条件包括: 所述 定位性能参数大于预定的参数阈值。 根据权利要求 3所述的方法, 其中,  The positioning performance parameter is calculated according to the horizontal precision attenuation factor and the failure rate. The method according to claim 1 or 2, wherein the meeting the pre-set conditions comprises: the positioning performance parameter being greater than a predetermined parameter threshold. The method according to claim 3, wherein
按照以下公式计算所述 GPS/MARG组合定位系统的失效率:
Figure imgf000017_0001
Calculate the failure rate of the GPS/MARG combined positioning system according to the following formula:
Figure imgf000017_0001
r 1 其中, ^ 表示当前时刻 GPS/MARG组合定位系统的失效率, g^,fc表 示当前时刻 GPS/MARG组合定位系统输出的移动目标的位置信息, Φ 表示 状态转换矩阵, k是时刻标识; I I表示求欧式距离, g^^ 表示当前时刻的前 一时刻利用卡尔曼滤波获得的所述移动目标的位置估计值; r 1 where ^ represents the failure rate of the GPS/MARG combined positioning system at the current moment, g^, fc represents the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, Φ indicates a state transition matrix, k is a time stamp; II represents a Euclidean distance, and g^^ represents a position estimate of the moving target obtained by Kalman filtering at a previous moment of the current time;
按照以下公式计算得到所述定位性能参数:  The positioning performance parameters are calculated according to the following formula:
C ^ 1 - ")脚尸 其中, 表示所述定位性能参数, "表示加权因子, 0≤«≤1, HDOP 表示水平精度衰减因子。 C ^ 1 - ") The foot of the body, which represents the positioning performance parameter, "represents the weighting factor, 0 ≤ « ≤ 1, HDOP represents the horizontal precision attenuation factor.
6. 根据权利要求 1或 2所述的方法, 其中, 所述根据所述 GPS/MARG组合定位 系统定位得到的结果和所述 Wi-Fi/MARG组合定位系统定位得到的结果计算得 到移动目标的位置信息包括: The method according to claim 1 or 2, wherein the result of the positioning by the GPS/MARG combined positioning system and the result of the positioning of the Wi-Fi/MARG combined positioning system are calculated to obtain a moving target Location information includes:
将所述定位性能参数作为加权系数;  Using the positioning performance parameter as a weighting coefficient;
根据所述加权系数对所述 GPS/MARG组合定位系统定位得到的结果和所 述 Wi-Fi/MARG组合定位系统定位得到的结果进行加权运算, 得到所述移动目 标的位置信息。  And performing weighting operation on the result obtained by positioning the GPS/MARG combined positioning system and the positioning result of the Wi-Fi/MARG combined positioning system according to the weighting coefficient, to obtain position information of the moving target.
7. 根据权利要求 6所述的方法, 其中, 按照以下公式计算所述移动目标的位置信 息-
Figure imgf000018_0001
其中, z表示计算得到的所述移动目标的位置信息, ^" 表示当前时刻
7. The method according to claim 6, wherein the position information of the moving target is calculated according to the following formula -
Figure imgf000018_0001
Where z represents the calculated position information of the moving target, ^" represents the current time
GPS/MARG组合定位系统的失效率, rwifl'k表示当前时刻 Wi-Fi/MARG组合定 位系统的失效率, gp^表示当前时刻 GPS/MARG组合定位系统输出的移动目 标的位置信息, 表示当前时刻 Wi-Fi/MARG组合定位系统输出的移动目 标的位置信息, k是时刻标识。 The failure rate of the GPS/MARG combined positioning system, rwifl ' k indicates the failure rate of the Wi-Fi/MARG combined positioning system at the current moment, and gp ^ indicates the position information of the moving target output by the GPS/MARG combined positioning system at the current moment, indicating the current moment. The position information of the moving target output by the Wi-Fi/MARG combined positioning system, k is the time identification.
8. 一种定位装置, 包括: 8. A positioning device comprising:
第一计算单元, 设置为计算 GPS/MARG组合定位系统当前的定位性能参 数; 启动单元, 设置为在所述定位性能参数符合预先设置的条件情况下, 启动 Wi-Fi/MARG组合定位系统进行定位; a first calculating unit, configured to calculate a current positioning performance parameter of the GPS/MARG combined positioning system; The startup unit is configured to start the Wi-Fi/MARG combined positioning system for positioning when the positioning performance parameter meets a preset condition;
第二计算单元, 设置为根据所述 GPS/MARG组合定位系统定位得到的结 果和所述 Wi-Fi/MARG组合定位系统定位得到的结果计算得到移动目标的位置 信息。  The second calculating unit is configured to calculate the position information of the moving target according to the result obtained by the positioning of the GPS/MARG combined positioning system and the result obtained by the positioning of the Wi-Fi/MARG combined positioning system.
9. 根据权利要求 8所述的装置, 其中, 所述第一计算单元包括: 9. The device according to claim 8, wherein the first calculating unit comprises:
获取模块, 设置为获取当前时刻 GPS接收机的水平精度衰减因子; 第一计算模块, 设置为计算所述 GPS/MARG组合定位系统的失效率, 其 中,所述失效率是当前时刻 GPS接收机的测量值与卡尔曼滤波后更新的结果之 间的差值;  Obtaining a module, configured to obtain a horizontal precision attenuation factor of the GPS receiver at the current moment; the first calculating module is configured to calculate a failure rate of the GPS/MARG combined positioning system, wherein the failure rate is a current time GPS receiver The difference between the measured value and the updated result after Kalman filtering;
第二计算模块, 设置为根据所述水平精度衰减因子和所述失效率计算得到 所述定位性能参数。  And a second calculating module, configured to calculate the positioning performance parameter according to the horizontal precision attenuation factor and the failure rate.
10. 根据权利要求 8或 9所述的装置, 其中, 所述第二计算单元包括: The device according to claim 8 or 9, wherein the second calculating unit comprises:
确定模块, 设置为将所述定位性能参数作为加权系数;  a determining module, configured to use the positioning performance parameter as a weighting coefficient;
运算模块, 设置为根据所述加权系数对所述 GPS/MARG组合定位系统定 位得到的结果和所述 Wi-Fi/MARG 组合定位系统定位得到的结果进行加权运 算, 得到所述移动目标的位置信息。  An operation module, configured to perform weighting operation on a result obtained by positioning the GPS/MARG combined positioning system according to the weighting coefficient and a result obtained by positioning the Wi-Fi/MARG combined positioning system, to obtain location information of the moving target .
11. 一种定位系统, 包括: Wi-Fi定位装置、 MARG传感器、 GPS接收机, 粒子滤 波器、 卡尔曼滤波器、 性能检测装置, 以及组合定位装置, 其中, A positioning system, comprising: a Wi-Fi positioning device, a MARG sensor, a GPS receiver, a particle filter, a Kalman filter, a performance detecting device, and a combined positioning device, wherein
所述 Wi-Fi定位装置的输出端与所述粒子滤波器的输入端相连; 所述 GPS接收机的输出端与所述卡尔曼滤波器的输入端相连; 所述 MARG传感器通过姿态信息获取单元分别与所述粒子滤波器和所述 卡尔曼滤波器相连;  An output end of the Wi-Fi positioning device is connected to an input end of the particle filter; an output end of the GPS receiver is connected to an input end of the Kalman filter; and the MARG sensor passes an attitude information acquiring unit Connected to the particle filter and the Kalman filter, respectively;
所述性能检测装置的输入端分别与所述 GPS 接收机的输出端和所述卡尔 曼滤波器的输出端相连, 设置为计算 GPS/MARG组合定位系统当前的定位性 能参数;  An input end of the performance detecting device is respectively connected to an output end of the GPS receiver and an output end of the Kalman filter, and is configured to calculate a current positioning performance parameter of the GPS/MARG combined positioning system;
所述组合定位装置, 分别与所述粒子滤波器的输出端和所述性能检测装置 的输出端相连, 设置为根据所述 GPS/MARG组合定位系统定位得到的结果和 所述 Wi-Fi/MARG 组合定位系统定位得到的结果计算得到移动目标的位置信 息。 根据权利要求 11所述的定位系统, 其中, The combined positioning device is respectively connected to an output end of the particle filter and an output end of the performance detecting device, and is set to obtain a result according to the positioning of the GPS/MARG combined positioning system. The result obtained by the positioning of the Wi-Fi/MARG combined positioning system calculates the position information of the moving target. The positioning system according to claim 11, wherein
所述性能检测装置的输出端通过单刀双掷开关与所述组合定位装置相连, 其中, 所述性能检测装置的输出端与所述单刀双掷开关的输入端相连, 所述单 刀双掷开关的第一输出端与所述组合定位装置的输入端相连, 所述单刀双掷开 关的第二输出端与输出线路相连;  An output end of the performance detecting device is connected to the combined positioning device by a single-pole double-throw switch, wherein an output end of the performance detecting device is connected to an input end of the single-pole double-throw switch, and the single-pole double-throw switch The first output end is connected to the input end of the combined positioning device, and the second output end of the single-pole double-throw switch is connected to the output line;
所述 Wi-Fi 定位装置输出端通过第一开关与所述粒子滤波器的输入端相 连;  The output of the Wi-Fi positioning device is connected to the input end of the particle filter through a first switch;
所述粒子滤波器的输出端通过第二开关与所述组合定位装置的输入端相 连;  An output end of the particle filter is connected to an input end of the combined positioning device through a second switch;
在所述定位性能参数符合预先设置的条件情况下, 所述单刀双掷开关的输 入端与所述单刀双掷开关的第一输入端处于导通状态, 所述第一开关和所述第 二开关处于闭合状态。  The input end of the single-pole double-throw switch and the first input end of the single-pole double-throw switch are in an on state, the first switch and the second, in a case that the positioning performance parameter meets a preset condition The switch is in the closed state.
PCT/CN2013/082230 2012-11-26 2013-08-23 Positioning method, device and system WO2014079245A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210486831.5 2012-11-26
CN201210486831.5A CN103841638B (en) 2012-11-26 2012-11-26 Localization method, apparatus and system

Publications (1)

Publication Number Publication Date
WO2014079245A1 true WO2014079245A1 (en) 2014-05-30

Family

ID=50775478

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/082230 WO2014079245A1 (en) 2012-11-26 2013-08-23 Positioning method, device and system

Country Status (2)

Country Link
CN (1) CN103841638B (en)
WO (1) WO2014079245A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105050052A (en) * 2015-06-04 2015-11-11 大连理工大学 Chi-square measure and sensitivity rule based wireless local area network indoor positioning method
CN113079458A (en) * 2021-03-19 2021-07-06 甄十信息科技(上海)有限公司 Method and equipment for positioning wearable mobile terminal
CN113932809A (en) * 2021-11-26 2022-01-14 昆山九毫米电子科技有限公司 Indoor unmanned target vehicle positioning method based on intelligent particle filtering

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108966127B (en) * 2018-07-18 2021-03-30 广东小天才科技有限公司 Positioning deviation rectifying method and positioning server combining Wi-Fi fingerprint and satellite positioning

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1875290A (en) * 2003-09-19 2006-12-06 高通股份有限公司 System and method for integration of wireless computer network in position determining technology
CN101799530A (en) * 2009-12-29 2010-08-11 广东广联电子科技有限公司 Wireless indoor location method and system thereof
CN102333351A (en) * 2011-06-27 2012-01-25 北京邮电大学 Positioning technology switching method and mobile device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110131781A (en) * 2010-05-31 2011-12-07 삼성전자주식회사 Method for presuming accuracy of location information and apparatus for the same
US8812014B2 (en) * 2010-08-30 2014-08-19 Qualcomm Incorporated Audio-based environment awareness

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1875290A (en) * 2003-09-19 2006-12-06 高通股份有限公司 System and method for integration of wireless computer network in position determining technology
CN101799530A (en) * 2009-12-29 2010-08-11 广东广联电子科技有限公司 Wireless indoor location method and system thereof
CN102333351A (en) * 2011-06-27 2012-01-25 北京邮电大学 Positioning technology switching method and mobile device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105050052A (en) * 2015-06-04 2015-11-11 大连理工大学 Chi-square measure and sensitivity rule based wireless local area network indoor positioning method
CN113079458A (en) * 2021-03-19 2021-07-06 甄十信息科技(上海)有限公司 Method and equipment for positioning wearable mobile terminal
CN113932809A (en) * 2021-11-26 2022-01-14 昆山九毫米电子科技有限公司 Indoor unmanned target vehicle positioning method based on intelligent particle filtering
CN113932809B (en) * 2021-11-26 2024-03-12 昆山九毫米电子科技有限公司 Indoor unmanned target vehicle positioning method based on intelligent particle filtering

Also Published As

Publication number Publication date
CN103841638A (en) 2014-06-04
CN103841638B (en) 2018-06-22

Similar Documents

Publication Publication Date Title
US9594150B2 (en) Determining device locations using movement, signal strength
US9223004B2 (en) Controlling position uncertainty in a mobile device
US8583146B2 (en) Indoor positioning using joint likelihoods
JP5787993B2 (en) Improvement of mobile station positioning using inertial sensor data
CN109982398B (en) Indoor and outdoor seamless positioning method, device, equipment and medium
EP2232925B1 (en) Use of movement information about a wireless client
US9497596B2 (en) System and method for filtering mobile terminal location by combining Wi-Fi location information with sensor information
WO2013155919A1 (en) Positioning method and system
US8378891B2 (en) Method and system for optimizing quality and integrity of location database elements
CN112556696B (en) Object positioning method and device, computer equipment and storage medium
WO2014079245A1 (en) Positioning method, device and system
KR20160079108A (en) Low power positioning techniques for mobile devices
EP3440448B1 (en) Automatic pressure sensor output calibration for reliable altitude determination
US10123176B2 (en) Location estimation apparatus and method using combination of different positioning resources
US9258679B1 (en) Modifying a history of geographic locations of a computing device
US9921291B2 (en) Multi-tiered distance travelled estimator
CN113899369A (en) ultra-wideband/PDR (pulse-modulated Power Rate) indoor positioning method based on adaptive noise reduction algorithm
US20230384097A1 (en) Calibrating A Pressure Sensor
WO2013096209A1 (en) System and method for probablistic wlan positioning
KR20120081304A (en) System for adaptive location determination and method using by the same
Labinghisa et al. Improved indoor localization system based on virtual access points in a Wi-Fi environment by filtering schemes
Zhang et al. An adaptive road-constrained IMM estimator for ground target tracking in GSM networks
Correa et al. Distance-based tuning of the EKF for indoor positioning in WSNs
Xu et al. Vehicle positioning using Wi-Fi networks and GPS/DR system
KR102408488B1 (en) Apparatus and method for estimating location

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13857074

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13857074

Country of ref document: EP

Kind code of ref document: A1