WO2017133480A1

WO2017133480A1 - Positioning method and device

Info

Publication number: WO2017133480A1
Application number: PCT/CN2017/071818
Authority: WO
Inventors: 曲文启; 李�瑞; 闻宏观
Original assignee: 高德信息技术有限公司
Priority date: 2016-02-02
Filing date: 2017-01-20
Publication date: 2017-08-10
Also published as: CN107027168A

Abstract

The present application relates to a positioning method and device. The method comprises: acquiring, at a point to be positioned, first positioning information sent respectively by at least two positioning modules with different positioning modes; matching the first positioning information with second positioning information corresponding to positions pre-stored in a pre-stored positioning data fingerprint library to determine a position corresponding to the positioning mode; and then synthetically obtaining the position of the point to be positioned according to the positions corresponding to various positioning modes. By means of using at least two positioning modules with different positioning modes to position a point to be positioned, the problem existing in the prior art of low accuracy in positioning the point to be positioned only according to a single positioning mode is overcome.

Description

Positioning method and device

The present application claims priority to Chinese Patent Application Serial No. No. No. No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No

Technical field

The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus.

Background technique

At present, the most mainstream indoor positioning technologies mainly include triangulation and fingerprint positioning. Both of the positioning technologies are single positioning modes (since one positioning mode is used for positioning, the single positioning mode is also called a single Signal source location), for example, the positioning mode is wifi positioning, Bluetooth positioning, and the like.

In the actual application, each positioning mode corresponds to a kind of positioning information. For example, if the positioning mode is wifi positioning, the corresponding positioning information is a wifi signal, that is, the positioning mode scans the wifi signal sent by the wifi device; if the positioning mode is Bluetooth positioning, The corresponding positioning information is Bluetooth information, that is, the positioning mode scans the Bluetooth information sent by the Bluetooth device. The positioning device for the same positioning mode may be insufficient due to uneven deployment, high cost, and insufficient positioning device, or the distribution characteristics and signal propagation characteristics of the positioning device. The coverage of the positioning device that causes the positioning mode is incomplete, and there is no signal or the signal is weak and cannot be located. Once the object to be located enters these areas, the positioning failure or the inaccurate positioning problem may result.

Summary of the invention

A positioning method and device provided by the embodiments of the present application improve the positioning success rate and accuracy.

To achieve the above object, the present application provides a method for positioning, the method comprising:

Acquiring first positioning information sent by the positioning module of at least two different positioning modes at the to-be-located point;

Separating the first positioning information sent by each positioning module into a group, and obtaining first positioning information corresponding to each positioning mode;

For each positioning mode, the first positioning information of the positioning mode is matched with the second positioning information corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode, and the positioning mode is determined. position;

The position corresponding to the point to be located is determined according to the position corresponding to each positioning mode.

The embodiment of the present application further provides a positioning apparatus, where the apparatus includes an acquiring unit, a grouping unit, a first determining unit, and a second determining unit, where:

The acquiring unit is configured to acquire first positioning information that is sent by the positioning module of the at least two different positioning modes at the point to be located;

The grouping unit is configured to group the first positioning information sent by each positioning module into a group, and obtain first positioning information corresponding to each positioning mode;

The first determining unit is configured to: for each positioning mode, the first positioning information of the positioning mode and the second positioning information corresponding to each location stored in the positioning data fingerprint database of the preset corresponding positioning mode Performing a match to determine a location corresponding to the positioning mode;

The second determining unit is configured to determine a location corresponding to the to-be-located point according to a location corresponding to each positioning mode.

A terminal device comprising at least two positioning modules of different positioning modes and a processor;

The locating module is configured to: when the user starts the location service of the terminal device, scan the first positioning information sent by the positioning device around the current location of the terminal device or the first positioning information of the surrounding environment.

a processor, configured to group the first positioning information sent by the positioning module of the same positioning mode into a group, to obtain first positioning information corresponding to each positioning mode; and to locate the first positioning mode of the positioning mode for each positioning mode The information is matched with the second positioning information corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode, and the position corresponding to the positioning mode is determined; and the position corresponding to each positioning mode is determined. The current location of the terminal device.

The positioning method and device provided by the embodiment of the present application can locate the positioning point (also referred to as multi-signal source positioning) through the positioning module of at least two different positioning modes at the same point to be located, on the one hand, different positioning The location of the corresponding positioning device in the mode is different. Compared with the deployment of the positioning device in a single positioning mode, the positioning device of different positioning modes covers a larger density for the same area, and the signal coverage of the positioning device is relatively complete. Moreover, the signal distribution characteristics and signal propagation characteristics of the positioning devices corresponding to different positioning modes are different, so that they can complement each other, and there is little probability that there is no positioning information or a weak positioning information, so that the positioning can be received at each position. The positioning information of the positioning device to the different positioning modes can be successfully located based on the positioning information, and overcomes the problem that the positioning information sent by the positioning device according to the single positioning mode in the prior art is located, and the positioning fails; Can be positioned according to each positioning mode Positioning is performed to obtain a corresponding position, and the position of the point to be positioned is comprehensively obtained according to the position corresponding to the plurality of positioning modes, thereby overcoming the problem that the positioning of the single positioning mode itself is unstable, resulting in inaccurate positioning, and thus positioning relative to the single positioning mode The obtained position is more accurate, and the application improves the positioning accuracy.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments of the present application will be briefly described below. Obviously, the drawings described below are only some embodiments of the present application, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

FIG. 1 is a flowchart of a positioning method according to an embodiment of the present application;

2 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure.

detailed description

The positioning method and device provided by the embodiments of the present application are applicable to electronic map positioning, such as indoor positioning and outdoor positioning.

In the embodiment of the present application, the positioning of the first positioning information in the positioning mode may be performed by using a triangulation technique or a fingerprint positioning technology.

The "fingerprint" in the fingerprint positioning technology is a multi-path characteristic signal generated by a positioning device (such as an access point (AP)) after a positioning signal is reflected, refracted, etc., and is generated at a certain position. Fingerprint information at that location. If the positioning device is an AP, the radio wave transmitted by the AP is reflected and refracted, and a multipath characteristic signal corresponding to the position is generated at a certain position, and the multipath characteristic signal is confirmed as the “fingerprint of the AP at the position. "If the AP is a Bluetooth device, a base station device, or a wifi device, the "fingerprint" at that location is the signal strength value.

The fingerprint location process can be divided into two phases: “offline training” and “online positioning”. The "offline training" phase is for all the locations with positioning requirements, and a plurality of positioning devices are fixedly disposed in the site, and the positioning information transmitted by the positioning devices of the surrounding positioning modes can be collected by the collecting personnel at various locations of the site by the collecting personnel in advance. And/or using the collecting device to scan the environment positioning information of each location point; for each positioning mode, establishing a correspondence relationship between each location point and the positioning information of the positioning device or the environment positioning information corresponding to the positioning mode at the location point, The location data fingerprint database is obtained, that is, the location where the location data fingerprint database stores a large number of location points and the location information corresponding to the location (referred to as second location information in this application). "Online/Positioning" refers to positioning information or environment positioning information that is sent by a positioning device that receives each positioning mode at a location where the object to be located is located (ie, a point to be located). Positioning information) and based on the positioning information or environmental location letter The information is matched with the fingerprint in the positioning data fingerprint database corresponding to the corresponding positioning mode to obtain the position of the point to be located.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope shall fall within the scope of the application.

FIG. 1 is a flowchart of a positioning method according to an embodiment of the present application. As shown in FIG. 1 , the execution body of the method 100 is a terminal device having a positioning function, such as a mobile phone, a pad, a mobile computer, etc., and a positioning module of at least two positioning modes is disposed in the terminal device, and the method 100 includes the following: step:

S110: Acquire first positioning information sent by a positioning module of at least two different positioning modes at a point to be located.

In the embodiment of the present application, if the positioning information corresponding to the positioning mode is sent by the positioning device fixed to the specific location, the positioning module corresponding to the positioning mode scans the positioning information sent by the positioning device at the point to be located; if the positioning mode corresponds to the positioning The information is information that is available for positioning in the environment, and the positioning module corresponding to the positioning mode scans the positioning information in the environment.

For example, the positioning mode may include wifi positioning, Bluetooth positioning, base station positioning, geomagnetic positioning, optical positioning, infrared positioning, etc., and corresponding positioning modules disposed in the terminal device are a wifi receiver, a Bluetooth receiver, a base station receiver, and a geomagnetic sensor. , light sensor and infrared receiver; wherein, wifi positioning, Bluetooth positioning, base station positioning, infrared positioning, the corresponding positioning information can be sent from the wifi device, Bluetooth device, base station device and infrared device and other positioning devices, then wifi receiving The device, the Bluetooth receiver, the base station receiver, the geomagnetic sensor, the light sensor, and the infrared receiver scan the positioning information transmitted by the wifi device, the Bluetooth device, the base station device, and the infrared device. If the positioning mode is optical positioning and geomagnetic positioning, the light sensor and the geomagnetic sensor scan the surrounding environment of the point to be located to obtain corresponding positioning information.

In the step S110, the acquiring the first positioning information that is sent by the positioning module of the at least two different positioning modes at the point to be located may include: acquiring the positioning of the at least two different positioning modes according to the preset acquisition period. The first positioning information sent by the module, where the acquiring period is higher than or equal to the sending period in which the positioning module sends the first positioning information. Therefore, in the foregoing step S110, the positioning module that acquires at least two different positioning modes may be sent at the to-be-located point. At least one first positioning information.

For example, if the terminal device is provided with a wifi receiver, a Bluetooth receiver, and a geomagnetic sensor, the point to be located is point A, and the first positioning information sent by the wifi receiver, the Bluetooth receiver, and the geomagnetic sensor is acquired at point A. They are (T, maclist), (T, blelist), and (T, maglist), where: (T, maclist) represents multiple wifis scanned by the wifi receiver at point A during the T period (ie, the acquisition period). Wifi information sent by the device (the wifi information includes the MAC (Media Access Control) address of the wifi device and the wifi (T, blelist) indicates Bluetooth information sent by multiple Bluetooth devices scanned by the Bluetooth receiver at point A during the T time period (the Bluetooth information includes the Bluetooth device's MAC address and Bluetooth signal strength value); T, maglist) represents a plurality of geomagnetic information (the geomagnetic intensity value is included in the geomagnetism information) scanned by the geomagnetic sensor at point A during the T period. The wifi information scanned by the wifi receiver in the T time period is t1 (ss11, ss12, ..., ss1n); t2 (ss21, ss22, ..., ss2m); t3 (ss31, ss32, ..., ss3k) Where t1, t2, and t3 represent different time points within the T time period; ss identifies the signal strength value of the wifi information. In the embodiment of the present application, the positioning information obtained by scanning the Bluetooth receiver and the geomagnetic sensor is similar in form to the wifi information, and is not described here.

S120. The first positioning information sent by the positioning module in the same positioning mode is grouped into one group, and the first positioning information corresponding to each positioning mode is obtained.

In the actual application, since the first positioning information sent by the positioning module may be received in the same acquisition period, the first positioning information has data redundancy, and the positioning is performed according to the first positioning information including the redundant data. Resulting in slower positioning. Preferably, in order to solve the problem, in the foregoing S120, after the first positioning information sent by the positioning module of the same positioning mode is divided into a group, each group of the first positioning information is weighted, and the weighted after the weighting is performed. The group positioning information is determined as the first positioning information corresponding to the corresponding positioning mode, so as to complete the redundancy processing on the first positioning information. The method of the weighting may be as follows: according to the positioning device ID number included in the first positioning information, the first positioning information of the same number of n (where n is a positive integer greater than or equal to 1) is confirmed as being sent by the same positioning device. For positioning information, one of the n first positioning information is selected to be retained, and the remaining n-1 first positioning information are removed; or, according to the ID number of the positioning device included in the first positioning information, If the first pieces of the first positioning information are the same as the positioning information sent by the same positioning device, the first positioning information is calculated according to the n first positioning information, and the first positioning information is replaced by the first positioning information. For example, the first positioning information is used as the signal strength, and the average value of the signal strengths of the n first positioning information is determined as the first calculated positioning information. For example, if the positioning mode is wifi positioning, and a wifi signal of multiple transmission periods sent by the wifi positioning module is acquired in one acquisition period, wherein multiple wifi signals are scanned from the same positioning device, the multiple wifi signals are calculated. If the signal strength yields a wifi signal strength, the wifi signal strength is retained and the aforementioned plurality of wifi signals are deleted.

S130. For each positioning mode, the first positioning information of the positioning mode is matched with the second positioning information corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode, and the positioning mode is determined. position.

Optionally, in the foregoing application, in the foregoing S130, the specific implementation may be as follows:

For each of the positioning modes, respectively calculating the similarity between the feature information of the first positioning information of the positioning mode and the corresponding feature information of the second positioning information corresponding to each position in the positioning data fingerprint database; at least one of the similarities is greater The position corresponding to the second positioning information is determined as the position corresponding to the positioning mode. For example, in the order of similarity from high to low, the positions corresponding to the n pieces of second positioning information are sequentially determined to be the positions corresponding to the positioning mode. The feature information refers to information that can be used for positioning. For example, the first positioning information is wifi information, Bluetooth information, geomagnetic information, etc., and the corresponding feature information is a signal strength value; the first positioning information is infrared, and the corresponding feature information. Receive time for information.

For each location in the location data fingerprint database, the similarity between the feature information of the first location information of the location mode and the corresponding feature information of the second location information corresponding to the location is calculated according to formula 1.1:

Wherein, Score represents a similarity; n represents a maximum value of the number of positioning information included in the first positioning information and the second positioning information, and ssi is characteristic information of the i-th positioning information in the first positioning information, and ffi is Feature information of the i-th positioning information of the second positioning information.

For example, if the positioning mode is wifi positioning, the positioning module corresponding to the positioning mode is a wifi positioning module, and the first positioning information received from the wifi positioning module at the point P to be located is {ss1, ss2, ..., ssn}; positioning data The location stored in the fingerprint library and its second positioning information are as follows: P1 (ff11, ff21, ..., ff1m), P2 (ff21, ff22, ..., ff2n), P3 (ff31, ff32, ..., ff3k), ...Pi(ffi1,ffi2,...,ffij). First, for each location in the location data fingerprint database, the similarity between the first location information of the location to be located P and the second location information of the location is calculated according to the foregoing formula 1.1, and the first location information of the P is obtained respectively. The similarity of the second positioning information of P1, P2, P3, ... Pi, ... is in order x1, x2, x3, ... xi, ...; secondly, x1, x2, x3, ... xi, ... are in accordance with the largest to smallest Sorting sequentially; finally, the first n after sorting (n may have a value of 1, or may be a positive integer greater than 1, and may be flexibly set according to actual needs). The position of the second positioning information corresponding to the similarity is determined as The position of the point P to be positioned. The similarity between the second positioning information corresponding to each position and the first positioning information of the point P to be located is calculated according to the formula 1.1, and P1 can be used as an example for description, as follows:

Step A1, taking the maximum value of the number of positioning information included in the second positioning information corresponding to P1 and the first positioning information of P, that is, taking L=max(m, n), and if m=n, performing step A4, If m>n, step A2 is performed, and if m<n, step A3 is performed;

In step A2, the first positioning information corresponding to the P is added to the m data, that is, (mn) preset positioning information is added to the first positioning information, for example, (mn) preset positioning information may be added, such as {ss1, ss2, ..., ssn, ss0, ss0, ..., ss0}; and perform step A4;

In step A3, the second positioning information corresponding to P1 is complemented to n data, that is, (nm) positioning information is added to the second positioning information, for example, (nm) preset positioning information may be added, such as {ff11, Ff12,...,ff1m,ff0,ff0,...,ff0}; and perform step A4;

In step A4, according to the foregoing formula 1.1, the similarity between the first positioning information of P and the second positioning information of P1 is calculated as x1.

The foregoing ss0 and ff0 are preset feature information, and the value is an empirical value, and the two may be the same or different.

For example, the positioning mode is wifi positioning, and the first positioning information sent by the wifi positioning module is P{ss1, ss2, ss3, ss4, ss5} at the point P to be located; the positioning data fingerprint database corresponding to the wifi positioning mode is wifi fingerprint. Library, the wifi fingerprint library includes P1{ff11, ff12, ff13, ff14, ff15}; P2{ff21, ff22, ff23, ff24}; P3{ff31, ff32, ff33, ff34, ff35, ff36}. After the foregoing steps, the number of the first positioning information of the P is the same as the number of the second positioning information of the P1, and the similarity between the P first positioning information and the second positioning information of the P1 can be directly calculated according to the formula 1.1 to be x1; If the number of the first positioning information is greater than the number of the second positioning information of the P2, the P2 second positioning information is processed into P2{ff21, ff22, ff23, ff24, ff0}, and then the P first positioning information is calculated according to the foregoing formula 1.1. The similarity of the second positioning information of the P2 is x2; if the number of the first positioning information of the P is smaller than the number of the second positioning information of the P3, the first positioning information of the P is processed as P{ss1, ss2, ss3, ss4, Ss5, ss0}, and then according to formula 1.1, the similarity between the P first positioning information and the second positioning information of P3 is x3. The processing modes of other positioning modes are similar to those of the foregoing wifi positioning mode, and will not be further described herein.

S140. Determine a position corresponding to the point to be located according to the position corresponding to each positioning mode.

Preferably, in the embodiment of the present application, the location corresponding to the location to be located is determined according to the location of each location mode in S140, and the specific implementation may be as follows: Step A, according to the second location information corresponding to the location of each location mode and corresponding The similarity of the first positioning information of the positioning mode determines the weight of each positioning mode; in step B, the position corresponding to the positioning point is comprehensively determined according to the position of each positioning mode and its weight.

Optionally, in the embodiment of the present application, in step A, determining the weight of each positioning mode according to the similarity between the second positioning information of the position corresponding to each positioning mode and the first positioning information of the corresponding positioning mode, It can be implemented in at least two ways:

Manner 11: calculating a sum of similarity between the second positioning information of the position corresponding to all the positioning modes and the first positioning information of the corresponding positioning mode as the first sum value; for each positioning mode, calculating the position corresponding to the positioning mode The sum of the similarity between the second positioning information and the first positioning information of the positioning mode, and the ratio of the sum value to the first sum value is determined as the weight of the positioning mode. That is, the higher the similarity between the second positioning information of the corresponding position of the positioning mode and the first positioning information of the point to be located, the position of the positioning mode is considered to be more accurate, and the reliability is higher, so the positioning mode corresponds to The greater the weight.

For example, it is assumed that the positioning mode includes wifi positioning, Bluetooth positioning, and geomagnetic positioning, and the position corresponding to the wifi positioning and its similarity (that is, the similarity between the second positioning information of the position and the first positioning information of the to-be-located point) is (P1, S1), (P2, S2), (P3, S3), where P represents position and S represents similarity; the position and similarity corresponding to Bluetooth positioning are (P4, S4), (P5, S5), (P6, S6); the position corresponding to the geomagnetic positioning and its similarity are (P7, S7), (P8, S8), (P9, S9). According to the foregoing manner, the weight corresponding to the wifi positioning a=(S1+S2+S3)/(S1+S2+S3+S4+S5+S6+S7+S8+S9); the weight corresponding to the Bluetooth positioning b=(S4) +S5+S6)/(S1+S2+S3+S4+S5+S6+S7+S8+S9); the weight of geomagnetic positioning c=(S7+S8+S9)/(S1+S2+S3+S4+S5 +S6+S7+S8+S9). For example, if S1 to S9 are sequentially increased, the weight c>b>a.

Manner 12: calculating, for each positioning mode, a similarity average of the second positioning information of the position corresponding to the positioning mode and the first positioning information of the corresponding positioning mode; and the correspondence between the preset similarity and the weight, Obtaining a weight corresponding to the similarity average value corresponding to the positioning mode (if the weight corresponding to the similarity of the similarity average value in the correspondence relationship is determined as the weight corresponding to the similarity average value), The weight is determined as the weight of the positioning mode. In the correspondence between the similarity and the weight, the greater the similarity, the larger the weight.

Optionally, in the embodiment of the present application, in step B, the location corresponding to the to-be-located point is determined according to the location of each positioning mode and its weight, which may be implemented according to at least the following two modes:

Method 21: Calculate the longitude average and the latitude average of the position corresponding to the positioning mode for each positioning mode, and calculate the product of the longitude average and the latitude average respectively and the weight of the positioning mode, to obtain the longitude weighted average of the positioning mode. And a weighted average of the latitude; determining a sum of the longitude-weighted average values corresponding to the respective positioning modes as the longitude of the corresponding position of the to-be-positioned point, and determining a sum of the latitude-weighted average values corresponding to the respective positioning modes as the to-be-positioned point The latitude of the corresponding position.

For example, the foregoing examples are described. It is assumed that the latitude and longitude coordinates of the position corresponding to the point to be located are represented by (x, y); the corresponding latitude and longitude coordinates of the positions corresponding to wifi positioning are P1, P2, and P3 are (x1, y1), (x2, y2), and (x3, respectively). Y3); the position corresponding to Bluetooth positioning is P4, P5 and P6, and the latitude and longitude coordinates are (x4, y4), (x5, y5) and (x6, y6) respectively; the corresponding positions of geomagnetic positioning are P7, P8 and P9. The latitude and longitude coordinates are (x7, y7), (x8, y8) and (x9, y9); the weights corresponding to wifi positioning, Bluetooth positioning and geomagnetic positioning are respectively a, b, c. Calculate the latitude and longitude coordinates of the position of the point to be located as follows:

Step B1: Calculate the longitude average and the latitude average of the position corresponding to the positioning mode for each positioning mode, that is,

Step B2: Calculating a product of a longitude average and a latitude average of each positioning mode and a weight of the positioning mode, respectively, to obtain a longitude weighted average and a latitude weighted average of the positioning mode, namely:

Step B3: determining a sum of the latitude weighted average values corresponding to the positioning modes as the latitude of the corresponding position of the to-be-located point, that is,

That is to say, the latitude and longitude coordinates of the point to be located are:

The method 22 calculates a longitude average and a latitude average of the position corresponding to the positioning mode for each positioning mode, and determines an average value of the longitude averages corresponding to each positioning mode as the longitude of the corresponding position of the to-be-positioned point, and The average value of the latitude average corresponding to the positioning mode is determined as the latitude of the position corresponding to the point to be positioned.

The above example is still taken as an example. It is assumed that the latitude and longitude coordinates of the position corresponding to the point to be located are represented by (x, y); the corresponding latitude and longitude coordinates of the positions corresponding to wifi positioning are P1, P2, and P3 are (x1, y1), (x2, y2), and (x3, respectively). Y3); The corresponding latitude and longitude coordinates of the positions corresponding to Bluetooth positioning are P4, P5, and P6 are (x4, y4), (x5, y5), and (x6, y6); the corresponding positions of geomagnetic positioning are the latitude and longitude coordinates corresponding to P7, P8, and P9. For (x7, y7), (x8, y8) and (x9, y9):

In the foregoing aspect 2, it is not necessary to consider the weight of each positioning mode with respect to the mode 1, and it is directly obtained from the average value of the latitude and longitude coordinates of the corresponding position of each positioning mode, and the implementation is relatively simple. The mode 1 is compared with the mode 2, and the weight of the positioning mode is determined according to the similarity between the corresponding position of the positioning mode and the second positioning information of the position and the first positioning information. For example, the higher the similarity, the higher the weight corresponding to the positioning mode. If the height is higher, the position of the point to be located calculated according to the foregoing manner 2 is closer to the position corresponding to the positioning mode with the weight. The higher the degree of similarity, the more accurate the position corresponding to the positioning mode is determined, so the weight is larger. The positioning mode has a higher position reliability, so that the position of the point to be positioned is more accurate to the position corresponding to the positioning mode. Therefore, compared with the mode 2, the mode 1 determines that the position of the point to be positioned is more accurate.

In the foregoing embodiment, only the positioning mode is wifi positioning, Bluetooth positioning, and geomagnetic positioning. The present application is not limited to the foregoing three positioning modes, and may also include other positioning modes, such as optical positioning, infrared positioning, base station positioning, and the like. That is, the positioning mode of the technical solution of the present application may include at least two or more positioning modes: wifi positioning, Bluetooth positioning, geomagnetic positioning, optical positioning, infrared positioning, and base station positioning. This is not strictly limited in the embodiment of the present application.

FIG. 2 is a schematic structural diagram of a positioning device according to an embodiment of the present application. As shown in FIG. 2, the apparatus 200 can be used to implement the method shown in FIG. 1. The apparatus 200 includes an obtaining unit 210, a grouping unit 220, a first determining unit 230, and a second determining unit 240, wherein the apparatus setting And a positioning device having a positioning function, wherein at least two positioning modules of different positioning modes are disposed in the terminal device, wherein

The acquiring unit 210 is configured to acquire first positioning information that is sent by the positioning module of the at least two different positioning modes at the point to be located.

The grouping unit 220 is configured to group the first positioning information sent by the positioning module of the same positioning mode into a group, and obtain first positioning information corresponding to each positioning mode.

The grouping unit 220 is specifically configured to divide the first positioning information sent by the positioning module in the same positioning mode into a group, and perform weighting on each group of first positioning information, and determine the grouped positioning information after the weighting is corresponding. The first positioning information corresponding to the positioning mode. For the weight removal method, refer to the foregoing content, and details are not described herein again.

The first determining unit 230 is configured to separately use the first positioning information of the positioning mode for each positioning mode The second positioning information corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode is matched, and the position corresponding to the positioning mode is determined.

The second determining unit 240 is configured to determine a location corresponding to the point to be located according to the location corresponding to each positioning mode.

Optionally, in the embodiment of the present application, the second determining unit 240 specifically includes:

a similarity calculation sub-unit, configured to calculate, for each of the positioning modes, feature information of the first positioning information of the positioning mode and corresponding feature information of the second positioning information corresponding to each position in the positioning data fingerprint database Similarity

And a position determining subunit, configured to determine a position corresponding to the at least one second positioning information with a large similarity as a position corresponding to the positioning mode.

Optionally, in the embodiment of the present application, the similarity calculation subunit is specifically configured to:

For each location in the location data fingerprint database, the similarity between the feature information of the first location information of the location mode and the corresponding feature information of the second location information corresponding to the location is calculated according to the following formula:

Wherein, Score represents the similarity; n represents the maximum value of the number of positioning information included in the first positioning information and the second positioning information, and ssi is the characteristic information of the i-th positioning information in the first positioning information, and ffi is the second Feature information of the i-th positioning information of the positioning information.

Optionally, in the embodiment of the present application, the location determining sub-unit is specifically configured to: determine, according to the similarity between the second positioning information of the location corresponding to each positioning mode and the first positioning information of the corresponding positioning mode, each positioning is determined. The weight of the mode; and, according to the position of each positioning mode and its weight, comprehensively determine the position corresponding to the point to be located.

Optionally, in the embodiment of the present application, the location determining sub-unit determines the weight of each positioning mode according to the similarity between the second positioning information of the location corresponding to each positioning mode and the first positioning information of the corresponding positioning mode. Specifically, the method is: calculating a sum of similarity between the second positioning information of the position corresponding to all the positioning modes and the first positioning information of the corresponding positioning mode, as the first sum value; for each positioning mode, calculating the positioning mode corresponding to And a sum of the similarity between the second location information of the location and the first location information of the location mode, and the ratio of the sum value to the first sum value is determined as the weight of the location mode.

Optionally, in the embodiment of the present application, the location determining sub-unit comprehensively determines the location corresponding to the to-be-located point according to the location of each positioning mode and its weight, and is specifically used to: for each positioning mode, Calculate the average of the longitude and the average of the latitude of the position corresponding to the positioning mode, and calculate the average of the longitude and the average of the latitude and the positioning respectively The product of the weights of the modes obtains the longitude-weighted average value and the latitude weighted average value of the positioning mode; the sum of the longitude weighted average values corresponding to the respective positioning modes is determined as the longitude of the corresponding position of the to-be-positioned point, and each positioning mode is correspondingly The sum of the latitude weighted average values is determined as the latitude of the position corresponding to the point to be located.

The device provided by the embodiment of the present application locates the positioning point by using at least two positioning modules, selects different weights according to the characteristics of each signal source, finally determines the position of the to-be-positioned point, improves the positioning of the positioning point, and needs to be positioned. The accuracy of the point positioning avoids the problem that the single signal caused by the prior art cannot be located or the positioning of the positioning point is inaccurate.

Optionally, as another embodiment of the present application, the second determining unit 240 is specifically configured to: calculate, for each positioning mode, a longitude average and a latitude average of positions corresponding to the positioning mode; and a longitude corresponding to each positioning mode The average value of the average values is determined as the longitude of the corresponding position of the point to be located, and the average value of the average value of the latitudes corresponding to each of the positioning modes is determined as the latitude of the position corresponding to the point to be positioned.

The device provided by the embodiment of the present application locates the positioning point by using the positioning module of at least two different positioning modes, selects different weights according to the characteristics of each signal source, and finally determines the position corresponding to the positioning point, thereby improving the positioning point to be positioned. The positioning and the accuracy of positioning the positioning point, at the same time, avoid the problem that the single signal caused by the prior art cannot be located or the positioning of the positioning point is inaccurate.

It should be noted that, in the embodiment of the present application, the obtaining unit 210 in the apparatus 200 may implement S110 in the method 100 shown in FIG. 1, the grouping unit 220 may implement S120, and the first determining unit 230 may implement S130. The second determining unit 240 can implement the S140. For the sake of brevity, the specific implementation of each unit in the device 200 is consistent with the implementation of the corresponding method steps, and details are not described herein again.

FIG. 3 is a terminal device provided by an embodiment of the present disclosure, where the terminal device 300 includes at least two positioning modules 310 of different positioning modes and a processor 320.

The locating module 310 is configured to: when the user starts the location service of the terminal device, scan the first positioning information sent by the positioning device around the current location of the terminal device or the first positioning information of the surrounding environment.

The location service of the user to open the terminal device may be: the user locates the user when opening the map software loaded on the terminal device; or the user locates the user during the indoor walking process when the map is opened indoors; Or, the positioning of the user's location during the navigation process, and the like.

The processor 320 is configured to group the first positioning information sent by the positioning module 310 in the same positioning mode into a group, and obtain first positioning information corresponding to each positioning mode. For each positioning mode, the positioning mode is The positioning information is matched with the second positioning information corresponding to each position stored in the positioning data fingerprint database of the corresponding positioning mode, and the position corresponding to the positioning mode is determined; and, according to the position corresponding to each positioning mode, Indeed The position corresponding to the point to be located is determined.

For a specific implementation of the execution steps of the processor 320, refer to the specific implementation of the corresponding steps in the method flow shown in FIG. 1 , and details are not described herein again.

Preferably, in the embodiment of the present application, the device 300 may further include a data output device 330, such as a display screen, for displaying the determined position of the point to be located.

The positioning method, the device and the terminal device provided by the embodiment of the present application can locate the positioning point (also referred to as multi-signal source positioning) by using at least two positioning modules of different positioning modes at the same point to be located. The location of the corresponding positioning device in different positioning modes is different. Compared with the deployment of the positioning device in a single positioning mode, the positioning device with different positioning modes has a higher density for the same area. The signal distribution characteristics and the signal propagation characteristics of the positioning devices corresponding to different positioning modes are different, so that they can complement each other, and there is little probability that there is no positioning information or a weak positioning information, so that in each position The positioning information of the positioning device of the different positioning modes can be received, and the positioning information can be successfully located based on the positioning information, which overcomes the problem that the positioning information sent by the positioning device according to the single positioning mode in the prior art is located and the positioning fails. On the one hand, according to each positioning mode Positioning the positioning point to obtain a corresponding position, and comprehensively obtaining the position of the point to be positioned according to the position corresponding to the multiple positioning modes, overcoming the problem that the positioning of the single positioning mode itself is unstable, resulting in inaccurate positioning, and thus is relatively simple The position obtained by the positioning mode positioning is more accurate, and the application improves the positioning accuracy.

It should be noted that the apparatus 300 provided in the embodiment of the present application may implement the functions of the respective units/modules in the apparatus 200 shown in FIG. 2, and may also complete the operations/method steps of the method 100 shown in FIG. The description is concise and will not be repeated here.

A person skilled in the art should further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, in order to clearly illustrate hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.

The specific embodiments of the present invention have been described in detail with reference to the specific embodiments of the present application. It is to be understood that the foregoing description is only The scope of protection, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application are intended to be included within the scope of the present application.

Claims

A positioning method, characterized in that the method comprises:

Acquiring first positioning information sent by the positioning module of at least two different positioning modes at the to-be-located point;

Separating the first positioning information sent by the positioning module in the same positioning mode into a group, and obtaining first positioning information corresponding to each positioning mode;

For each positioning mode, the first positioning information of the positioning mode is matched with the second positioning information corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode, and the positioning mode is determined. Corresponding location

Determining a position corresponding to the point to be located according to a position corresponding to each positioning mode.
The method according to claim 1, wherein for each of the positioning modes, the first positioning information of the positioning mode is respectively corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode. The second positioning information is matched, and the location corresponding to the positioning mode is determined, which specifically includes:

Calculating, for each of the positioning modes, a similarity between the feature information of the first positioning information of the positioning mode and the corresponding feature information of the second positioning information corresponding to each position in the positioning data fingerprint database;

The position corresponding to the at least one second positioning information having a large similarity is determined as the position corresponding to the positioning mode.
The method according to claim 2, wherein for each positioning mode, the feature information of the first positioning information of the positioning mode and the second positioning corresponding to each position in the positioning data fingerprint database are respectively calculated. The similarity of the corresponding feature information of the information includes:

For each location in the location data fingerprint database, the similarity between the feature information of the first location information of the location mode and the corresponding feature information of the second location information corresponding to the location is calculated according to the following formula:

Wherein, Score represents a similarity; n represents a maximum value of the number of positioning information included in the first positioning information and the second positioning information, and ssi is characteristic information of the i-th positioning information in the first positioning information, and ffi is Feature information of the i-th positioning information of the second positioning information.
The method according to claim 2, wherein determining the location corresponding to the to-be-located point according to the location corresponding to each positioning mode comprises:

Corresponding to the second positioning information of the position corresponding to each positioning mode and the first positioning information of the corresponding positioning mode Similarity, determine the weight of each positioning mode;

According to the position of each positioning mode and its weight, the position corresponding to the point to be located is comprehensively determined.
The method according to claim 4, wherein the weight of each positioning mode is determined according to the similarity between the second positioning information of the position corresponding to each positioning mode and the first positioning information of the corresponding positioning mode, specifically including :

Calculating a sum of similarity between the second positioning information of the position corresponding to all the positioning modes and the first positioning information of the corresponding positioning mode as the first sum value;

For each positioning mode, calculating a sum of similarity between the second positioning information of the position corresponding to the positioning mode and the first positioning information of the positioning mode, and the ratio of the sum value to the first sum value, Determined as the weight of the positioning mode.
The method according to claim 4, wherein the location corresponding to the to-be-located point is determined according to the location of each positioning mode and the weight thereof, and specifically includes:

For each positioning mode, calculating a longitude average and a latitude average of the position corresponding to the positioning mode, and calculating a product of the longitude average and the latitude average respectively and the weight of the positioning mode, to obtain the positioning The longitude-weighted average of the pattern and the latitude weighted average;

Determining a sum of the longitude-weighted average values corresponding to the respective positioning modes as the longitude of the corresponding position of the to-be-positioned point, and determining a sum of the latitude-weighted average values corresponding to the respective positioning modes as the corresponding position of the to-be-positioned point latitude.
The method according to any one of claims 1-3, wherein the location corresponding to the point to be located is determined according to the location corresponding to each positioning mode, which specifically includes:

Calculating a longitude average and a latitude average of the position corresponding to the positioning mode for each positioning mode;

The average value of the longitude average values corresponding to the respective positioning modes is determined as the longitude of the corresponding position of the to-be-positioned point, and the average value of the latitude average values corresponding to the respective positioning modes is determined as the latitude of the corresponding position of the to-be-positioned point.
The method according to any one of claims 1-6, wherein the first positioning information sent by the positioning module of the same positioning mode is grouped into a group, and the first positioning information corresponding to each positioning mode is obtained, which specifically includes:

The first positioning information sent by the positioning module in the same positioning mode is divided into a group, and each group of the first positioning information is weighted, and the collected positioning information is determined as the first positioning corresponding to the corresponding positioning mode. information.
A positioning device, comprising: an acquiring unit, a grouping unit, a first determining unit and a second determining unit, wherein:

The acquiring unit is configured to acquire first positioning information that is sent by the positioning module of the at least two different positioning modes at the point to be located;

The grouping unit is configured to group the first positioning information sent by the positioning module in the same positioning mode into a group, and obtain first positioning information corresponding to each positioning mode;

The first determining unit is configured to: for each positioning mode, the first positioning information of the positioning mode and the second positioning information corresponding to each location stored in the positioning data fingerprint database of the preset corresponding positioning mode Performing a match to determine a location corresponding to the positioning mode;

The second determining unit is configured to determine a location corresponding to the to-be-located point according to a location corresponding to each positioning mode.
The apparatus according to claim 9, wherein said second determining unit is specifically configured to:

a similarity calculation sub-unit, configured to calculate, for each of the positioning modes, feature information of the first positioning information of the positioning mode and corresponding feature information of the second positioning information corresponding to each position in the positioning data fingerprint database Similarity

And a position determining subunit, configured to determine a position corresponding to the at least one second positioning information with a large similarity as a position corresponding to the positioning mode.
The apparatus according to claim 10, wherein the similarity calculation subunit is specifically configured to:

For each location in the location data fingerprint database, the similarity between the feature information of the first location information of the location mode and the corresponding feature information of the second location information corresponding to the location is calculated according to the following formula:

Wherein, Score represents a similarity; n represents a maximum value of the number of positioning information included in the first positioning information and the second positioning information, and ssi is characteristic information of the i-th positioning information in the first positioning information, and ffi is Feature information of the i-th positioning information of the second positioning information.
The apparatus according to claim 10, wherein said position determining subunit is specifically configured to:

Determining the weight of each positioning mode according to the similarity between the second positioning information of the position corresponding to each positioning mode and the first positioning information of the corresponding positioning mode;

According to the position of each positioning mode and its weight, the position corresponding to the point to be located is comprehensively determined.
The device according to claim 12, wherein the location determining sub-unit determines each of the second positioning information of the position corresponding to each positioning mode and the first positioning information of the corresponding positioning mode. The weight of the positioning mode, specifically used,

Calculating a sum of similarity between the second positioning information of the position corresponding to all the positioning modes and the first positioning information of the corresponding positioning mode as the first sum value;

For each positioning mode, calculating a sum of similarity between the second positioning information of the position corresponding to the positioning mode and the first positioning information of the positioning mode, and the ratio of the sum value to the first sum value, Determined as the weight of the positioning mode.
The device according to claim 12, wherein the location determining sub-unit comprehensively determines the location corresponding to the to-be-located point according to the location of each positioning mode and its weight, specifically for

For each positioning mode, calculating a longitude average and a latitude average of the position corresponding to the positioning mode, and calculating a product of the longitude average and the latitude average respectively and the weight of the positioning mode, to obtain the positioning The longitude-weighted average of the pattern and the latitude weighted average;

Determining a sum of the longitude-weighted average values corresponding to the respective positioning modes as the longitude of the corresponding position of the to-be-positioned point, and determining a sum of the latitude-weighted average values corresponding to the respective positioning modes as the corresponding position of the to-be-positioned point latitude.
The apparatus according to any one of claims 9 to 11, wherein the second determining unit is specifically configured to:

Calculating a longitude average and a latitude average of the position corresponding to the positioning mode for each positioning mode;

The average value of the longitude average values corresponding to the respective positioning modes is determined as the longitude of the corresponding position of the to-be-positioned point, and the average value of the latitude average values corresponding to the respective positioning modes is determined as the latitude of the corresponding position of the to-be-positioned point.
The apparatus according to any one of claims 9 to 15, wherein the grouping unit is specifically configured to:

The first positioning information sent by the positioning module in the same positioning mode is divided into a group, and each group of the first positioning information is weighted, and the collected positioning information is determined as the first positioning corresponding to the corresponding positioning mode. information.
A terminal device, wherein the terminal device includes at least two positioning modules of different positioning modes and a processor;

a positioning module, configured to: when the user starts the positioning service of the terminal device, scan the first positioning information sent by the positioning device around the current location of the terminal device or the first positioning information of the surrounding environment;

a processor, configured to group the first positioning information sent by the positioning module of the same positioning mode into a group, to obtain first positioning information corresponding to each positioning mode; and to locate the first positioning mode of the positioning mode for each positioning mode The information is respectively performed with the second positioning information corresponding to each position stored in the positioning data fingerprint database of the preset corresponding positioning mode. Matching, determining a location corresponding to the positioning mode; and determining a current location of the terminal device according to a location corresponding to each positioning mode.